#include <CalibratedCamera.h>

Inheritance diagram for gtsam::CalibratedCamera:

Public Types
enum	{ dimension = 6 }

Public Types inherited from gtsam::PinholeBase
typedef Point2	Measurement

typedef Point2Vector	MeasurementVector

typedef Rot3	Rotation

typedef Point3	Translation

Standard Constructors
	CalibratedCamera ()
	default constructor More...

	CalibratedCamera (const Pose3 &pose)
	construct with pose More...

Named Constructors
static CalibratedCamera	Create (const Pose3 &pose, OptionalJacobian< dimension, 6 > H1={})

static CalibratedCamera	Level (const Pose2 &pose2, double height)

static CalibratedCamera	Lookat (const Point3 &eye, const Point3 &target, const Point3 &upVector)

Advanced Constructors
	CalibratedCamera (const Vector &v)
	construct from vector More...

Manifold
CalibratedCamera	retract (const Vector &d) const
	move a cameras pose according to d More...

Vector	localCoordinates (const CalibratedCamera &T2) const
	Return canonical coordinate. More...

void	print (const std::string &s="CalibratedCamera") const override
	print More...

size_t	dim () const

static size_t	Dim ()

Transformations and measurement functions
Point2	project (const Point3 &point, OptionalJacobian< 2, 6 > Dcamera={}, OptionalJacobian< 2, 3 > Dpoint={}) const

Point3	backproject (const Point2 &pn, double depth, OptionalJacobian< 3, 6 > Dresult_dpose={}, OptionalJacobian< 3, 2 > Dresult_dp={}, OptionalJacobian< 3, 1 > Dresult_ddepth={}) const
	backproject a 2-dimensional point to a 3-dimensional point at given depth More...

double	range (const Point3 &point, OptionalJacobian< 1, 6 > Dcamera={}, OptionalJacobian< 1, 3 > Dpoint={}) const

double	range (const Pose3 &pose, OptionalJacobian< 1, 6 > Dcamera={}, OptionalJacobian< 1, 6 > Dpose={}) const

double	range (const CalibratedCamera &camera, OptionalJacobian< 1, 6 > H1={}, OptionalJacobian< 1, 6 > H2={}) const

Additional Inherited Members
Public Member Functions inherited from gtsam::PinholeBase
std::pair< Point2, bool >	projectSafe (const Point3 &pw) const
	Project a point into the image and check depth. More...

Point2	project2 (const Point3 &point, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 3 > Dpoint={}) const

Point2	project2 (const Unit3 &point, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 2 > Dpoint={}) const

	PinholeBase ()
	Default constructor. More...

	PinholeBase (const Pose3 &pose)
	Constructor with pose. More...

	PinholeBase (const Vector &v)

virtual	~PinholeBase ()=default
	Default destructor. More...

bool	equals (const PinholeBase &camera, double tol=1e-9) const
	assert equality up to a tolerance More...

const Pose3 &	pose () const
	return pose, constant version More...

const Rot3 &	rotation () const
	get rotation More...

const Point3 &	translation () const
	get translation More...

const Pose3 &	getPose (OptionalJacobian< 6, 6 > H) const
	return pose, with derivative More...

Static Public Member Functions inherited from gtsam::PinholeBase
static Pose3	LevelPose (const Pose2 &pose2, double height)

static Pose3	LookatPose (const Point3 &eye, const Point3 &target, const Point3 &upVector)

static Point2	Project (const Point3 &pc, OptionalJacobian< 2, 3 > Dpoint={})

static Point2	Project (const Unit3 &pc, OptionalJacobian< 2, 2 > Dpoint={})

static Point3	BackprojectFromCamera (const Point2 &p, const double depth, OptionalJacobian< 3, 2 > Dpoint={}, OptionalJacobian< 3, 1 > Ddepth={})
	backproject a 2-dimensional point to a 3-dimensional point at given depth More...

static std::pair< size_t, size_t >	translationInterval ()

Static Protected Member Functions inherited from gtsam::PinholeBase
static Matrix26	Dpose (const Point2 &pn, double d)

static Matrix23	Dpoint (const Point2 &pn, double d, const Matrix3 &Rt)

Detailed Description

A Calibrated camera class [R|-R't], calibration K=I. If calibration is known, it is more computationally efficient to calibrate the measurements rather than try to predict in pixels.

Definition at line 251 of file CalibratedCamera.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
dimension

Definition at line 255 of file CalibratedCamera.h.

Constructor & Destructor Documentation

◆ CalibratedCamera() [1/3]

gtsam::CalibratedCamera::CalibratedCamera ( )

inline

default constructor

Definition at line 263 of file CalibratedCamera.h.

◆ CalibratedCamera() [2/3]

gtsam::CalibratedCamera::CalibratedCamera ( const Pose3 & pose )

inlineexplicit

construct with pose

Definition at line 267 of file CalibratedCamera.h.

