Detailed Description

A stereo camera class, parameterize by left camera pose and stereo calibration.

Manifold
size_t	dim () const
	Dimensionality of the tangent space.
StereoCamera	retract (const Vector &v) const
	Updates a with tangent space delta.
Vector6	localCoordinates (const StereoCamera &t2) const
	Local coordinates of manifold neighborhood around current value.
static size_t	Dim ()
	Dimensionality of the tangent space.

Public Member Functions
Standard Constructors
	StereoCamera ()
	Default constructor allocates a calibration!
	StereoCamera (const Pose3 &leftCamPose, const Cal3_S2Stereo::shared_ptr K)
	Construct from pose and shared calibration.
const Cal3_S2Stereo &	calibration () const
	Return shared pointer to calibration.
Testable
void	print (const std::string &s="") const
	print
bool	equals (const StereoCamera &camera, double tol=1e-9) const
	equals
Standard Interface
const Pose3 &	pose () const
	pose
double	baseline () const
	baseline
StereoPoint2	project (const Point3 &point) const
	Project 3D point to StereoPoint2 (uL,uR,v).
StereoPoint2	project2 (const Point3 &point, OptionalJacobian< 3, 6 > H1=boost::none, OptionalJacobian< 3, 3 > H2=boost::none) const
	Project 3D point and compute optional derivatives.
Point3	backproject (const StereoPoint2 &z) const
	back-project a measurement
Point3	backproject2 (const StereoPoint2 &z, OptionalJacobian< 3, 6 > H1=boost::none, OptionalJacobian< 3, 3 > H2=boost::none) const
	Back-project the 2D point and compute optional derivatives.
Deprecated
StereoPoint2	project (const Point3 &point, OptionalJacobian< 3, 6 > H1, OptionalJacobian< 3, 3 > H2=boost::none, OptionalJacobian< 3, 0 > H3=boost::none) const
	Project 3D point and compute optional derivatives.
Vector	defaultErrorWhenTriangulatingBehindCamera () const
	for Nonlinear Triangulation

Public Types
enum	{ dimension = 6 }
typedef StereoPoint2	Measurement
	Some classes template on either PinholeCamera or StereoCamera, and this typedef informs those classes what "project" returns.
typedef StereoPoint2Vector	MeasurementVector

Friends
class	boost::serialization::access

Member Function Documentation

Point3 gtsam::StereoCamera::backproject2	(	const StereoPoint2 &	z,
		OptionalJacobian< 3, 6 >	H1 = boost::none,
		OptionalJacobian< 3, 3 >	H2 = boost::none ) const

Back-project the 2D point and compute optional derivatives.

Parameters

H1	derivative with respect to pose
H2	derivative with respect to point

StereoPoint2 gtsam::StereoCamera::project	(	const Point3 &	point,
		OptionalJacobian< 3, 6 >	H1,
		OptionalJacobian< 3, 3 >	H2 = boost::none,
		OptionalJacobian< 3, 0 >	H3 = boost::none ) const

Project 3D point and compute optional derivatives.

Parameters

H1	derivative with respect to pose
H2	derivative with respect to point
H3	IGNORED (for calibration)

StereoPoint2 gtsam::StereoCamera::project2	(	const Point3 &	point,
		OptionalJacobian< 3, 6 >	H1 = boost::none,
		OptionalJacobian< 3, 3 >	H2 = boost::none ) const

Project 3D point and compute optional derivatives.

Parameters

H1	derivative with respect to pose
H2	derivative with respect to point

The documentation for this class was generated from the following files: