#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

Public Member Functions
Standard Constructors
	PinholeBaseK ()

	PinholeBaseK (const Pose3 &pose)

Advanced Constructors
	PinholeBaseK (const Vector &v)

Standard Interface
virtual	~PinholeBaseK ()

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

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=boost::none, OptionalJacobian< 2, 3 > Dpoint=boost::none) const

Point2	project2 (const Unit3 &point, OptionalJacobian< 2, 6 > Dpose=boost::none, OptionalJacobian< 2, 2 > Dpoint=boost::none) const

Private Member Functions
	GTSAM_CONCEPT_MANIFOLD_TYPE (CALIBRATION)

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

Transformations and measurement functions
class	boost::serialization::access

template<class Archive >
void	serialize (Archive &ar, const unsigned int)

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=boost::none, OptionalJacobian< 2, 3 > Dpoint=boost::none, OptionalJacobian< 2, DimK > Dcal=boost::none) const
	project a 3D point from world coordinates into the image More...

Point2	project (const Unit3 &pw, OptionalJacobian< 2, 6 > Dpose=boost::none, OptionalJacobian< 2, 2 > Dpoint=boost::none, OptionalJacobian< 2, DimK > Dcal=boost::none) 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=boost::none, OptionalJacobian< 3, 2 > Dresult_dp=boost::none, OptionalJacobian< 3, 1 > Dresult_ddepth=boost::none, OptionalJacobian< 3, DimK > Dresult_dcal=boost::none) 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=boost::none, OptionalJacobian< 1, 3 > Dpoint=boost::none) const

double	range (const Pose3 &pose, OptionalJacobian< 1, 6 > Dcamera=boost::none, OptionalJacobian< 1, 6 > Dpose=boost::none) const

double	range (const CalibratedCamera &camera, OptionalJacobian< 1, 6 > Dcamera=boost::none, OptionalJacobian< 1, 6 > Dother=boost::none) const

template<class CalibrationB >
double	range (const PinholeBaseK< CalibrationB > &camera, OptionalJacobian< 1, 6 > Dcamera=boost::none, OptionalJacobian< 1, 6 > Dother=boost::none) const

Additional Inherited Members
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 std::pair< size_t, size_t >	translationInterval ()

static Point2	Project (const Point3 &pc, OptionalJacobian< 2, 3 > Dpoint=boost::none)

static Point2	Project (const Unit3 &pc, OptionalJacobian< 2, 2 > Dpoint=boost::none)

static Point3	BackprojectFromCamera (const Point2 &p, const double depth, OptionalJacobian< 3, 2 > Dpoint=boost::none, OptionalJacobian< 3, 1 > Ddepth=boost::none)
	backproject a 2-dimensional point to a 3-dimensional point at given depth More...

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 >

Definition at line 34 of file PinholePose.h.

Member Typedef Documentation

template<typename CALIBRATION>

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

Definition at line 45 of file PinholePose.h.

Constructor & Destructor Documentation

template<typename CALIBRATION>

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

inline

default constructor

Definition at line 51 of file PinholePose.h.

template<typename CALIBRATION>

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

inlineexplicit

constructor with pose

Definition at line 55 of file PinholePose.h.

template<typename CALIBRATION>

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

inlineexplicit

Definition at line 63 of file PinholePose.h.

template<typename CALIBRATION>

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

inlinevirtual

Definition at line 71 of file PinholePose.h.

Member Function Documentation

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 96 of file PinholePose.h.

template<typename CALIBRATION>

Point3 gtsam::PinholeBaseK< CALIBRATION >::backproject	(	const Point2 &	p,
		double	depth,
		OptionalJacobian< 3, 6 >	Dresult_dpose = `boost::none`,
		OptionalJacobian< 3, 2 >	Dresult_dp = `boost::none`,
		OptionalJacobian< 3, 1 >	Dresult_ddepth = `boost::none`,
		OptionalJacobian< 3, DimK >	Dresult_dcal = `boost::none`
	)		const

inline

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

Definition at line 132 of file PinholePose.h.

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.

template<typename CALIBRATION>

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

pure virtual

return calibration

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

template<typename CALIBRATION>

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

private

template<typename CALIBRATION>

Point2 gtsam::PinholeBaseK< CALIBRATION >::project	(	const Point3 &	pw,
		OptionalJacobian< 2, 6 >	Dpose = `boost::none`,
		OptionalJacobian< 2, 3 >	Dpoint = `boost::none`,
		OptionalJacobian< 2, DimK >	Dcal = `boost::none`
	)		const

inline

project a 3D point from world coordinates into the image

Definition at line 118 of file PinholePose.h.

template<typename CALIBRATION>

Point2 gtsam::PinholeBaseK< CALIBRATION >::project	(	const Unit3 &	pw,
		OptionalJacobian< 2, 6 >	Dpose = `boost::none`,
		OptionalJacobian< 2, 2 >	Dpoint = `boost::none`,
		OptionalJacobian< 2, DimK >	Dcal = `boost::none`
	)		const

inline

project a point at infinity from world coordinates into the image

Definition at line 125 of file PinholePose.h.

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 82 of file PinholePose.h.

template<typename CALIBRATION>

double gtsam::PinholeBaseK< CALIBRATION >::range	(	const Point3 &	point,
		OptionalJacobian< 1, 6 >	Dcamera = `boost::none`,
		OptionalJacobian< 1, 3 >	Dpoint = `boost::none`
	)		const

inline

Calculate range to a landmark

Parameters

point 3D location of landmark

Returns: range (double)

Definition at line 175 of file PinholePose.h.

template<typename CALIBRATION>

double gtsam::PinholeBaseK< CALIBRATION >::range	(	const Pose3 &	pose,
		OptionalJacobian< 1, 6 >	Dcamera = `boost::none`,
		OptionalJacobian< 1, 6 >	Dpose = `boost::none`
	)		const

inline

Calculate range to another pose

Parameters

pose	Other SO(3) pose

Returns: range (double)

Definition at line 186 of file PinholePose.h.

template<typename CALIBRATION>

double gtsam::PinholeBaseK< CALIBRATION >::range	(	const CalibratedCamera &	camera,
		OptionalJacobian< 1, 6 >	Dcamera = `boost::none`,
		OptionalJacobian< 1, 6 >	Dother = `boost::none`
	)		const

inline

Calculate range to a CalibratedCamera

Parameters

camera Other camera

Returns: range (double)

Definition at line 196 of file PinholePose.h.

template<typename CALIBRATION>

template<class CalibrationB >

double gtsam::PinholeBaseK< CALIBRATION >::range	(	const PinholeBaseK< CalibrationB > &	camera,
		OptionalJacobian< 1, 6 >	Dcamera = `boost::none`,
		OptionalJacobian< 1, 6 >	Dother = `boost::none`
	)		const

inline

Calculate range to a PinholePoseK derived class

Parameters

camera Other camera

Returns: range (double)

Definition at line 207 of file PinholePose.h.

template<typename CALIBRATION>

template<class Archive >

void gtsam::PinholeBaseK< CALIBRATION >::serialize	(	Archive &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 218 of file PinholePose.h.

Friends And Related Function Documentation

template<typename CALIBRATION>

friend class boost::serialization::access

friend

Serialization function

Definition at line 216 of file PinholePose.h.

Member Data Documentation

template<typename CALIBRATION>

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

staticprivate

Definition at line 41 of file PinholePose.h.

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

PinholePose.h

Public Types

Public Member Functions

Private Member Functions

Static Private Attributes

Transformations and measurement functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

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