#include <StereoCamera.h>

Public Types
enum	{ dimension = 6 }

typedef StereoPoint2	Measurement

typedef StereoPoint2Vector	MeasurementVector

Public Member Functions
Standard Constructors
	StereoCamera ()
	Default constructor allocates a calibration! More...

	StereoCamera (const Pose3 &leftCamPose, const Cal3_S2Stereo::shared_ptr K)
	Construct from pose and shared calibration. More...

const Cal3_S2Stereo &	calibration () const
	Return shared pointer to calibration. More...

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

bool	equals (const StereoCamera &camera, double tol=1e-9) const
	equals More...

Standard Interface
const Pose3 &	pose () const
	pose More...

double	baseline () const
	baseline More...

StereoPoint2	project (const Point3 &point) const
	Project 3D point to StereoPoint2 (uL,uR,v) More...

StereoPoint2	project2 (const Point3 &point, OptionalJacobian< 3, 6 > H1={}, OptionalJacobian< 3, 3 > H2={}) const

Point3	backproject (const StereoPoint2 &z) const
	back-project a measurement More...

Point3	backproject2 (const StereoPoint2 &z, OptionalJacobian< 3, 6 > H1={}, OptionalJacobian< 3, 3 > H2={}) const

Deprecated
StereoPoint2	project (const Point3 &point, OptionalJacobian< 3, 6 > H1, OptionalJacobian< 3, 3 > H2={}, OptionalJacobian< 3, 0 > H3={}) const

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

Private Attributes
Cal3_S2Stereo::shared_ptr	K_

Pose3	leftCamPose_

Manifold
size_t	dim () const
	Dimensionality of the tangent space. More...

StereoCamera	retract (const Vector &v) const
	Updates a with tangent space delta. More...

Vector6	localCoordinates (const StereoCamera &t2) const
	Local coordinates of manifold neighborhood around current value. More...

static size_t	Dim ()
	Dimensionality of the tangent space. More...

Detailed Description

A stereo camera class, parameterize by left camera pose and stereo calibration

Definition at line 47 of file StereoCamera.h.

Member Typedef Documentation

◆ Measurement

typedef StereoPoint2 gtsam::StereoCamera::Measurement

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

Definition at line 55 of file StereoCamera.h.

◆ MeasurementVector

typedef StereoPoint2Vector gtsam::StereoCamera::MeasurementVector

Definition at line 56 of file StereoCamera.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
dimension

Definition at line 64 of file StereoCamera.h.

Constructor & Destructor Documentation

◆ StereoCamera() [1/2]

gtsam::StereoCamera::StereoCamera ( )

inline

Default constructor allocates a calibration!

Definition at line 72 of file StereoCamera.h.

◆ StereoCamera() [2/2]

gtsam::StereoCamera::StereoCamera	(	const Pose3 &	leftCamPose,
		const Cal3_S2Stereo::shared_ptr	K
	)

Construct from pose and shared calibration.

Definition at line 26 of file StereoCamera.cpp.

Member Function Documentation

◆ backproject()

Point3 gtsam::StereoCamera::backproject ( const StereoPoint2 & z ) const

back-project a measurement

Definition at line 92 of file StereoCamera.cpp.

◆ backproject2()

Point3 gtsam::StereoCamera::backproject2	(	const StereoPoint2 &	z,
		OptionalJacobian< 3, 6 >	H1 = `{}`,
		OptionalJacobian< 3, 3 >	H2 = `{}`
	)		const

Back-project the 2D point and compute optional derivatives

Parameters

H1	derivative with respect to pose
H2	derivative with respect to point

Definition at line 102 of file StereoCamera.cpp.

◆ baseline()

double gtsam::StereoCamera::baseline ( ) const

inline

baseline

Definition at line 134 of file StereoCamera.h.

◆ calibration()

const Cal3_S2Stereo& gtsam::StereoCamera::calibration ( ) const

inline

Return shared pointer to calibration.

Definition at line 80 of file StereoCamera.h.

◆ defaultErrorWhenTriangulatingBehindCamera()

Vector gtsam::StereoCamera::defaultErrorWhenTriangulatingBehindCamera ( ) const

inline

for Nonlinear Triangulation

Definition at line 174 of file StereoCamera.h.

◆ Dim()

static size_t gtsam::StereoCamera::Dim ( )

inlinestatic

Dimensionality of the tangent space.

Definition at line 110 of file StereoCamera.h.

◆ dim()

size_t gtsam::StereoCamera::dim ( ) const

inline

Dimensionality of the tangent space.

Definition at line 105 of file StereoCamera.h.

◆ equals()

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

inline

equals

Definition at line 95 of file StereoCamera.h.

◆ localCoordinates()

Vector6 gtsam::StereoCamera::localCoordinates ( const StereoCamera & t2 ) const

inline

Local coordinates of manifold neighborhood around current value.

Definition at line 120 of file StereoCamera.h.

◆ pose()

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

inline

pose

Definition at line 129 of file StereoCamera.h.

◆ print()

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

inline

print

Definition at line 89 of file StereoCamera.h.

◆ project() [1/2]

StereoPoint2 gtsam::StereoCamera::project ( const Point3 & point ) const

Project 3D point to StereoPoint2 (uL,uR,v)

Definition at line 32 of file StereoCamera.cpp.

◆ project() [2/2]

StereoPoint2 gtsam::StereoCamera::project	(	const Point3 &	point,
		OptionalJacobian< 3, 6 >	H1,
		OptionalJacobian< 3, 3 >	H2 = `{}`,
		OptionalJacobian< 3, 0 >	H3 = `{}`
	)		const

Project 3D point and compute optional derivatives

Deprecated:: , use project2 - this class has fixed calibration

Parameters

H1	derivative with respect to pose
H2	derivative with respect to point
H3	IGNORED (for calibration)

Definition at line 82 of file StereoCamera.cpp.

◆ project2()

StereoPoint2 gtsam::StereoCamera::project2	(	const Point3 &	point,
		OptionalJacobian< 3, 6 >	H1 = `{}`,
		OptionalJacobian< 3, 3 >	H2 = `{}`
	)		const

Project 3D point and compute optional derivatives

Parameters

H1	derivative with respect to pose
H2	derivative with respect to point

Definition at line 37 of file StereoCamera.cpp.

◆ retract()

StereoCamera gtsam::StereoCamera::retract ( const Vector & v ) const

inline

Updates a with tangent space delta.

Definition at line 115 of file StereoCamera.h.

Member Data Documentation

◆ K_

Cal3_S2Stereo::shared_ptr gtsam::StereoCamera::K_

private

Definition at line 60 of file StereoCamera.h.

◆ leftCamPose_

Pose3 gtsam::StereoCamera::leftCamPose_

private

Definition at line 59 of file StereoCamera.h.

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

Public Types

Public Member Functions

Private Attributes

Manifold

Detailed Description

Member Typedef Documentation

◆ Measurement

◆ MeasurementVector

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ StereoCamera() [1/2]

◆ StereoCamera() [2/2]

Member Function Documentation

◆ backproject()

◆ backproject2()

◆ baseline()

◆ calibration()

◆ defaultErrorWhenTriangulatingBehindCamera()

◆ Dim()

◆ dim()

◆ equals()

◆ localCoordinates()

◆ pose()

◆ print()

◆ project() [1/2]

◆ project() [2/2]

◆ project2()

◆ retract()

Member Data Documentation

◆ K_

◆ leftCamPose_