#include <SphericalCamera.h>

Public Types
enum	{ dimension = 6 }

using	CalibrationType = EmptyCal

using	Measurement = Unit3

using	MeasurementVector = std::vector< Unit3 >

Public Member Functions
Matrix34	cameraProjectionMatrix () const
	for Linear Triangulation More...

Vector	defaultErrorWhenTriangulatingBehindCamera () const
	for Nonlinear Triangulation More...

size_t	dim () const

Vector6	localCoordinates (const SphericalCamera &p) const
	return canonical coordinate More...

SphericalCamera	retract (const Vector6 &d) const
	move a cameras according to d More...

Static Public Member Functions
static size_t	Dim ()

static SphericalCamera	Identity ()
	for Canonical More...

Protected Attributes
EmptyCal::shared_ptr	emptyCal_

Private Attributes
Pose3	pose_
	3D pose of camera More...

Standard Constructors
	SphericalCamera ()
	Default constructor. More...

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

	SphericalCamera (const Pose3 &pose, const EmptyCal::shared_ptr &cal)
	Constructor with empty intrinsics (needed for smart factors) More...

Advanced Constructors
	SphericalCamera (const Vector &v)

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

const EmptyCal::shared_ptr &	sharedCalibration () const
	return shared pointer to calibration More...

const EmptyCal &	calibration () const
	return calibration More...

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

virtual void	print (const std::string &s="SphericalCamera") const
	print More...

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

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

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

Transformations and measurement functions
std::pair< Unit3, bool >	projectSafe (const Point3 &pw) const
	Project a point into the image and check depth. More...

Unit3	project2 (const Point3 &pw, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 3 > Dpoint={}) const

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

Point3	backproject (const Unit3 &p, const double depth) const
	backproject a 2-dimensional point to a 3-dimensional point at given depth More...

Unit3	backprojectPointAtInfinity (const Unit3 &p) const
	backproject point at infinity More...

Unit3	project (const Point3 &point, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 3 > Dpoint={}) const

Vector2	reprojectionError (const Point3 &point, const Unit3 &measured, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 3 > Dpoint={}) const

Detailed Description

A spherical camera class that has a Pose3 and measures bearing vectors. The camera has an ‘Empty’ calibration and the only 6 dof are the pose

Definition at line 74 of file SphericalCamera.h.

Member Typedef Documentation

◆ CalibrationType

using gtsam::SphericalCamera::CalibrationType = EmptyCal

Definition at line 80 of file SphericalCamera.h.

◆ Measurement

using gtsam::SphericalCamera::Measurement = Unit3

Definition at line 78 of file SphericalCamera.h.

◆ MeasurementVector

using gtsam::SphericalCamera::MeasurementVector = std::vector<Unit3>

Definition at line 79 of file SphericalCamera.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
dimension

Definition at line 76 of file SphericalCamera.h.

Constructor & Destructor Documentation

◆ SphericalCamera() [1/4]

gtsam::SphericalCamera::SphericalCamera ( )

inline

Default constructor.

Definition at line 93 of file SphericalCamera.h.

◆ SphericalCamera() [2/4]

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

inlineexplicit

Constructor with pose.

Definition at line 97 of file SphericalCamera.h.

◆ SphericalCamera() [3/4]

gtsam::SphericalCamera::SphericalCamera	(	const Pose3 &	pose,
		const EmptyCal::shared_ptr &	cal
	)

inlineexplicit

Constructor with empty intrinsics (needed for smart factors)

Definition at line 101 of file SphericalCamera.h.

◆ SphericalCamera() [4/4]

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

inlineexplicit

Definition at line 108 of file SphericalCamera.h.

◆ ~SphericalCamera()

virtual gtsam::SphericalCamera::~SphericalCamera ( )

virtualdefault

Default destructor.

Member Function Documentation

◆ backproject()

Point3 gtsam::SphericalCamera::backproject	(	const Unit3 &	p,
		const double	depth
	)		const

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

Definition at line 73 of file SphericalCamera.cpp.

◆ backprojectPointAtInfinity()

Unit3 gtsam::SphericalCamera::backprojectPointAtInfinity ( const Unit3 & p ) const

backproject point at infinity

Definition at line 78 of file SphericalCamera.cpp.

◆ calibration()

const EmptyCal& gtsam::SphericalCamera::calibration ( ) const

inline

return calibration

Definition at line 119 of file SphericalCamera.h.

◆ cameraProjectionMatrix()

Matrix34 gtsam::SphericalCamera::cameraProjectionMatrix ( ) const

inline

for Linear Triangulation

Definition at line 210 of file SphericalCamera.h.

◆ defaultErrorWhenTriangulatingBehindCamera()

Vector gtsam::SphericalCamera::defaultErrorWhenTriangulatingBehindCamera ( ) const

inline

for Nonlinear Triangulation

Definition at line 215 of file SphericalCamera.h.

◆ Dim()

static size_t gtsam::SphericalCamera::Dim ( )

inlinestatic

Deprecated:

Definition at line 223 of file SphericalCamera.h.

◆ dim()

size_t gtsam::SphericalCamera::dim ( ) const

inline

Deprecated:

Definition at line 220 of file SphericalCamera.h.

