#include <PinholePose.h>

Inheritance diagram for gtsam::PinholePose< CALIBRATION >:

Public Types
enum	{ dimension = 6 }

Public Types inherited from gtsam::PinholeBaseK< CALIBRATION >
typedef CALIBRATION	CalibrationType

Public Types inherited from gtsam::PinholeBase
typedef Point2	Measurement

typedef Point2Vector	MeasurementVector

typedef Rot3	Rotation

typedef Point3	Translation

Public Member Functions
Standard Constructors
	PinholePose ()

	PinholePose (const Pose3 &pose)

	PinholePose (const Pose3 &pose, const boost::shared_ptr< CALIBRATION > &K)

Advanced Constructors
	PinholePose (const Vector &v)
	Init from 6D vector. More...

	PinholePose (const Vector &v, const Vector &K)
	Init from Vector and calibration. More...

	PinholePose (const Pose3 &pose, const Vector &K)

Standard Interface
	~PinholePose () override

const boost::shared_ptr< CALIBRATION > &	sharedCalibration () const
	return shared pointer to calibration More...

const CALIBRATION &	calibration () const override
	return calibration More...

Point2	project2 (const Point3 &pw, OptionalJacobian< 2, 6 > Dpose=boost::none, OptionalJacobian< 2, 3 > Dpoint=boost::none) const

Point2	project2 (const Unit3 &pw, OptionalJacobian< 2, 6 > Dpose=boost::none, OptionalJacobian< 2, 2 > Dpoint=boost::none) const
	project2 version for point at infinity More...

Public Member Functions inherited from gtsam::PinholeBaseK< CALIBRATION >
	PinholeBaseK ()

	PinholeBaseK (const Pose3 &pose)

	PinholeBaseK (const Vector &v)

virtual	~PinholeBaseK ()

std::pair< Point2, bool >	projectSafe (const Point3 &pw) const
	Project a point into the image and check depth. More...

template<class POINT >
Point2	_project (const POINT &pw, OptionalJacobian< 2, 6 > Dpose, OptionalJacobian< 2, FixedDimension< POINT >::value > Dpoint, OptionalJacobian< 2, DimK > Dcal) const

Point2	project (const Point3 &pw, OptionalJacobian< 2, 6 > Dpose=boost::none, OptionalJacobian< 2, 3 > Dpoint=boost::none, OptionalJacobian< 2, DimK > Dcal=boost::none) const
	project a 3D point from world coordinates into the image More...

Point2	project (const Unit3 &pw, OptionalJacobian< 2, 6 > Dpose=boost::none, OptionalJacobian< 2, 2 > Dpoint=boost::none, OptionalJacobian< 2, DimK > Dcal=boost::none) const
	project a point at infinity from world coordinates into the image More...

Point3	backproject (const Point2 &p, double depth, OptionalJacobian< 3, 6 > Dresult_dpose=boost::none, OptionalJacobian< 3, 2 > Dresult_dp=boost::none, OptionalJacobian< 3, 1 > Dresult_ddepth=boost::none, OptionalJacobian< 3, DimK > Dresult_dcal=boost::none) const
	backproject a 2-dimensional point to a 3-dimensional point at given depth More...

Unit3	backprojectPointAtInfinity (const Point2 &p) const
	backproject a 2-dimensional point to a 3-dimensional point at infinity More...

double	range (const Point3 &point, OptionalJacobian< 1, 6 > Dcamera=boost::none, OptionalJacobian< 1, 3 > Dpoint=boost::none) const

double	range (const Pose3 &pose, OptionalJacobian< 1, 6 > Dcamera=boost::none, OptionalJacobian< 1, 6 > Dpose=boost::none) const

double	range (const CalibratedCamera &camera, OptionalJacobian< 1, 6 > Dcamera=boost::none, OptionalJacobian< 1, 6 > Dother=boost::none) const

template<class CalibrationB >
double	range (const PinholeBaseK< CalibrationB > &camera, OptionalJacobian< 1, 6 > Dcamera=boost::none, OptionalJacobian< 1, 6 > Dother=boost::none) const

Public Member Functions inherited from gtsam::PinholeBase
	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...

