Functions for triangulation. More...
#include <gtsam/geometry/Cal3_S2.h>#include <gtsam/geometry/Cal3Bundler.h>#include <gtsam/geometry/CameraSet.h>#include <gtsam/geometry/PinholeCamera.h>#include <gtsam/geometry/Pose2.h>#include <gtsam/slam/TriangulationFactor.h>#include <gtsam/nonlinear/NonlinearFactorGraph.h>#include <gtsam/inference/Symbol.h>
Include dependency graph for triangulation.h:
This graph shows which files directly or indirectly include this file:
Go to the source code of this file.
Classes | |
| struct | gtsam::CameraProjectionMatrix< CALIBRATION > |
| class | gtsam::TriangulationCheiralityException |
| Exception thrown by triangulateDLT when landmark is behind one or more of the cameras. More... | |
| struct | gtsam::TriangulationParameters |
| class | gtsam::TriangulationResult |
| class | gtsam::TriangulationUnderconstrainedException |
| Exception thrown by triangulateDLT when SVD returns rank < 3. More... | |
Namespaces | |
| gtsam | |
| traits | |
Typedefs | |
| using | gtsam::CameraSetCal3_S2 = CameraSet< PinholeCamera< Cal3_S2 >> |
| using | gtsam::CameraSetCal3Bundler = CameraSet< PinholeCamera< Cal3Bundler >> |
Functions | |
| Point3 | gtsam::optimize (const NonlinearFactorGraph &graph, const Values &values, Key landmarkKey) |
| Point3 | gtsam::triangulateDLT (const std::vector< Matrix34, Eigen::aligned_allocator< Matrix34 >> &projection_matrices, const Point2Vector &measurements, double rank_tol) |
| Vector4 | gtsam::triangulateHomogeneousDLT (const std::vector< Matrix34, Eigen::aligned_allocator< Matrix34 >> &projection_matrices, const Point2Vector &measurements, double rank_tol) |
| template<class CALIBRATION > | |
| Point3 | gtsam::triangulateNonlinear (const std::vector< Pose3 > &poses, boost::shared_ptr< CALIBRATION > sharedCal, const Point2Vector &measurements, const Point3 &initialEstimate) |
| template<class CAMERA > | |
| Point3 | gtsam::triangulateNonlinear (const CameraSet< CAMERA > &cameras, const typename CAMERA::MeasurementVector &measurements, const Point3 &initialEstimate) |
| template<class CALIBRATION > | |
| Point3 | gtsam::triangulatePoint3 (const std::vector< Pose3 > &poses, boost::shared_ptr< CALIBRATION > sharedCal, const Point2Vector &measurements, double rank_tol=1e-9, bool optimize=false) |
| template<class CAMERA > | |
| Point3 | gtsam::triangulatePoint3 (const CameraSet< CAMERA > &cameras, const typename CAMERA::MeasurementVector &measurements, double rank_tol=1e-9, bool optimize=false) |
| template<class CALIBRATION > | |
| Point3 | gtsam::triangulatePoint3 (const CameraSet< PinholeCamera< CALIBRATION > > &cameras, const Point2Vector &measurements, double rank_tol=1e-9, bool optimize=false) |
| Pinhole-specific version. More... | |
| template<class CAMERA > | |
| TriangulationResult | gtsam::triangulateSafe (const CameraSet< CAMERA > &cameras, const typename CAMERA::MeasurementVector &measured, const TriangulationParameters ¶ms) |
| triangulateSafe: extensive checking of the outcome More... | |
| template<class CALIBRATION > | |
| std::pair< NonlinearFactorGraph, Values > | gtsam::triangulationGraph (const std::vector< Pose3 > &poses, boost::shared_ptr< CALIBRATION > sharedCal, const Point2Vector &measurements, Key landmarkKey, const Point3 &initialEstimate) |
| template<class CAMERA > | |
| std::pair< NonlinearFactorGraph, Values > | gtsam::triangulationGraph (const CameraSet< CAMERA > &cameras, const typename CAMERA::MeasurementVector &measurements, Key landmarkKey, const Point3 &initialEstimate) |