#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

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

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

Standard Constructors
	PinholePose ()

	PinholePose (const Pose3 &pose)

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

Named Constructors
static PinholePose	Level (const std::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 std::shared_ptr< CALIBRATION > &K=std::make_shared< CALIBRATION >())

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)

Testable
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...

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

Standard Interface
	~PinholePose () override

const std::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={}, OptionalJacobian< 2, 3 > Dpoint={}) const

Point2	project2 (const Unit3 &pw, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 2 > Dpoint={}) const
	project2 version for point at infinity 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...

Matrix34	cameraProjectionMatrix () const
	for Linear Triangulation More...

Vector	defaultErrorWhenTriangulatingBehindCamera () const
	for Nonlinear Triangulation More...

static size_t	Dim ()

static PinholePose	Identity ()
	for Canonical More...

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

	PinholeBaseK (const Pose3 &pose)

	PinholeBaseK (const Vector &v)

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={}, OptionalJacobian< 2, 3 > Dpoint={}, OptionalJacobian< 2, DimK > Dcal={}) const
	project a 3D point from world coordinates into the image More...

Point2	reprojectionError (const Point3 &pw, const Point2 &measured, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 3 > Dpoint={}, OptionalJacobian< 2, DimK > Dcal={}) const
	project a 3D point from world coordinates into the image More...

Point2	project (const Unit3 &pw, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 2 > Dpoint={}, OptionalJacobian< 2, DimK > Dcal={}) 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={}, OptionalJacobian< 3, 2 > Dresult_dp={}, OptionalJacobian< 3, 1 > Dresult_ddepth={}, OptionalJacobian< 3, DimK > Dresult_dcal={}) 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={}, OptionalJacobian< 1, 3 > Dpoint={}) const

double	range (const Pose3 &pose, OptionalJacobian< 1, 6 > Dcamera={}, OptionalJacobian< 1, 6 > Dpose={}) const

double	range (const CalibratedCamera &camera, OptionalJacobian< 1, 6 > Dcamera={}, OptionalJacobian< 1, 6 > Dother={}) const

template<class CalibrationB >
double	range (const PinholeBaseK< CalibrationB > &camera, OptionalJacobian< 1, 6 > Dcamera={}, OptionalJacobian< 1, 6 > Dother={}) 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={}, OptionalJacobian< 2, 3 > Dpoint={}) const

Point2	project2 (const Unit3 &point, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 2 > Dpoint={}) const

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 Point2	Project (const Point3 &pc, OptionalJacobian< 2, 3 > Dpoint={})

static Point2	Project (const Unit3 &pc, OptionalJacobian< 2, 2 > Dpoint={})

static Point3	BackprojectFromCamera (const Point2 &p, const double depth, OptionalJacobian< 3, 2 > Dpoint={}, OptionalJacobian< 3, 1 > Ddepth={})
	backproject a 2-dimensional point to a 3-dimensional point at given depth More...

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

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 >

A pinhole camera class that has a Pose3 and a fixed Calibration. Instead of using this class, one might consider calibrating the measurements and using CalibratedCamera, which would then be faster.

Definition at line 239 of file PinholePose.h.

Member Typedef Documentation

◆ Base

template<typename CALIBRATION>

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

private

base class has 3D pose as private member

Definition at line 243 of file PinholePose.h.

Member Enumeration Documentation

◆ anonymous enum

template<typename CALIBRATION>

anonymous enum

Enumerator
dimension

Definition at line 248 of file PinholePose.h.

Constructor & Destructor Documentation

◆ PinholePose() [1/6]

template<typename CALIBRATION>

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

inline

default constructor

Definition at line 256 of file PinholePose.h.

◆ PinholePose() [2/6]

template<typename CALIBRATION>

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

inlineexplicit

constructor with pose, uses default calibration

Definition at line 260 of file PinholePose.h.

◆ PinholePose() [3/6]

template<typename CALIBRATION>

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

inline

constructor with pose and calibration

Definition at line 265 of file PinholePose.h.

◆ PinholePose() [4/6]

template<typename CALIBRATION>

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

inlineexplicit

Init from 6D vector.

Definition at line 310 of file PinholePose.h.

◆ PinholePose() [5/6]

template<typename CALIBRATION>

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

inline

Init from Vector and calibration.

Definition at line 315 of file PinholePose.h.

◆ PinholePose() [6/6]

template<typename CALIBRATION>

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

inline

Definition at line 320 of file PinholePose.h.

◆ ~PinholePose()

template<typename CALIBRATION>

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

inlineoverride

Definition at line 357 of file PinholePose.h.

