smartFactorScenarios.h File Reference

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

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Namespaces
	bundler
	bundlerPose
	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 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

Functions
Camera	vanilla::cam1 (level_pose, K2)
Camera	vanillaPose::cam1 (level_pose, sharedK)
Camera	vanillaPose2::cam1 (level_pose, sharedK2)
Camera	bundler::cam1 (level_pose, K)
Camera	bundlerPose::cam1 (level_pose, sharedBundlerK)
Camera	vanilla::cam2 (pose_right, K2)
Camera	vanillaPose::cam2 (pose_right, sharedK)
Camera	vanillaPose2::cam2 (pose_right, sharedK2)
Camera	bundler::cam2 (pose_right, K)
Camera	bundlerPose::cam2 (pose_right, sharedBundlerK)
Camera	vanilla::cam3 (pose_above, K2)
Camera	vanillaPose::cam3 (pose_above, sharedK)
Camera	vanillaPose2::cam3 (pose_above, sharedK2)
Camera	bundler::cam3 (pose_above, K)
Camera	bundlerPose::cam3 (pose_above, sharedBundlerK)
static Cal3_S2	vanilla::K (fov, w, h)
static Cal3Bundler	bundler::K (500, 1e-3, 1e-3, 0, 0)
static Cal3_S2	vanilla::K2 (1500, 1200, 0, w, h)
Point3	landmark1 (5, 0.5, 1.2)
Point3	landmark2 (5,-0.5, 1.2)
Point3	landmark3 (3, 0, 3.0)
Point3	landmark4 (10, 0.5, 1.2)
Point3	landmark5 (10,-0.5, 1.2)
Camera	vanilla::level_camera (level_pose, K2)
Camera	vanillaPose::level_camera (level_pose, sharedK)
Camera	vanillaPose2::level_camera (level_pose, sharedK2)
Camera	bundler::level_camera (level_pose, K)
Camera	bundlerPose::level_camera (level_pose, sharedBundlerK)
Camera	vanilla::level_camera_right (pose_right, K2)
Camera	vanillaPose::level_camera_right (pose_right, sharedK)
Camera	vanillaPose2::level_camera_right (pose_right, sharedK2)
Camera	bundler::level_camera_right (pose_right, K)
Camera	bundlerPose::level_camera_right (pose_right, sharedBundlerK)
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 boost::shared_ptr< Cal3Bundler >	bundlerPose::sharedBundlerK (new Cal3Bundler(500, 1e-3, 1e-3, 1000, 2000))
static Cal3_S2::shared_ptr	vanillaPose::sharedK (new Cal3_S2(fov, w, h))
static Cal3_S2::shared_ptr	vanillaPose2::sharedK2 (new Cal3_S2(1500, 1200, 0, 640, 480))
static SharedNoiseModel	unit2 (noiseModel::Unit::Create(2))

Variables
static double	fov = 60
static size_t	h = 480
Pose3	level_pose = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1))
Point2	vanilla::level_uv = level_camera.project(landmark1)
Point2	bundler::level_uv = level_camera.project(landmark1)
Point2	vanilla::level_uv_right = level_camera_right.project(landmark1)
Point2	bundler::level_uv_right = level_camera_right.project(landmark1)
SmartProjectionParams	vanilla::params
Pose3	bundler::pose1 = level_pose
Pose3	pose_above = level_pose * Pose3(Rot3(), Point3(0, -1, 0))
Pose3	pose_right = level_pose * Pose3(Rot3(), Point3(1, 0, 0))
static size_t	w = 640

Function Documentation

Point3 landmark1	(	5	,
		0.	5,
		1.	2
	)

Point3 landmark2	(	5	,
		-0.	5,
		1.	2
	)

Point3 landmark3	(	3	,
		0	,
		3.	0
	)

Point3 landmark4	(	10	,
		0.	5,
		1.	2
	)

Point3 landmark5	(	10	,
		-0.	5,
		1.	2
	)

template<class CAMERA >

CAMERA perturbCameraPose

(

const CAMERA &

camera

)

Definition at line 125 of file smartFactorScenarios.h.

template<class CAMERA >

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

Definition at line 134 of file smartFactorScenarios.h.

static SharedNoiseModel unit2 ( noiseModel::Unit::Create(2)  )

static

Variable Documentation

double fov = 60

static

Definition at line 46 of file smartFactorScenarios.h.

size_t h = 480

static

Definition at line 47 of file smartFactorScenarios.h.

Pose3 level_pose = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1))

Definition at line 37 of file smartFactorScenarios.h.

Pose3 pose_above = level_pose * Pose3(Rot3(), Point3(0, -1, 0))

Definition at line 41 of file smartFactorScenarios.h.

Pose3 pose_right = level_pose * Pose3(Rot3(), Point3(1, 0, 0))

Definition at line 39 of file smartFactorScenarios.h.

size_t w = 640

static

Definition at line 47 of file smartFactorScenarios.h.