#include <InvDepthCamera3.h>
Private Attributes | |
boost::shared_ptr< CALIBRATION > | k_ |
The fixed camera calibration. More... | |
Pose3 | pose_ |
The camera pose. More... | |
Standard Constructors | |
InvDepthCamera3 () | |
InvDepthCamera3 (const Pose3 &pose, const boost::shared_ptr< CALIBRATION > &k) | |
Standard Interface | |
virtual | ~InvDepthCamera3 () |
Pose3 & | pose () |
return pose More... | |
const boost::shared_ptr< CALIBRATION > & | calibration () const |
return calibration More... | |
void | print (const std::string &s="") const |
print More... | |
gtsam::Point2 | project (const Vector5 &pw, double rho, boost::optional< gtsam::Matrix & > H1=boost::none, boost::optional< gtsam::Matrix & > H2=boost::none, boost::optional< gtsam::Matrix & > H3=boost::none) const |
std::pair< Vector5, double > | backproject (const gtsam::Point2 &pi, const double depth) const |
static gtsam::Point3 | invDepthTo3D (const Vector5 &pw, double rho) |
Advanced Interface | |
class | boost::serialization::access |
template<class Archive > | |
void | serialize (Archive &ar, const unsigned int) |
A pinhole camera class that has a Pose3 and a Calibration.
Definition at line 31 of file InvDepthCamera3.h.
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inline |
default constructor
Definition at line 42 of file InvDepthCamera3.h.
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inline |
constructor with pose and calibration
Definition at line 45 of file InvDepthCamera3.h.
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inlinevirtual |
Definition at line 52 of file InvDepthCamera3.h.
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inline |
backproject a 2-dimensional point to an Inverse Depth landmark useful for point initialization
Definition at line 156 of file InvDepthCamera3.h.
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inline |
return calibration
Definition at line 58 of file InvDepthCamera3.h.
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inlinestatic |
Convert an inverse depth landmark to cartesian Point3
pw | first five parameters (x,y,z,theta,phi) of inv depth landmark |
inv | inverse depth |
Definition at line 72 of file InvDepthCamera3.h.
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inline |
return pose
Definition at line 55 of file InvDepthCamera3.h.
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inline |
Definition at line 61 of file InvDepthCamera3.h.
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inline |
project a point from world InvDepth parameterization to the image
pw | is a point in the world coordinate |
H1 | is the jacobian w.r.t. [pose3 calibration] |
H2 | is the jacobian w.r.t. inv_depth_landmark |
Definition at line 84 of file InvDepthCamera3.h.
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inlineprivate |
Definition at line 178 of file InvDepthCamera3.h.
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friend |
Serialization function
Definition at line 176 of file InvDepthCamera3.h.
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private |
The fixed camera calibration.
Definition at line 34 of file InvDepthCamera3.h.
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private |
The camera pose.
Definition at line 33 of file InvDepthCamera3.h.