◆ CalibratedCamera() [3/3]

gtsam::CalibratedCamera::CalibratedCamera ( const Vector & v )

inlineexplicit

construct from vector

Definition at line 307 of file CalibratedCamera.h.

Member Function Documentation

◆ backproject()

Point3 gtsam::CalibratedCamera::backproject	(	const Point2 &	pn,
		double	depth,
		OptionalJacobian< 3, 6 >	Dresult_dpose = `{}`,
		OptionalJacobian< 3, 2 >	Dresult_dp = `{}`,
		OptionalJacobian< 3, 1 >	Dresult_ddepth = `{}`
	)		const

inline

backproject a 2-dimensional point to a 3-dimensional point at given depth

Definition at line 348 of file CalibratedCamera.h.

◆ Create()

static CalibratedCamera gtsam::CalibratedCamera::Create	(	const Pose3 &	pose,
		OptionalJacobian< dimension, 6 >	H1 = `{}`
	)

inlinestatic

Definition at line 276 of file CalibratedCamera.h.

◆ Dim()

static size_t gtsam::CalibratedCamera::Dim ( )

inlinestatic

Deprecated:

Definition at line 332 of file CalibratedCamera.h.

◆ dim()

size_t gtsam::CalibratedCamera::dim ( ) const

inline

Deprecated:

Definition at line 327 of file CalibratedCamera.h.

◆ Level()

CalibratedCamera gtsam::CalibratedCamera::Level	(	const Pose2 &	pose2,
		double	height
	)

static

Create a level camera at the given 2D pose and height

Parameters

pose2	specifies the location and viewing direction
height	specifies the height of the camera (along the positive Z-axis) (theta 0 = looking in direction of positive X axis)

Definition at line 177 of file CalibratedCamera.cpp.

◆ localCoordinates()

Vector gtsam::CalibratedCamera::localCoordinates ( const CalibratedCamera & T2 ) const

Return canonical coordinate.

Definition at line 199 of file CalibratedCamera.cpp.

◆ Lookat()

CalibratedCamera gtsam::CalibratedCamera::Lookat	(	const Point3 &	eye,
		const Point3 &	target,
		const Point3 &	upVector
	)

static

Create a camera at the given eye position looking at a target point in the scene with the specified up direction vector.

Parameters

eye	specifies the camera position
target	the point to look at
upVector	specifies the camera up direction vector, doesn't need to be on the image plane nor orthogonal to the viewing axis

Definition at line 182 of file CalibratedCamera.cpp.

◆ print()

void gtsam::CalibratedCamera::print ( const std::string & s = "CalibratedCamera" ) const

inlineoverridevirtual

print

Reimplemented from gtsam::PinholeBase.

Definition at line 322 of file CalibratedCamera.h.

◆ project()

Point2 gtsam::CalibratedCamera::project	(	const Point3 &	point,
		OptionalJacobian< 2, 6 >	Dcamera = `{}`,
		OptionalJacobian< 2, 3 >	Dpoint = `{}`
	)		const

Deprecated:: Use project2, which is more consistently named across Pinhole cameras

Definition at line 188 of file CalibratedCamera.cpp.

◆ range() [1/3]

double gtsam::CalibratedCamera::range	(	const CalibratedCamera &	camera,
		OptionalJacobian< 1, 6 >	H1 = `{}`,
		OptionalJacobian< 1, 6 >	H2 = `{}`
	)		const

inline

Calculate range to another camera

Parameters

camera Other camera

Returns: range (double)

Definition at line 398 of file CalibratedCamera.h.

◆ range() [2/3]

double gtsam::CalibratedCamera::range	(	const Point3 &	point,
		OptionalJacobian< 1, 6 >	Dcamera = `{}`,
		OptionalJacobian< 1, 3 >	Dpoint = `{}`
	)		const

inline

Calculate range to a landmark

Parameters

point 3D location of landmark

Returns: range (double)

Definition at line 377 of file CalibratedCamera.h.

◆ range() [3/3]

double gtsam::CalibratedCamera::range	(	const Pose3 &	pose,
		OptionalJacobian< 1, 6 >	Dcamera = `{}`,
		OptionalJacobian< 1, 6 >	Dpose = `{}`
	)		const

inline

Calculate range to another pose

Parameters

pose	Other SO(3) pose

Returns: range (double)

Definition at line 388 of file CalibratedCamera.h.

◆ retract()

CalibratedCamera gtsam::CalibratedCamera::retract ( const Vector & d ) const

move a cameras pose according to d

Definition at line 194 of file CalibratedCamera.cpp.

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

Public Types

Standard Constructors

Named Constructors

Advanced Constructors

Manifold

Transformations and measurement functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ CalibratedCamera() [1/3]

◆ CalibratedCamera() [2/3]

◆ CalibratedCamera() [3/3]

Member Function Documentation

◆ backproject()

◆ Create()

◆ Dim()

◆ dim()

◆ Level()

◆ localCoordinates()

◆ Lookat()

◆ print()

◆ project()

◆ range() [1/3]

◆ range() [2/3]

◆ range() [3/3]

◆ retract()