smartFactorScenarios.h File Reference

#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/SphericalCamera.h>
#include <gtsam/slam/GeneralSFMFactor.h>
#include <gtsam/slam/SmartProjectionFactor.h>
#include <gtsam/slam/SmartProjectionPoseFactor.h>
#include "../SmartProjectionRigFactor.h"

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Namespaces
	bundler
	bundlerPose
	sphericalCamera
	vanilla
	vanillaPose
	vanillaPose2

Typedefs
typedef PinholeCamera< Cal3_S2 >	vanilla::Camera
typedef PinholePose< Cal3_S2 >	vanillaPose::Camera
typedef PinholePose< Cal3_S2 >	vanillaPose2::Camera
typedef PinholeCamera< Cal3Bundler >	bundler::Camera
typedef PinholePose< Cal3Bundler >	bundlerPose::Camera
typedef SphericalCamera	sphericalCamera::Camera
typedef CameraSet< Camera >	vanillaPose::Cameras
typedef CameraSet< Camera >	vanillaPose2::Cameras
typedef CameraSet< Camera >	bundler::Cameras
typedef CameraSet< Camera >	bundlerPose::Cameras
typedef CameraSet< Camera >	sphericalCamera::Cameras
typedef GeneralSFMFactor< Camera, Point3 >	vanilla::SFMFactor
typedef GeneralSFMFactor< Camera, Point3 >	bundler::SFMFactor
typedef SmartProjectionFactor< Camera >	vanilla::SmartFactor
typedef SmartProjectionPoseFactor< Cal3_S2 >	vanillaPose::SmartFactor
typedef SmartProjectionPoseFactor< Cal3_S2 >	vanillaPose2::SmartFactor
typedef SmartProjectionFactor< Camera >	bundler::SmartFactor
typedef SmartProjectionPoseFactor< Cal3Bundler >	bundlerPose::SmartFactor
typedef SmartProjectionRigFactor< Camera >	sphericalCamera::SmartFactorP
typedef SmartProjectionRigFactor< Camera >	vanillaPose::SmartRigFactor
typedef SmartProjectionRigFactor< Camera >	vanillaPose2::SmartRigFactor
typedef SmartProjectionRigFactor< Camera >	bundlerPose::SmartRigFactor

Functions
static const Camera	vanilla::cam1 (level_pose, K2)
static const Camera	vanillaPose::cam1 (level_pose, sharedK)
static const Camera	vanillaPose2::cam1 (level_pose, sharedK2)
static const Camera	bundler::cam1 (level_pose, K)
static const Camera	bundlerPose::cam1 (level_pose, sharedBundlerK)
static const Camera	sphericalCamera::cam1 (level_pose)
static const Camera	vanilla::cam2 (pose_right, K2)
static const Camera	vanillaPose::cam2 (pose_right, sharedK)
static const Camera	vanillaPose2::cam2 (pose_right, sharedK2)
static const Camera	bundler::cam2 (pose_right, K)
static const Camera	bundlerPose::cam2 (pose_right, sharedBundlerK)
static const Camera	sphericalCamera::cam2 (pose_right)
static const Camera	vanilla::cam3 (pose_above, K2)
static const Camera	vanillaPose::cam3 (pose_above, sharedK)
static const Camera	vanillaPose2::cam3 (pose_above, sharedK2)
static const Camera	bundler::cam3 (pose_above, K)
static const Camera	bundlerPose::cam3 (pose_above, sharedBundlerK)
static const Camera	sphericalCamera::cam3 (pose_above)
static const EmptyCal::shared_ptr	sphericalCamera::emptyK (new EmptyCal())
static const Cal3_S2	vanilla::K (fov, w, h)
static const Cal3Bundler	bundler::K (500, 1e-3, 1e-3, 0, 0)
static const Cal3_S2	vanilla::K2 (1500, 1200, 0, w, h)
static const Camera	vanilla::level_camera (level_pose, K2)
static const Camera	vanillaPose::level_camera (level_pose, sharedK)
static const Camera	vanillaPose2::level_camera (level_pose, sharedK2)
static const Camera	bundler::level_camera (level_pose, K)
static const Camera	bundlerPose::level_camera (level_pose, sharedBundlerK)
static const Camera	sphericalCamera::level_camera (level_pose)
static const Camera	vanilla::level_camera_right (pose_right, K2)
static const Camera	vanillaPose::level_camera_right (pose_right, sharedK)
static const Camera	vanillaPose2::level_camera_right (pose_right, sharedK2)
static const Camera	bundler::level_camera_right (pose_right, K)
static const Camera	bundlerPose::level_camera_right (pose_right, sharedBundlerK)
static const Camera	sphericalCamera::level_camera_right (pose_right)
template<class CAMERA >
CAMERA	perturbCameraPose (const CAMERA &camera)
template<class CAMERA >
void	projectToMultipleCameras (const CAMERA &cam1, const CAMERA &cam2, const CAMERA &cam3, Point3 landmark, typename CAMERA::MeasurementVector &measurements_cam)
static const std::shared_ptr< Cal3Bundler >	bundlerPose::sharedBundlerK (new Cal3Bundler(500, 1e-3, 1e-3, 1000, 2000))
static const Cal3_S2::shared_ptr	vanillaPose::sharedK (new Cal3_S2(fov, w, h))
static const Cal3_S2::shared_ptr	vanillaPose2::sharedK2 (new Cal3_S2(1500, 1200, 0, 640, 480))

Variables
static const Point2	vanilla::level_uv = level_camera.project(landmark1)
static const Point2	bundler::level_uv = level_camera.project(landmark1)
static const Point2	vanilla::level_uv_right = level_camera_right.project(landmark1)
static const Point2	bundler::level_uv_right = level_camera_right.project(landmark1)
static const SmartProjectionParams	vanilla::params
static const Pose3	bundler::pose1 = level_pose

Function Documentation

perturbCameraPose()

template<class CAMERA >

CAMERA perturbCameraPose

(

const CAMERA &

camera

)

Definition at line 153 of file smartFactorScenarios.h.

projectToMultipleCameras()

template<class CAMERA >

void projectToMultipleCameras	(	const CAMERA &	cam1,
		const CAMERA &	cam2,
		const CAMERA &	cam3,
		Point3	landmark,
		typename CAMERA::MeasurementVector &	measurements_cam
	)

Definition at line 162 of file smartFactorScenarios.h.