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=boost::none, OptionalJacobian< 2, 3 > Dpoint=boost::none) const

Point2	project2 (const Unit3 &point, OptionalJacobian< 2, 6 > Dpose=boost::none, OptionalJacobian< 2, 2 > Dpoint=boost::none) const

Static Public Member Functions
Named Constructors
static PinholePose	Level (const boost::shared_ptr< CALIBRATION > &K, const Pose2 &pose2, double height)

static PinholePose	Level (const Pose2 &pose2, double height)
	PinholePose::level with default calibration. More...

static PinholePose	Lookat (const Point3 &eye, const Point3 &target, const Point3 &upVector, const boost::shared_ptr< CALIBRATION > &K=boost::make_shared< CALIBRATION >())

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

static Point2	Project (const Point3 &pc, OptionalJacobian< 2, 3 > Dpoint=boost::none)

static Point2	Project (const Unit3 &pc, OptionalJacobian< 2, 2 > Dpoint=boost::none)

static Point3	BackprojectFromCamera (const Point2 &p, const double depth, OptionalJacobian< 3, 2 > Dpoint=boost::none, OptionalJacobian< 3, 1 > Ddepth=boost::none)
	backproject a 2-dimensional point to a 3-dimensional point at given depth More...

Private Types
typedef PinholeBaseK< CALIBRATION >	Base
	base class has 3D pose as private member More...

Private Member Functions
template<class Archive >
void	serialize (Archive &ar, const unsigned int)

Private Attributes
boost::shared_ptr< CALIBRATION >	K_
	shared pointer to fixed calibration More...

Friends
class	boost::serialization::access

Testable
std::ostream &	operator<< (std::ostream &os, const PinholePose &camera)
	stream operator More...

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

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

Manifold
size_t	dim () const

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

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

static size_t	Dim ()

static PinholePose	identity ()
	for Canonical More...

Additional Inherited Members
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

template<typename CALIBRATION>
class gtsam::PinholePose< CALIBRATION >

Definition at line 237 of file PinholePose.h.

Member Typedef Documentation

template<typename CALIBRATION>

typedef PinholeBaseK<CALIBRATION> gtsam::PinholePose< CALIBRATION >::Base

private

base class has 3D pose as private member

Definition at line 241 of file PinholePose.h.

Member Enumeration Documentation

template<typename CALIBRATION>

anonymous enum

Enumerator
dimension

Definition at line 246 of file PinholePose.h.

Constructor & Destructor Documentation

template<typename CALIBRATION>

gtsam::PinholePose< CALIBRATION >::PinholePose ( )

inline

default constructor

Definition at line 254 of file PinholePose.h.

template<typename CALIBRATION>

gtsam::PinholePose< CALIBRATION >::PinholePose ( const Pose3 & pose )

inlineexplicit

constructor with pose, uses default calibration

Definition at line 258 of file PinholePose.h.

template<typename CALIBRATION>

gtsam::PinholePose< CALIBRATION >::PinholePose	(	const Pose3 &	pose,
		const boost::shared_ptr< CALIBRATION > &	K
	)

inline

constructor with pose and calibration

Definition at line 263 of file PinholePose.h.

template<typename CALIBRATION>

gtsam::PinholePose< CALIBRATION >::PinholePose ( const Vector & v )

inlineexplicit

Init from 6D vector.

Definition at line 308 of file PinholePose.h.

template<typename CALIBRATION>

gtsam::PinholePose< CALIBRATION >::PinholePose	(	const Vector &	v,
		const Vector &	K
	)

inline

Init from Vector and calibration.

Definition at line 313 of file PinholePose.h.

template<typename CALIBRATION>

gtsam::PinholePose< CALIBRATION >::PinholePose	(	const Pose3 &	pose,
		const Vector &	K
	)

inline

Definition at line 318 of file PinholePose.h.

template<typename CALIBRATION>

gtsam::PinholePose< CALIBRATION >::~PinholePose ( )

inlineoverride

Definition at line 355 of file PinholePose.h.

Member Function Documentation

template<typename CALIBRATION>

const CALIBRATION& gtsam::PinholePose< CALIBRATION >::calibration ( ) const

inlineoverridevirtual

return calibration

Implements gtsam::PinholeBaseK< CALIBRATION >.

