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27 #include "../SmartProjectionRigFactor.h"
30 using namespace gtsam;
36 Point3 landmark3(3, 0, 3.0);
37 Point3 landmark4(10, 0.5, 1.2);
38 Point3 landmark5(10, -0.5, 1.2);
50 static double fov = 60;
51 static size_t w = 640,
h = 480;
152 template <
class CAMERA>
157 Pose3 perturbedCameraPose = cameraPose.
compose(noise_pose);
158 return CAMERA(perturbedCameraPose,
camera.calibration());
161 template <
class CAMERA>
164 typename CAMERA::MeasurementVector& measurements_cam) {
168 measurements_cam.push_back(cam1_uv1);
169 measurements_cam.push_back(cam2_uv1);
170 measurements_cam.push_back(cam3_uv1);
SmartProjectionPoseFactor< Cal3Bundler > SmartFactor
static PinholeCamera< Cal3_S2 > cam1(pose3, cal1)
static const Camera level_camera(level_pose)
static const Camera cam3(pose_above)
static const Cal3Bundler K(500, 1e-3, 1e-3, 0, 0)
CameraSet< Camera > Cameras
Array< double, 1, 3 > e(1./3., 0.5, 2.)
Calibrated camera with spherical projection.
The most common 5DOF 3D->2D calibration.
Smart factor on cameras (pose + calibration)
Class compose(const Class &g) const
static const Cal3_S2::shared_ptr sharedK2(new Cal3_S2(1500, 1200, 0, 640, 480))
static const Cal3_S2::shared_ptr sharedK(new Cal3_S2(fov, w, h))
a general SFM factor with an unknown calibration
GeneralSFMFactor< Camera, Point3 > SFMFactor
static const SmartProjectionParams params
A set of cameras, all with their own calibration.
SmartProjectionRigFactor< Camera > SmartFactorP
Point2 landmark2(7.0, 1.5)
static const EmptyCal::shared_ptr emptyK(new EmptyCal())
GenericMeasurement< Point2, Point2 > Measurement
Point2 landmark1(5.0, 1.5)
Unit3 project(const Point3 &point, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 3 > Dpoint={}) const
static const Point2 level_uv_right
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
static const Cal3_S2 K2(1500, 1200, 0, w, h)
static const Camera level_camera_right(pose_right)
static Point3 landmark(0, 0, 5)
Calibration used by Bundler.
noiseModel::Base::shared_ptr SharedNoiseModel
std::shared_ptr< Cal3_S2 > shared_ptr
static const Point2 level_uv
Smart factor on poses, assuming camera calibration is fixed.
static StereoCamera cam2(pose3, cal4ptr)
CAMERA perturbCameraPose(const CAMERA &camera)
SmartProjectionRigFactor< Camera > SmartRigFactor
static const std::shared_ptr< Cal3Bundler > sharedBundlerK(new Cal3Bundler(500, 1e-3, 1e-3, 1000, 2000))
const Pose3 & pose() const
return pose, constant version
The most common 5DOF 3D->2D calibration.
StereoPoint2 project(const Point3 &point) const
Project 3D point to StereoPoint2 (uL,uR,v)
static const CalibratedCamera camera(kDefaultPose)
std::shared_ptr< EmptyCal > shared_ptr
Calibration used by Bundler.
void projectToMultipleCameras(const CAMERA &cam1, const CAMERA &cam2, const CAMERA &cam3, Point3 landmark, typename CAMERA::MeasurementVector &measurements_cam)
gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:04:22