#include <PinholeSet.h>

Inheritance diagram for gtsam::PinholeSet< CAMERA >:

Public Member Functions
TriangulationResult	triangulateSafe (const typename CAMERA::MeasurementVector &measured, const TriangulationParameters &params) const
	triangulateSafe More...

virtual	~PinholeSet ()

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

bool	equals (const PinholeSet &p, double tol=1e-9) const
	equals More...

Public Member Functions inherited from gtsam::CameraSet< CAMERA >
bool	equals (const CameraSet &p, double tol=1e-9) const
	equals More...

template<class POINT >
ZVector	project2 (const POINT &point, boost::optional< FBlocks & > Fs=boost::none, boost::optional< Matrix & > E=boost::none) const

template<class POINT >
Vector	reprojectionError (const POINT &point, const ZVector &measured, boost::optional< FBlocks & > Fs=boost::none, boost::optional< Matrix & > E=boost::none) const
	Calculate vector [project2(point)-z] of re-projection errors. More...

Private Types
typedef CameraSet< CAMERA >	Base

typedef PinholeSet< CAMERA >	This

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

Friends
class	boost::serialization::access
	Serialization function. More...

Additional Inherited Members
Public Types inherited from gtsam::CameraSet< CAMERA >
typedef std::vector< MatrixZD, Eigen::aligned_allocator< MatrixZD > >	FBlocks

typedef Eigen::Matrix< double, ZDim, D >	MatrixZD
	Definitions for blocks of F. More...

Static Public Member Functions inherited from gtsam::CameraSet< CAMERA >
template<int N>
static void	ComputePointCovariance (Eigen::Matrix< double, N, N > &P, const Matrix &E, double lambda, bool diagonalDamping=false)
	Computes Point Covariance P, with lambda parameter. More...

static Matrix	PointCov (const Matrix &E, const double lambda=0.0, bool diagonalDamping=false)
	Computes Point Covariance P, with lambda parameter, dynamic version. More...

template<int N>
static SymmetricBlockMatrix	SchurComplement (const FBlocks &Fs, const Matrix &E, const Eigen::Matrix< double, N, N > &P, const Vector &b)

static SymmetricBlockMatrix	SchurComplement (const FBlocks &Fblocks, const Matrix &E, const Vector &b, const double lambda=0.0, bool diagonalDamping=false)

template<int N>
static void	UpdateSchurComplement (const FBlocks &Fs, const Matrix &E, const Eigen::Matrix< double, N, N > &P, const Vector &b, const KeyVector &allKeys, const KeyVector &keys, SymmetricBlockMatrix &augmentedHessian)

Protected Types inherited from gtsam::CameraSet< CAMERA >
typedef CAMERA::Measurement	Z

typedef CAMERA::MeasurementVector	ZVector

Static Protected Member Functions inherited from gtsam::CameraSet< CAMERA >
static Vector	ErrorVector (const ZVector &predicted, const ZVector &measured)
	Make a vector of re-projection errors. More...

Static Protected Attributes inherited from gtsam::CameraSet< CAMERA >
static const int	D = traits<CAMERA>::dimension
	Camera dimension. More...

static const int	ZDim = traits<Z>::dimension
	Measurement dimension. More...

Detailed Description

template<class CAMERA>
class gtsam::PinholeSet< CAMERA >

PinholeSet: triangulates point and keeps an estimate of it around.

Definition at line 30 of file PinholeSet.h.

Member Typedef Documentation

template<class CAMERA>

typedef CameraSet<CAMERA> gtsam::PinholeSet< CAMERA >::Base

private

Definition at line 33 of file PinholeSet.h.

template<class CAMERA>

typedef PinholeSet<CAMERA> gtsam::PinholeSet< CAMERA >::This

private

Definition at line 34 of file PinholeSet.h.

Constructor & Destructor Documentation

template<class CAMERA>

virtual gtsam::PinholeSet< CAMERA >::~PinholeSet ( )

inlinevirtual

Virtual destructor

Definition at line 41 of file PinholeSet.h.

Member Function Documentation

template<class CAMERA>

bool gtsam::PinholeSet< CAMERA >::equals	(	const PinholeSet< CAMERA > &	p,
		double	tol = `1e-9`
	)		const

inline

equals

Definition at line 53 of file PinholeSet.h.

template<class CAMERA>

void gtsam::PinholeSet< CAMERA >::print ( const std::string & s = "" ) const

inlineoverridevirtual

print

Reimplemented from gtsam::CameraSet< CAMERA >.

Definition at line 48 of file PinholeSet.h.

template<class CAMERA>

template<class ARCHIVE >

void gtsam::PinholeSet< CAMERA >::serialize	(	ARCHIVE &	ar,
		const unsigned int	version
	)

inlineprivate

Definition at line 71 of file PinholeSet.h.

template<class CAMERA>

TriangulationResult gtsam::PinholeSet< CAMERA >::triangulateSafe	(	const typename CAMERA::MeasurementVector &	measured,
		const TriangulationParameters &	params
	)		const

inline

triangulateSafe

Definition at line 60 of file PinholeSet.h.

Friends And Related Function Documentation

template<class CAMERA>

friend class boost::serialization::access

friend

Serialization function.

Definition at line 69 of file PinholeSet.h.

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

PinholeSet.h

Public Member Functions

Private Types

Private Member Functions

Friends

Additional Inherited Members

Detailed Description

template<class CAMERA> class gtsam::PinholeSet< CAMERA >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

template<class CAMERA>
class gtsam::PinholeSet< CAMERA >