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std::pair< Point2, bool > | projectSafe (const Point3 &pw) const |
| Project a point into the image and check depth. More...
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template<class POINT > |
Point2 | _project (const POINT &pw, OptionalJacobian< 2, 6 > Dpose, OptionalJacobian< 2, FixedDimension< POINT >::value > Dpoint, OptionalJacobian< 2, DimK > Dcal) const |
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Point2 | project (const Point3 &pw, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 3 > Dpoint={}, OptionalJacobian< 2, DimK > Dcal={}) const |
| project a 3D point from world coordinates into the image More...
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Point2 | reprojectionError (const Point3 &pw, const Point2 &measured, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 3 > Dpoint={}, OptionalJacobian< 2, DimK > Dcal={}) const |
| project a 3D point from world coordinates into the image More...
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Point2 | project (const Unit3 &pw, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 2 > Dpoint={}, OptionalJacobian< 2, DimK > Dcal={}) const |
| project a point at infinity from world coordinates into the image More...
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Point3 | backproject (const Point2 &p, double depth, OptionalJacobian< 3, 6 > Dresult_dpose={}, OptionalJacobian< 3, 2 > Dresult_dp={}, OptionalJacobian< 3, 1 > Dresult_ddepth={}, OptionalJacobian< 3, DimK > Dresult_dcal={}) const |
| backproject a 2-dimensional point to a 3-dimensional point at given depth More...
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Unit3 | backprojectPointAtInfinity (const Point2 &p) const |
| backproject a 2-dimensional point to a 3-dimensional point at infinity More...
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double | range (const Point3 &point, OptionalJacobian< 1, 6 > Dcamera={}, OptionalJacobian< 1, 3 > Dpoint={}) const |
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double | range (const Pose3 &pose, OptionalJacobian< 1, 6 > Dcamera={}, OptionalJacobian< 1, 6 > Dpose={}) const |
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double | range (const CalibratedCamera &camera, OptionalJacobian< 1, 6 > Dcamera={}, OptionalJacobian< 1, 6 > Dother={}) const |
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template<class CalibrationB > |
double | range (const PinholeBaseK< CalibrationB > &camera, OptionalJacobian< 1, 6 > Dcamera={}, OptionalJacobian< 1, 6 > Dother={}) const |
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| PinholeBase () |
| Default constructor. More...
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| PinholeBase (const Pose3 &pose) |
| Constructor with pose. More...
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| PinholeBase (const Vector &v) |
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virtual | ~PinholeBase ()=default |
| Default destructor. More...
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bool | equals (const PinholeBase &camera, double tol=1e-9) const |
| assert equality up to a tolerance More...
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virtual void | print (const std::string &s="PinholeBase") const |
| print More...
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const Pose3 & | pose () const |
| return pose, constant version More...
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const Rot3 & | rotation () const |
| get rotation More...
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const Point3 & | translation () const |
| get translation More...
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const Pose3 & | getPose (OptionalJacobian< 6, 6 > H) const |
| return pose, with derivative More...
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std::pair< Point2, bool > | projectSafe (const Point3 &pw) const |
| Project a point into the image and check depth. More...
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Point2 | project2 (const Point3 &point, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 3 > Dpoint={}) const |
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Point2 | project2 (const Unit3 &point, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 2 > Dpoint={}) const |
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static Pose3 | LevelPose (const Pose2 &pose2, double height) |
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static Pose3 | LookatPose (const Point3 &eye, const Point3 &target, const Point3 &upVector) |
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static Point2 | Project (const Point3 &pc, OptionalJacobian< 2, 3 > Dpoint={}) |
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static Point2 | Project (const Unit3 &pc, OptionalJacobian< 2, 2 > Dpoint={}) |
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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...
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static std::pair< size_t, size_t > | translationInterval () |
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static Matrix26 | Dpose (const Point2 &pn, double d) |
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static Matrix23 | Dpoint (const Point2 &pn, double d, const Matrix3 &Rt) |
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template<typename CALIBRATION>
class gtsam::PinholeBaseK< CALIBRATION >
A pinhole camera class that has a Pose3 and a fixed Calibration.
Definition at line 33 of file PinholePose.h.