#include <CalibratedCamera.h>

Inheritance diagram for gtsam::PinholeBase:

[legend]

Public Types
typedef Point2	Measurement

typedef Point2Vector	MeasurementVector

typedef Rot3	Rotation

typedef Point3	Translation

Private Attributes
Pose3	pose_
	3D pose of camera More...

Derivatives
static Matrix26	Dpose (const Point2 &pn, double d)

static Matrix23	Dpoint (const Point2 &pn, double d, const Matrix3 &Rt)

Static functions
static Pose3	LevelPose (const Pose2 &pose2, double height)

static Pose3	LookatPose (const Point3 &eye, const Point3 &target, const Point3 &upVector)

Standard Constructors
	PinholeBase ()
	Default constructor. More...

	PinholeBase (const Pose3 &pose)
	Constructor with pose. More...

Advanced Constructors
	PinholeBase (const Vector &v)

virtual	~PinholeBase ()=default
	Default destructor. More...

Testable
bool	equals (const PinholeBase &camera, double tol=1e-9) const
	assert equality up to a tolerance More...

virtual void	print (const std::string &s="PinholeBase") const
	print More...

Standard Interface
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...

Transformations and measurement functions
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...

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

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

Detailed Description

A pinhole camera class that has a Pose3, functions as base class for all pinhole cameras

Definition at line 54 of file CalibratedCamera.h.

Member Typedef Documentation

◆ Measurement

typedef Point2 gtsam::PinholeBase::Measurement

Some classes template on either PinholeCamera or StereoCamera, and this typedef informs those classes what "project" returns.

Definition at line 66 of file CalibratedCamera.h.

◆ MeasurementVector

typedef Point2Vector gtsam::PinholeBase::MeasurementVector

Definition at line 67 of file CalibratedCamera.h.

◆ Rotation

typedef Rot3 gtsam::PinholeBase::Rotation

Pose Concept requirements

Definition at line 59 of file CalibratedCamera.h.

◆ Translation

typedef Point3 gtsam::PinholeBase::Translation

Definition at line 60 of file CalibratedCamera.h.

Constructor & Destructor Documentation

◆ PinholeBase() [1/3]

gtsam::PinholeBase::PinholeBase ( )

inline

Default constructor.

Definition at line 125 of file CalibratedCamera.h.

◆ PinholeBase() [2/3]

gtsam::PinholeBase::PinholeBase ( const Pose3 & pose )

inlineexplicit

Constructor with pose.

Definition at line 128 of file CalibratedCamera.h.

◆ PinholeBase() [3/3]

gtsam::PinholeBase::PinholeBase ( const Vector & v )

inlineexplicit

Definition at line 134 of file CalibratedCamera.h.

◆ ~PinholeBase()

virtual gtsam::PinholeBase::~PinholeBase ( )

virtualdefault

Default destructor.

Member Function Documentation

◆ BackprojectFromCamera()

Point3 gtsam::PinholeBase::BackprojectFromCamera	(	const Point2 &	p,
		const double	depth,
		OptionalJacobian< 3, 2 >	Dpoint = `{}`,
		OptionalJacobian< 3, 1 >	Ddepth = `{}`
	)

static

backproject a 2-dimensional point to a 3-dimensional point at given depth

Definition at line 167 of file CalibratedCamera.cpp.

◆ Dpoint()

Matrix23 gtsam::PinholeBase::Dpoint	(	const Point2 &	pn,
		double	d,
		const Matrix3 &	Rt
	)

staticprotected

Calculate Jacobian with respect to point

Parameters

pn	projection in normalized coordinates
d	disparity (inverse depth)
Rt	transposed rotation matrix

Definition at line 37 of file CalibratedCamera.cpp.

◆ Dpose()

Matrix26 gtsam::PinholeBase::Dpose	(	const Point2 &	pn,
		double	d
	)

staticprotected

Calculate Jacobian with respect to pose

Parameters

pn	projection in normalized coordinates
d	disparity (inverse depth)

Definition at line 27 of file CalibratedCamera.cpp.

◆ equals()

bool gtsam::PinholeBase::equals	(	const PinholeBase &	camera,
		double	tol = `1e-9`
	)		const

assert equality up to a tolerance

Definition at line 69 of file CalibratedCamera.cpp.

◆ getPose()

const Pose3 & gtsam::PinholeBase::getPose ( OptionalJacobian< 6, 6 > H ) const

return pose, with derivative

Definition at line 79 of file CalibratedCamera.cpp.

