#include <PinholeSet.h>
Inheritance diagram for gtsam::PinholeSet< CAMERA >:
Public Member Functions | |
| TriangulationResult | triangulateSafe (const typename CAMERA::MeasurementVector &measured, const TriangulationParameters ¶ms) 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, FBlocks *Fs=nullptr, Matrix *E=nullptr) const |
| template<class POINT , class... OptArgs> | |
| ZVector | project2 (const POINT &point, OptArgs &... args) const |
| template<class POINT > | |
| Vector | reprojectionError (const POINT &point, const ZVector &measured, FBlocks *Fs=nullptr, Matrix *E=nullptr) const |
| Calculate vector [project2(point)-z] of re-projection errors. More... | |
| template<class POINT , class... OptArgs, typename = std::enable_if_t<sizeof...(OptArgs)!=0>> | |
| Vector | reprojectionError (const POINT &point, const ZVector &measured, OptArgs &... args) const |
| virtual | ~CameraSet ()=default |
| Destructor. More... | |
Private Types | |
| typedef CameraSet< CAMERA > | Base |
| typedef PinholeSet< CAMERA > | This |
Additional Inherited Members | |
| Public Types inherited from gtsam::CameraSet< CAMERA > | |
| using | FBlocks = std::vector< MatrixZD, Eigen::aligned_allocator< MatrixZD > > |
| using | MatrixZD = Eigen::Matrix< double, ZDim, D > |
| 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, int ND> | |
| static SymmetricBlockMatrix | SchurComplement (const std::vector< Eigen::Matrix< double, ZDim, ND >, Eigen::aligned_allocator< Eigen::Matrix< double, ZDim, ND >>> &Fs, const Matrix &E, const Eigen::Matrix< double, N, N > &P, const Vector &b) |
| 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, int ND, int NDD> | |
| static SymmetricBlockMatrix | SchurComplementAndRearrangeBlocks (const std::vector< Eigen::Matrix< double, ZDim, ND >, Eigen::aligned_allocator< Eigen::Matrix< double, ZDim, ND >>> &Fs, const Matrix &E, const Eigen::Matrix< double, N, N > &P, const Vector &b, const KeyVector &jacobianKeys, const KeyVector &hessianKeys) |
| 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 > | |
| using | Base = std::vector< CAMERA, typename Eigen::aligned_allocator< 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 29 of file PinholeSet.h.
Member Typedef Documentation
◆ Base
template<class CAMERA>
|
private |
Definition at line 32 of file PinholeSet.h.
◆ This
template<class CAMERA>
|
private |
Definition at line 33 of file PinholeSet.h.
Constructor & Destructor Documentation
◆ ~PinholeSet()
template<class CAMERA>
|
inlinevirtual |
Virtual destructor
Definition at line 40 of file PinholeSet.h.
Member Function Documentation
◆ equals()
template<class CAMERA>
|
inline |
equals
Definition at line 52 of file PinholeSet.h.
◆ print()
template<class CAMERA>
|
inlineoverridevirtual |
◆ triangulateSafe()
template<class CAMERA>
|
inline |
triangulateSafe
Definition at line 59 of file PinholeSet.h.
The documentation for this class was generated from the following file: