gtsam::StereoCamera Class Reference

#include <StereoCamera.h>

Public Types
enum	{ dimension = 6 }
typedef StereoPoint2	Measurement
typedef StereoPoint2Vector	MeasurementVector

Public Member Functions
Standard Constructors
	StereoCamera ()
	Default constructor allocates a calibration! More...
	StereoCamera (const Pose3 &leftCamPose, const Cal3_S2Stereo::shared_ptr K)
	Construct from pose and shared calibration. More...
const Cal3_S2Stereo &	calibration () const
	Return shared pointer to calibration. More...
Testable
void	print (const std::string &s="") const
	print More...
bool	equals (const StereoCamera &camera, double tol=1e-9) const
	equals More...
Standard Interface
const Pose3 &	pose () const
	pose More...
double	baseline () const
	baseline More...
StereoPoint2	project (const Point3 &point) const
	Project 3D point to StereoPoint2 (uL,uR,v) More...
StereoPoint2	project2 (const Point3 &point, OptionalJacobian< 3, 6 > H1=boost::none, OptionalJacobian< 3, 3 > H2=boost::none) const
Point3	backproject (const StereoPoint2 &z) const
	back-project a measurement More...
Point3	backproject2 (const StereoPoint2 &z, OptionalJacobian< 3, 6 > H1=boost::none, OptionalJacobian< 3, 3 > H2=boost::none) const
Deprecated
StereoPoint2	project (const Point3 &point, OptionalJacobian< 3, 6 > H1, OptionalJacobian< 3, 3 > H2=boost::none, OptionalJacobian< 3, 0 > H3=boost::none) const

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

Private Attributes
Cal3_S2Stereo::shared_ptr	K_
Pose3	leftCamPose_

Friends
class	boost::serialization::access

Manifold
size_t	dim () const
	Dimensionality of the tangent space. More...
StereoCamera	retract (const Vector &v) const
	Updates a with tangent space delta. More...
Vector6	localCoordinates (const StereoCamera &t2) const
	Local coordinates of manifold neighborhood around current value. More...
static size_t	Dim ()
	Dimensionality of the tangent space. More...

Detailed Description

Definition at line 47 of file StereoCamera.h.

Member Typedef Documentation

typedef StereoPoint2 gtsam::StereoCamera::Measurement

Some classes template on either PinholeCamera or StereoCamera, and this typedef informs those classes what "project" returns.

Definition at line 55 of file StereoCamera.h.

typedef StereoPoint2Vector gtsam::StereoCamera::MeasurementVector

Definition at line 56 of file StereoCamera.h.

Member Enumeration Documentation

anonymous enum

Enumerator
dimension

Definition at line 64 of file StereoCamera.h.

Constructor & Destructor Documentation

gtsam::StereoCamera::StereoCamera ( )

inline

Default constructor allocates a calibration!

Definition at line 72 of file StereoCamera.h.

gtsam::StereoCamera::StereoCamera	(	const Pose3 &	leftCamPose,
		const Cal3_S2Stereo::shared_ptr	K
	)

Construct from pose and shared calibration.

Definition at line 26 of file StereoCamera.cpp.

Member Function Documentation

Point3 gtsam::StereoCamera::backproject

(

const StereoPoint2 &

z

)

const

back-project a measurement

Definition at line 92 of file StereoCamera.cpp.

Point3 gtsam::StereoCamera::backproject2	(	const StereoPoint2 &	z,
		OptionalJacobian< 3, 6 >	H1 = boost::none,
		OptionalJacobian< 3, 3 >	H2 = boost::none
	)		const

Back-project the 2D point and compute optional derivatives

Parameters

H1	derivative with respect to pose
H2	derivative with respect to point

Definition at line 102 of file StereoCamera.cpp.

double gtsam::StereoCamera::baseline ( ) const

inline

baseline

Definition at line 134 of file StereoCamera.h.

const Cal3_S2Stereo& gtsam::StereoCamera::calibration ( ) const

inline

Return shared pointer to calibration.

Definition at line 80 of file StereoCamera.h.

size_t gtsam::StereoCamera::dim ( ) const

inline

Dimensionality of the tangent space.

Definition at line 105 of file StereoCamera.h.

static size_t gtsam::StereoCamera::Dim ( )

inlinestatic

Dimensionality of the tangent space.

Definition at line 110 of file StereoCamera.h.

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

inline

equals

Definition at line 95 of file StereoCamera.h.

Vector6 gtsam::StereoCamera::localCoordinates ( const StereoCamera &  t2 ) const

inline

Local coordinates of manifold neighborhood around current value.

Definition at line 120 of file StereoCamera.h.

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

inline

pose

Definition at line 129 of file StereoCamera.h.

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

inline

print

Definition at line 89 of file StereoCamera.h.

StereoPoint2 gtsam::StereoCamera::project

(

const Point3 &

point

)

const

Project 3D point to StereoPoint2 (uL,uR,v)

Definition at line 32 of file StereoCamera.cpp.

StereoPoint2 gtsam::StereoCamera::project	(	const Point3 &	point,
		OptionalJacobian< 3, 6 >	H1,
		OptionalJacobian< 3, 3 >	H2 = boost::none,
		OptionalJacobian< 3, 0 >	H3 = boost::none
	)		const

Project 3D point and compute optional derivatives

Deprecated:

, use project2 - this class has fixed calibration

Parameters

H1	derivative with respect to pose
H2	derivative with respect to point
H3	IGNORED (for calibration)

Definition at line 82 of file StereoCamera.cpp.

StereoPoint2 gtsam::StereoCamera::project2	(	const Point3 &	point,
		OptionalJacobian< 3, 6 >	H1 = boost::none,
		OptionalJacobian< 3, 3 >	H2 = boost::none
	)		const

Project 3D point and compute optional derivatives

Parameters

H1	derivative with respect to pose
H2	derivative with respect to point

Definition at line 37 of file StereoCamera.cpp.

StereoCamera gtsam::StereoCamera::retract ( const Vector &  v ) const

inline

Updates a with tangent space delta.

Definition at line 115 of file StereoCamera.h.

template<class Archive >

void gtsam::StereoCamera::serialize ( Archive &  ar, const unsigned  int  )

inlineprivate

Definition at line 179 of file StereoCamera.h.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Definition at line 177 of file StereoCamera.h.

Member Data Documentation

Cal3_S2Stereo::shared_ptr gtsam::StereoCamera::K_

private

Definition at line 60 of file StereoCamera.h.

Pose3 gtsam::StereoCamera::leftCamPose_

private

Definition at line 59 of file StereoCamera.h.

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

• StereoCamera.h
• StereoCamera.cpp