◆ LevelPose()

Pose3 gtsam::PinholeBase::LevelPose	(	const Pose2 &	pose2,
		double	height
	)

static

Create a level pose 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 49 of file CalibratedCamera.cpp.

◆ LookatPose()

Pose3 gtsam::PinholeBase::LookatPose	(	const Point3 &	eye,
		const Point3 &	target,
		const Point3 &	upVector
	)

static

Create a camera pose 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

Definition at line 58 of file CalibratedCamera.cpp.

◆ pose()

const Pose3& gtsam::PinholeBase::pose ( ) const

inline

return pose, constant version

Definition at line 154 of file CalibratedCamera.h.

◆ print()

void gtsam::PinholeBase::print ( const std::string & s = "PinholeBase" ) const

virtual

print

Reimplemented in gtsam::PinholePose< CALIBRATION >, gtsam::PinholeCamera< Calibration >, gtsam::PinholeCamera< Cal3Bundler >, and gtsam::CalibratedCamera.

Definition at line 74 of file CalibratedCamera.cpp.

◆ Project() [1/2]

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

static

Project from 3D point in camera coordinates into image Does not throw a CheiralityException, even if pc behind image plane

Parameters

pc	point in camera coordinates

Definition at line 88 of file CalibratedCamera.cpp.

◆ Project() [2/2]

Point2 gtsam::PinholeBase::Project	(	const Unit3 &	pc,
		OptionalJacobian< 2, 2 >	Dpoint = `{}`
	)

static

Project from 3D point at infinity in camera coordinates into image Does not throw a CheiralityException, even if pc behind image plane

Parameters

pc	point in camera coordinates

Definition at line 97 of file CalibratedCamera.cpp.

◆ project2() [1/2]

Point2 gtsam::PinholeBase::project2	(	const Point3 &	point,
		OptionalJacobian< 2, 6 >	Dpose = `{}`,
		OptionalJacobian< 2, 3 >	Dpoint = `{}`
	)		const

Project point into the image Throws a CheiralityException if point behind image plane iff GTSAM_THROW_CHEIRALITY_EXCEPTION

Parameters

point 3D point in world coordinates

Returns: the intrinsic coordinates of the projected point

Definition at line 116 of file CalibratedCamera.cpp.

◆ project2() [2/2]

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

Project point at infinity into the image Throws a CheiralityException if point behind image plane iff GTSAM_THROW_CHEIRALITY_EXCEPTION

Parameters

point 3D point in world coordinates

Returns: the intrinsic coordinates of the projected point

Definition at line 138 of file CalibratedCamera.cpp.

◆ projectSafe()

pair< Point2, bool > gtsam::PinholeBase::projectSafe ( const Point3 & pw ) const

Project a point into the image and check depth.

Definition at line 109 of file CalibratedCamera.cpp.

◆ rotation()

const Rot3& gtsam::PinholeBase::rotation ( ) const

inline

get rotation

Definition at line 159 of file CalibratedCamera.h.

◆ translation()

const Point3& gtsam::PinholeBase::translation ( ) const

inline

get translation

Definition at line 164 of file CalibratedCamera.h.

◆ translationInterval()

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

inlinestatic

Return the start and end indices (inclusive) of the translation component of the exponential map parameterization

Returns: a pair of [start, end] indices into the tangent space vector

Definition at line 225 of file CalibratedCamera.h.

Member Data Documentation

◆ pose_

Pose3 gtsam::PinholeBase::pose_

private

3D pose of camera

Definition at line 71 of file CalibratedCamera.h.

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

Public Types

Private Attributes

Derivatives

Static functions

Standard Constructors

Advanced Constructors

Testable

Standard Interface

Transformations and measurement functions

Advanced interface

Detailed Description

Member Typedef Documentation

◆ Measurement

◆ MeasurementVector

◆ Rotation

◆ Translation

Constructor & Destructor Documentation

◆ PinholeBase() [1/3]

◆ PinholeBase() [2/3]

◆ PinholeBase() [3/3]

◆ ~PinholeBase()

Member Function Documentation

◆ BackprojectFromCamera()

◆ Dpoint()

◆ Dpose()

◆ equals()

◆ getPose()

◆ LevelPose()

◆ LookatPose()

◆ pose()

◆ print()

◆ Project() [1/2]

◆ Project() [2/2]

◆ project2() [1/2]

◆ project2() [2/2]

◆ projectSafe()

◆ rotation()

◆ translation()

◆ translationInterval()

Member Data Documentation

◆ pose_