Member Function Documentation

◆ calibration()

template<typename CALIBRATION>

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

inlineoverridevirtual

return calibration

Implements gtsam::PinholeBaseK< CALIBRATION >.

Definition at line 366 of file PinholePose.h.

◆ cameraProjectionMatrix()

template<typename CALIBRATION>

Matrix34 gtsam::PinholePose< CALIBRATION >::cameraProjectionMatrix ( ) const

inline

for Linear Triangulation

Definition at line 416 of file PinholePose.h.

◆ defaultErrorWhenTriangulatingBehindCamera()

template<typename CALIBRATION>

Vector gtsam::PinholePose< CALIBRATION >::defaultErrorWhenTriangulatingBehindCamera ( ) const

inline

for Nonlinear Triangulation

Definition at line 422 of file PinholePose.h.

◆ dim()

template<typename CALIBRATION>

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

inline

Deprecated:

Definition at line 391 of file PinholePose.h.

◆ Dim()

template<typename CALIBRATION>

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

inlinestatic

Deprecated:

Definition at line 396 of file PinholePose.h.

◆ equals()

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 329 of file PinholePose.h.

◆ Identity()

template<typename CALIBRATION>

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

inlinestatic

for Canonical

Definition at line 411 of file PinholePose.h.

◆ Level() [1/2]

template<typename CALIBRATION>

static PinholePose gtsam::PinholePose< CALIBRATION >::Level	(	const std::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 280 of file PinholePose.h.

◆ Level() [2/2]

template<typename CALIBRATION>

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

inlinestatic

PinholePose::level with default calibration.

Definition at line 286 of file PinholePose.h.

◆ localCoordinates()

template<typename CALIBRATION>

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

inline

return canonical coordinate

Definition at line 406 of file PinholePose.h.

◆ Lookat()

template<typename CALIBRATION>

static PinholePose gtsam::PinholePose< CALIBRATION >::Lookat	(	const Point3 &	eye,
		const Point3 &	target,
		const Point3 &	upVector,
		const std::shared_ptr< CALIBRATION > &	K = `std::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 299 of file PinholePose.h.

◆ print()

template<typename CALIBRATION>

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

inlineoverridevirtual

print

Reimplemented from gtsam::PinholeBase.

Definition at line 345 of file PinholePose.h.

◆ project2() [1/2]

template<typename CALIBRATION>

Point2 gtsam::PinholePose< CALIBRATION >::project2	(	const Point3 &	pw,
		OptionalJacobian< 2, 6 >	Dpose = `{}`,
		OptionalJacobian< 2, 3 >	Dpoint = `{}`
	)		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 375 of file PinholePose.h.

◆ project2() [2/2]

template<typename CALIBRATION>

Point2 gtsam::PinholePose< CALIBRATION >::project2	(	const Unit3 &	pw,
		OptionalJacobian< 2, 6 >	Dpose = `{}`,
		OptionalJacobian< 2, 2 >	Dpoint = `{}`
	)		const

inline

project2 version for point at infinity

Definition at line 381 of file PinholePose.h.

◆ retract()

template<typename CALIBRATION>

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

inline

move a cameras according to d

Definition at line 401 of file PinholePose.h.

◆ sharedCalibration()

template<typename CALIBRATION>

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

inline

return shared pointer to calibration

Definition at line 361 of file PinholePose.h.

Friends And Related Function Documentation

◆ operator<<

template<typename CALIBRATION>

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

friend

stream operator

Definition at line 335 of file PinholePose.h.

Member Data Documentation

◆ K_

template<typename CALIBRATION>

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

private

shared pointer to fixed calibration

Definition at line 244 of file PinholePose.h.

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

PinholePose.h

Public Types

Private Types

Private Attributes

Standard Constructors

Named Constructors

Advanced Constructors

Testable

Standard Interface

Manifold

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ Base

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ PinholePose() [1/6]

◆ PinholePose() [2/6]

◆ PinholePose() [3/6]

◆ PinholePose() [4/6]

◆ PinholePose() [5/6]

◆ PinholePose() [6/6]

◆ ~PinholePose()

Member Function Documentation

◆ calibration()

◆ cameraProjectionMatrix()

◆ defaultErrorWhenTriangulatingBehindCamera()

◆ dim()

◆ Dim()

◆ equals()

◆ Identity()

◆ Level() [1/2]

◆ Level() [2/2]

◆ localCoordinates()

◆ Lookat()

◆ print()

◆ project2() [1/2]

◆ project2() [2/2]

◆ retract()

◆ sharedCalibration()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ K_

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