#include <PinholePose.h>

Inheritance diagram for gtsam::PinholeBaseK< CALIBRATION >:

Public Types
typedef CALIBRATION	CalibrationType

Public Types inherited from gtsam::PinholeBase
typedef Point2	Measurement

typedef Point2Vector	MeasurementVector

typedef Rot3	Rotation

typedef Point3	Translation

Static Private Attributes
static const int	DimK = FixedDimension<CALIBRATION>::value

Standard Constructors
	PinholeBaseK ()

	PinholeBaseK (const Pose3 &pose)

Advanced Constructors
	PinholeBaseK (const Vector &v)

Standard Interface
virtual const CALIBRATION &	calibration () const =0
	return calibration More...

Transformations and measurement functions
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

Additional Inherited Members
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...

virtual void	print (const std::string &s="PinholeBase") const
	print 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::PinholeBaseK< CALIBRATION >

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

Definition at line 33 of file PinholePose.h.

Member Typedef Documentation

◆ CalibrationType

template<typename CALIBRATION >

typedef CALIBRATION gtsam::PinholeBaseK< CALIBRATION >::CalibrationType

Definition at line 44 of file PinholePose.h.

Constructor & Destructor Documentation

◆ PinholeBaseK() [1/3]

template<typename CALIBRATION >

gtsam::PinholeBaseK< CALIBRATION >::PinholeBaseK ( )

inline

default constructor

Definition at line 50 of file PinholePose.h.

◆ PinholeBaseK() [2/3]

template<typename CALIBRATION >

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

inlineexplicit

constructor with pose

Definition at line 54 of file PinholePose.h.

◆ PinholeBaseK() [3/3]

template<typename CALIBRATION >

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

inlineexplicit

Definition at line 62 of file PinholePose.h.

Member Function Documentation

◆ _project()

template<typename CALIBRATION >

template<class POINT >

Point2 gtsam::PinholeBaseK< CALIBRATION >::_project	(	const POINT &	pw,
		OptionalJacobian< 2, 6 >	Dpose,
		OptionalJacobian< 2, FixedDimension< POINT >::value >	Dpoint,
		OptionalJacobian< 2, DimK >	Dcal
	)		const

inline

Templated projection of a point (possibly at infinity) from world coordinate to the image

Parameters

pw	is a 3D point or a Unit3 (point at infinity) in world coordinates
Dpose	is the Jacobian w.r.t. pose3
Dpoint	is the Jacobian w.r.t. point3
Dcal	is the Jacobian w.r.t. calibration

Definition at line 90 of file PinholePose.h.

◆ backproject()

template<typename CALIBRATION >

Point3 gtsam::PinholeBaseK< CALIBRATION >::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

inline

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

Definition at line 133 of file PinholePose.h.

◆ backprojectPointAtInfinity()

template<typename CALIBRATION >

Unit3 gtsam::PinholeBaseK< CALIBRATION >::backprojectPointAtInfinity ( const Point2 & p ) const

inline

backproject a 2-dimensional point to a 3-dimensional point at infinity

Definition at line 164 of file PinholePose.h.

◆ calibration()

template<typename CALIBRATION >

virtual const CALIBRATION& gtsam::PinholeBaseK< CALIBRATION >::calibration ( ) const

pure virtual

return calibration

Implemented in gtsam::PinholePose< CALIBRATION >, and gtsam::PinholeCamera< Cal3Bundler >.

◆ project() [1/2]

template<typename CALIBRATION >

Point2 gtsam::PinholeBaseK< CALIBRATION >::project	(	const Point3 &	pw,
		OptionalJacobian< 2, 6 >	Dpose = `{}`,
		OptionalJacobian< 2, 3 >	Dpoint = `{}`,
		OptionalJacobian< 2, DimK >	Dcal = `{}`
	)		const

inline

project a 3D point from world coordinates into the image

Definition at line 112 of file PinholePose.h.