◆ equals()

bool gtsam::SphericalCamera::equals	(	const SphericalCamera &	camera,
		double	tol = `1e-9`
	)		const

assert equality up to a tolerance

Definition at line 26 of file SphericalCamera.cpp.

◆ Identity()

static SphericalCamera gtsam::SphericalCamera::Identity ( )

inlinestatic

for Canonical

Definition at line 204 of file SphericalCamera.h.

◆ localCoordinates()

Vector6 gtsam::SphericalCamera::localCoordinates ( const SphericalCamera & p ) const

inline

return canonical coordinate

Definition at line 199 of file SphericalCamera.h.

◆ pose()

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

inline

return pose, constant version

Definition at line 136 of file SphericalCamera.h.

◆ print()

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

virtual

print

Definition at line 31 of file SphericalCamera.cpp.

◆ project()

Unit3 gtsam::SphericalCamera::project	(	const Point3 &	point,
		OptionalJacobian< 2, 6 >	Dpose = `{}`,
		OptionalJacobian< 2, 3 >	Dpoint = `{}`
	)		const

Project point into the image (note: there is no CheiralityException for a spherical camera)

Parameters

point 3D point in world coordinates

Returns: the intrinsic coordinates of the projected point

Definition at line 83 of file SphericalCamera.cpp.

◆ project2() [1/2]

Unit3 gtsam::SphericalCamera::project2	(	const Point3 &	pw,
		OptionalJacobian< 2, 6 >	Dpose = `{}`,
		OptionalJacobian< 2, 3 >	Dpoint = `{}`
	)		const

Project point into the image (note: there is no CheiralityException for a spherical camera)

Parameters

point 3D point in world coordinates

Returns: the intrinsic coordinates of the projected point

Definition at line 41 of file SphericalCamera.cpp.

◆ project2() [2/2]

Unit3 gtsam::SphericalCamera::project2	(	const Unit3 &	pwu,
		OptionalJacobian< 2, 6 >	Dpose = `{}`,
		OptionalJacobian< 2, 2 >	Dpoint = `{}`
	)		const

Project point into the image (note: there is no CheiralityException for a spherical camera)

Parameters

point 3D direction in world coordinates

Returns: the intrinsic coordinates of the projected point

Definition at line 59 of file SphericalCamera.cpp.

◆ projectSafe()

pair< Unit3, bool > gtsam::SphericalCamera::projectSafe ( const Point3 & pw ) const

Project a point into the image and check depth.

Definition at line 34 of file SphericalCamera.cpp.

◆ reprojectionError()

Vector2 gtsam::SphericalCamera::reprojectionError	(	const Point3 &	point,
		const Unit3 &	measured,
		OptionalJacobian< 2, 6 >	Dpose = `{}`,
		OptionalJacobian< 2, 3 >	Dpoint = `{}`
	)		const

Compute reprojection error for a given 3D point in world coordinates

Parameters

point 3D point in world coordinates

Returns: the tangent space error between the projection and the measurement

Definition at line 90 of file SphericalCamera.cpp.

◆ retract()

SphericalCamera gtsam::SphericalCamera::retract ( const Vector6 & d ) const

inline

move a cameras according to d

Definition at line 194 of file SphericalCamera.h.

◆ rotation()

const Rot3& gtsam::SphericalCamera::rotation ( ) const

inline

get rotation

Definition at line 139 of file SphericalCamera.h.

◆ sharedCalibration()

const EmptyCal::shared_ptr& gtsam::SphericalCamera::sharedCalibration ( ) const

inline

return shared pointer to calibration

Definition at line 114 of file SphericalCamera.h.

◆ translation()

const Point3& gtsam::SphericalCamera::translation ( ) const

inline

get translation

Definition at line 142 of file SphericalCamera.h.

Member Data Documentation

◆ emptyCal_

EmptyCal::shared_ptr gtsam::SphericalCamera::emptyCal_

protected

Definition at line 86 of file SphericalCamera.h.

◆ pose_

Pose3 gtsam::SphericalCamera::pose_

private

3D pose of camera

Definition at line 83 of file SphericalCamera.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Private Attributes

Standard Constructors

Advanced Constructors

Testable

Standard Interface

Transformations and measurement functions

Detailed Description

Member Typedef Documentation

◆ CalibrationType

◆ Measurement

◆ MeasurementVector

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ SphericalCamera() [1/4]

◆ SphericalCamera() [2/4]

◆ SphericalCamera() [3/4]

◆ SphericalCamera() [4/4]

◆ ~SphericalCamera()

Member Function Documentation

◆ backproject()

◆ backprojectPointAtInfinity()

◆ calibration()

◆ cameraProjectionMatrix()

◆ defaultErrorWhenTriangulatingBehindCamera()

◆ Dim()

◆ dim()

◆ equals()

◆ Identity()

◆ localCoordinates()

◆ pose()

◆ print()

◆ project()

◆ project2() [1/2]

◆ project2() [2/2]

◆ projectSafe()

◆ reprojectionError()

◆ retract()

◆ rotation()

◆ sharedCalibration()

◆ translation()

Member Data Documentation

◆ emptyCal_

◆ pose_