gtsam::InvDepthCamera3< CALIBRATION > Class Template Reference

#include <InvDepthCamera3.h>

Private Attributes
std::shared_ptr< CALIBRATION >	k_
	The fixed camera calibration. More...
Pose3	pose_
	The camera pose. More...

Standard Constructors
	InvDepthCamera3 ()
	InvDepthCamera3 (const Pose3 &pose, const std::shared_ptr< CALIBRATION > &k)

Standard Interface
virtual	~InvDepthCamera3 ()
Pose3 &	pose ()
	return pose More...
const std::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, OptionalJacobian< 2, 6 > H1={}, OptionalJacobian< 2, 5 > H2={}, OptionalJacobian< 2, 1 > H3={}) const
std::pair< Vector5, double >	backproject (const gtsam::Point2 &pi, const double depth) const
static gtsam::Point3	invDepthTo3D (const Vector5 &pw, double rho)

Detailed Description

template<class CALIBRATION>
class gtsam::InvDepthCamera3< CALIBRATION >

A pinhole camera class that has a Pose3 and a Calibration.

Definition at line 34 of file InvDepthCamera3.h.

Constructor & Destructor Documentation

InvDepthCamera3() [1/2]

template<class CALIBRATION>

gtsam::InvDepthCamera3< CALIBRATION >::InvDepthCamera3 ( )

inline

default constructor

Definition at line 45 of file InvDepthCamera3.h.

InvDepthCamera3() [2/2]

template<class CALIBRATION>

gtsam::InvDepthCamera3< CALIBRATION >::InvDepthCamera3 ( const Pose3 &  pose, const std::shared_ptr< CALIBRATION > &  k  )

inline

constructor with pose and calibration

Definition at line 48 of file InvDepthCamera3.h.

~InvDepthCamera3()

template<class CALIBRATION>

virtual gtsam::InvDepthCamera3< CALIBRATION >::~InvDepthCamera3 ( )

inlinevirtual

Definition at line 55 of file InvDepthCamera3.h.

Member Function Documentation

backproject()

template<class CALIBRATION>

std::pair<Vector5, double> gtsam::InvDepthCamera3< CALIBRATION >::backproject ( const gtsam::Point2 &  pi, const double  depth  ) const

inline

backproject a 2-dimensional point to an Inverse Depth landmark useful for point initialization

Definition at line 159 of file InvDepthCamera3.h.

calibration()

template<class CALIBRATION>

const std::shared_ptr<CALIBRATION>& gtsam::InvDepthCamera3< CALIBRATION >::calibration ( ) const

inline

return calibration

Definition at line 61 of file InvDepthCamera3.h.

invDepthTo3D()

template<class CALIBRATION>

static gtsam::Point3 gtsam::InvDepthCamera3< CALIBRATION >::invDepthTo3D ( const Vector5 &  pw, double  rho  )

inlinestatic

Convert an inverse depth landmark to cartesian Point3

Parameters

pw	first five parameters (x,y,z,theta,phi) of inv depth landmark
inv	inverse depth

Returns

Point3

Definition at line 75 of file InvDepthCamera3.h.

pose()

template<class CALIBRATION>

Pose3& gtsam::InvDepthCamera3< CALIBRATION >::pose ( )

inline

return pose

Definition at line 58 of file InvDepthCamera3.h.

print()

template<class CALIBRATION>

void gtsam::InvDepthCamera3< CALIBRATION >::print ( const std::string &  s = "" ) const

inline

print

Definition at line 64 of file InvDepthCamera3.h.

project()

template<class CALIBRATION>

gtsam::Point2 gtsam::InvDepthCamera3< CALIBRATION >::project ( const Vector5 &  pw, double  rho, OptionalJacobian< 2, 6 >  H1 = {}, OptionalJacobian< 2, 5 >  H2 = {}, OptionalJacobian< 2, 1 >  H3 = {}  ) const

inline

project a point from world InvDepth parameterization to the image

Parameters

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 87 of file InvDepthCamera3.h.

Member Data Documentation

k_

template<class CALIBRATION>

std::shared_ptr<CALIBRATION> gtsam::InvDepthCamera3< CALIBRATION >::k_

private

The fixed camera calibration.

Definition at line 37 of file InvDepthCamera3.h.

pose_

template<class CALIBRATION>

Pose3 gtsam::InvDepthCamera3< CALIBRATION >::pose_

private

The camera pose.

Definition at line 36 of file InvDepthCamera3.h.

---

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

• InvDepthCamera3.h