◆ project() [2/2]

template<typename CALIBRATION >

Point2 gtsam::PinholeBaseK< CALIBRATION >::project	(	const Unit3 &	pw,
		OptionalJacobian< 2, 6 >	Dpose = `{}`,
		OptionalJacobian< 2, 2 >	Dpoint = `{}`,
		OptionalJacobian< 2, DimK >	Dcal = `{}`
	)		const

inline

project a point at infinity from world coordinates into the image

Definition at line 126 of file PinholePose.h.

◆ projectSafe()

template<typename CALIBRATION >

std::pair<Point2, bool> gtsam::PinholeBaseK< CALIBRATION >::projectSafe ( const Point3 & pw ) const

inline

Project a point into the image and check depth.

Definition at line 76 of file PinholePose.h.

◆ range() [1/4]

template<typename CALIBRATION >

double gtsam::PinholeBaseK< CALIBRATION >::range	(	const CalibratedCamera &	camera,
		OptionalJacobian< 1, 6 >	Dcamera = `{}`,
		OptionalJacobian< 1, 6 >	Dother = `{}`
	)		const

inline

Calculate range to a CalibratedCamera

Parameters

camera Other camera

Returns: range (double)

Definition at line 196 of file PinholePose.h.

◆ range() [2/4]

template<typename CALIBRATION >

template<class CalibrationB >

double gtsam::PinholeBaseK< CALIBRATION >::range	(	const PinholeBaseK< CalibrationB > &	camera,
		OptionalJacobian< 1, 6 >	Dcamera = `{}`,
		OptionalJacobian< 1, 6 >	Dother = `{}`
	)		const

inline

Calculate range to a PinholePoseK derived class

Parameters

camera Other camera

Returns: range (double)

Definition at line 207 of file PinholePose.h.

◆ range() [3/4]

template<typename CALIBRATION >

double gtsam::PinholeBaseK< CALIBRATION >::range	(	const Point3 &	point,
		OptionalJacobian< 1, 6 >	Dcamera = `{}`,
		OptionalJacobian< 1, 3 >	Dpoint = `{}`
	)		const

inline

Calculate range to a landmark

Parameters

point 3D location of landmark

Returns: range (double)

Definition at line 175 of file PinholePose.h.

◆ range() [4/4]

template<typename CALIBRATION >

double gtsam::PinholeBaseK< CALIBRATION >::range	(	const Pose3 &	pose,
		OptionalJacobian< 1, 6 >	Dcamera = `{}`,
		OptionalJacobian< 1, 6 >	Dpose = `{}`
	)		const

inline

Calculate range to another pose

Parameters

pose	Other SO(3) pose

Returns: range (double)

Definition at line 186 of file PinholePose.h.

◆ reprojectionError()

template<typename CALIBRATION >

Point2 gtsam::PinholeBaseK< CALIBRATION >::reprojectionError	(	const Point3 &	pw,
		const Point2 &	measured,
		OptionalJacobian< 2, 6 >	Dpose = `{}`,
		OptionalJacobian< 2, 3 >	Dpoint = `{}`,
		OptionalJacobian< 2, DimK >	Dcal = `{}`
	)		const

inline

project a 3D point from world coordinates into the image

Definition at line 119 of file PinholePose.h.

Member Data Documentation

◆ DimK

template<typename CALIBRATION >

const int gtsam::PinholeBaseK< CALIBRATION >::DimK = FixedDimension<CALIBRATION>::value

staticprivate

Definition at line 40 of file PinholePose.h.

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

PinholePose.h

Public Types

Static Private Attributes

Standard Constructors

Advanced Constructors

Standard Interface

Transformations and measurement functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ CalibrationType

Constructor & Destructor Documentation

◆ PinholeBaseK() [1/3]

◆ PinholeBaseK() [2/3]

◆ PinholeBaseK() [3/3]

Member Function Documentation

◆ _project()

◆ backproject()

◆ backprojectPointAtInfinity()

◆ calibration()

◆ project() [1/2]

◆ project() [2/2]

◆ projectSafe()

◆ range() [1/4]

◆ range() [2/4]

◆ range() [3/4]

◆ range() [4/4]

◆ reprojectionError()

Member Data Documentation

◆ DimK

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