Definition at line 364 of file PinholePose.h.

template<typename CALIBRATION>

size_t gtsam::PinholePose< CALIBRATION >::dim ( ) const

inline

Deprecated:

Definition at line 389 of file PinholePose.h.

template<typename CALIBRATION>

static size_t gtsam::PinholePose< CALIBRATION >::Dim ( )

inlinestatic

Deprecated:

Definition at line 394 of file PinholePose.h.

template<typename CALIBRATION>

bool gtsam::PinholePose< CALIBRATION >::equals	(	const Base &	camera,
		double	tol = `1e-9`
	)		const

inline

assert equality up to a tolerance

Definition at line 327 of file PinholePose.h.

template<typename CALIBRATION>

static PinholePose gtsam::PinholePose< CALIBRATION >::identity ( )

inlinestatic

for Canonical

Definition at line 409 of file PinholePose.h.

template<typename CALIBRATION>

static PinholePose gtsam::PinholePose< CALIBRATION >::Level	(	const boost::shared_ptr< CALIBRATION > &	K,
		const Pose2 &	pose2,
		double	height
	)

inlinestatic

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

Parameters

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

Definition at line 278 of file PinholePose.h.

template<typename CALIBRATION>

static PinholePose gtsam::PinholePose< CALIBRATION >::Level	(	const Pose2 &	pose2,
		double	height
	)

inlinestatic

PinholePose::level with default calibration.

Definition at line 284 of file PinholePose.h.

template<typename CALIBRATION>

Vector6 gtsam::PinholePose< CALIBRATION >::localCoordinates ( const PinholePose< CALIBRATION > & p ) const

inline

return canonical coordinate

Definition at line 404 of file PinholePose.h.

template<typename CALIBRATION>

static PinholePose gtsam::PinholePose< CALIBRATION >::Lookat	(	const Point3 &	eye,
		const Point3 &	target,
		const Point3 &	upVector,
		const boost::shared_ptr< CALIBRATION > &	K = `boost::make_shared<CALIBRATION>()`
	)

inlinestatic

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
K	optional calibration parameter

Definition at line 297 of file PinholePose.h.

template<typename CALIBRATION>

void gtsam::PinholePose< CALIBRATION >::print ( const std::string & s = "PinholePose< CALIBRATION >" ) const

inlineoverridevirtual

print

Reimplemented from gtsam::PinholeBase.

Definition at line 343 of file PinholePose.h.

template<typename CALIBRATION>

Point2 gtsam::PinholePose< CALIBRATION >::project2	(	const Point3 &	pw,
		OptionalJacobian< 2, 6 >	Dpose = `boost::none`,
		OptionalJacobian< 2, 3 >	Dpoint = `boost::none`
	)		const

inline

project a point from world coordinate to the image, 2 derivatives only

Parameters

pw	is a point in world coordinates
Dpose	is the Jacobian w.r.t. the whole camera (really only the pose)
Dpoint	is the Jacobian w.r.t. point3

Definition at line 373 of file PinholePose.h.

template<typename CALIBRATION>

Point2 gtsam::PinholePose< CALIBRATION >::project2	(	const Unit3 &	pw,
		OptionalJacobian< 2, 6 >	Dpose = `boost::none`,
		OptionalJacobian< 2, 2 >	Dpoint = `boost::none`
	)		const

inline

project2 version for point at infinity

Definition at line 379 of file PinholePose.h.

template<typename CALIBRATION>

PinholePose gtsam::PinholePose< CALIBRATION >::retract ( const Vector6 & d ) const

inline

move a cameras according to d

Definition at line 399 of file PinholePose.h.

template<typename CALIBRATION>

template<class Archive >

void gtsam::PinholePose< CALIBRATION >::serialize	(	Archive &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 420 of file PinholePose.h.

template<typename CALIBRATION>

const boost::shared_ptr<CALIBRATION>& gtsam::PinholePose< CALIBRATION >::sharedCalibration ( ) const

inline

return shared pointer to calibration

Definition at line 359 of file PinholePose.h.

Friends And Related Function Documentation

template<typename CALIBRATION>

friend class boost::serialization::access

friend

Serialization function

Definition at line 418 of file PinholePose.h.

template<typename CALIBRATION>

std::ostream& operator<<	(	std::ostream &	os,
		const PinholePose< CALIBRATION > &	camera
	)

friend

stream operator

Definition at line 333 of file PinholePose.h.

Member Data Documentation

template<typename CALIBRATION>

boost::shared_ptr<CALIBRATION> gtsam::PinholePose< CALIBRATION >::K_

private

shared pointer to fixed calibration

Definition at line 242 of file PinholePose.h.

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

PinholePose.h

Public Types

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Private Attributes

Friends

Testable

Manifold

Additional Inherited Members

Detailed Description

template<typename CALIBRATION> class gtsam::PinholePose< CALIBRATION >

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<typename CALIBRATION>
class gtsam::PinholePose< CALIBRATION >