Static Public Member Functions | Private Attributes | List of all members
gtsam::EssentialMatrix Class Reference

#include <EssentialMatrix.h>

Public Member Functions

Testable
GTSAM_EXPORT void print (const std::string &s="") const
 print with optional string More...
 
bool equals (const EssentialMatrix &other, double tol=1e-8) const
 assert equality up to a tolerance More...
 

Static Public Member Functions

static Vector3 Homogeneous (const Point2 &p)
 Static function to convert Point2 to homogeneous coordinates. More...
 

Private Attributes

Matrix3 E_
 Essential matrix. More...
 
Rot3 R_
 Rotation. More...
 
Unit3 t_
 Translation. More...
 

Friends

Streaming operators
GTSAM_EXPORT friend std::ostream & operator<< (std::ostream &os, const EssentialMatrix &E)
 stream to stream More...
 
GTSAM_EXPORT friend std::istream & operator>> (std::istream &is, EssentialMatrix &E)
 stream from stream More...
 

Constructors and named constructors

static GTSAM_EXPORT EssentialMatrix FromRotationAndDirection (const Rot3 &aRb, const Unit3 &aTb, OptionalJacobian< 5, 3 > H1={}, OptionalJacobian< 5, 2 > H2={})
 Named constructor with derivatives. More...
 
static GTSAM_EXPORT EssentialMatrix FromPose3 (const Pose3 &_1P2_, OptionalJacobian< 5, 6 > H={})
 Named constructor converting a Pose3 with scale to EssentialMatrix (no scale) More...
 
template<typename Engine >
static EssentialMatrix Random (Engine &rng)
 Random, using Rot3::Random and Unit3::Random. More...
 
 EssentialMatrix ()
 Default constructor. More...
 
 EssentialMatrix (const Rot3 &aRb, const Unit3 &aTb)
 Construct from rotation and translation. More...
 
virtual ~EssentialMatrix ()
 

Manifold

typedef OptionalJacobian< dimension, dimensionChartJacobian
 
constexpr static auto dimension = 5
 
static size_t Dim ()
 
size_t dim () const
 
EssentialMatrix retract (const Vector5 &xi) const
 Retract delta to manifold. More...
 
Vector5 localCoordinates (const EssentialMatrix &other) const
 Compute the coordinates in the tangent space. More...
 

Essential matrix methods

const Rot3rotation () const
 Rotation. More...
 
const Unit3direction () const
 Direction. More...
 
const Matrix3 & matrix () const
 Return 3*3 matrix representation. More...
 
const Unit3epipole_a () const
 Return epipole in image_a , as Unit3 to allow for infinity. More...
 
Unit3 epipole_b () const
 Return epipole in image_b, as Unit3 to allow for infinity. More...
 
GTSAM_EXPORT Point3 transformTo (const Point3 &p, OptionalJacobian< 3, 5 > DE={}, OptionalJacobian< 3, 3 > Dpoint={}) const
 takes point in world coordinates and transforms it to pose with |t|==1 More...
 
GTSAM_EXPORT EssentialMatrix rotate (const Rot3 &cRb, OptionalJacobian< 5, 5 > HE={}, OptionalJacobian< 5, 3 > HR={}) const
 
GTSAM_EXPORT double error (const Vector3 &vA, const Vector3 &vB, OptionalJacobian< 1, 5 > H={}) const
 epipolar error, algebraic More...
 
EssentialMatrix operator* (const Rot3 &cRb, const EssentialMatrix &E)
 

Detailed Description

An essential matrix is like a Pose3, except with translation up to scale It is named after the 3*3 matrix aEb = [aTb]x aRb from computer vision, but here we choose instead to parameterize it as a (Rot3,Unit3) pair. We can then non-linearly optimize immediately on this 5-dimensional manifold.

Definition at line 26 of file EssentialMatrix.h.

Member Typedef Documentation

◆ ChartJacobian

Definition at line 89 of file EssentialMatrix.h.

Constructor & Destructor Documentation

◆ EssentialMatrix() [1/2]

gtsam::EssentialMatrix::EssentialMatrix ( )
inline

Default constructor.

Definition at line 42 of file EssentialMatrix.h.

◆ EssentialMatrix() [2/2]

gtsam::EssentialMatrix::EssentialMatrix ( const Rot3 aRb,
const Unit3 aTb 
)
inline

Construct from rotation and translation.

Definition at line 46 of file EssentialMatrix.h.

◆ ~EssentialMatrix()

virtual gtsam::EssentialMatrix::~EssentialMatrix ( )
inlinevirtual

Definition at line 65 of file EssentialMatrix.h.

Member Function Documentation

◆ Dim()

static size_t gtsam::EssentialMatrix::Dim ( )
inlinestatic

Definition at line 86 of file EssentialMatrix.h.

◆ dim()

size_t gtsam::EssentialMatrix::dim ( ) const
inline

Definition at line 87 of file EssentialMatrix.h.

◆ direction()

const Unit3& gtsam::EssentialMatrix::direction ( ) const
inline

Direction.

Definition at line 115 of file EssentialMatrix.h.

◆ epipole_a()

const Unit3& gtsam::EssentialMatrix::epipole_a ( ) const
inline

Return epipole in image_a , as Unit3 to allow for infinity.

Definition at line 125 of file EssentialMatrix.h.

◆ epipole_b()

Unit3 gtsam::EssentialMatrix::epipole_b ( ) const
inline

Return epipole in image_b, as Unit3 to allow for infinity.

Definition at line 130 of file EssentialMatrix.h.

◆ equals()

bool gtsam::EssentialMatrix::equals ( const EssentialMatrix other,
double  tol = 1e-8 
) const
inline

assert equality up to a tolerance

Definition at line 76 of file EssentialMatrix.h.

◆ error()

double gtsam::EssentialMatrix::error ( const Vector3 vA,
const Vector3 vB,
OptionalJacobian< 1, 5 >  H = {} 
) const

epipolar error, algebraic

Definition at line 104 of file EssentialMatrix.cpp.

◆ FromPose3()

EssentialMatrix gtsam::EssentialMatrix::FromPose3 ( const Pose3 _1P2_,
OptionalJacobian< 5, 6 >  H = {} 
)
static

Named constructor converting a Pose3 with scale to EssentialMatrix (no scale)

Definition at line 27 of file EssentialMatrix.cpp.

◆ FromRotationAndDirection()

EssentialMatrix gtsam::EssentialMatrix::FromRotationAndDirection ( const Rot3 aRb,
const Unit3 aTb,
OptionalJacobian< 5, 3 >  H1 = {},
OptionalJacobian< 5, 2 >  H2 = {} 
)
static

Named constructor with derivatives.

Definition at line 16 of file EssentialMatrix.cpp.

◆ Homogeneous()

static Vector3 gtsam::EssentialMatrix::Homogeneous ( const Point2 p)
inlinestatic

Static function to convert Point2 to homogeneous coordinates.

Definition at line 34 of file EssentialMatrix.h.

◆ localCoordinates()

Vector5 gtsam::EssentialMatrix::localCoordinates ( const EssentialMatrix other) const
inline

Compute the coordinates in the tangent space.

Definition at line 97 of file EssentialMatrix.h.

◆ matrix()

const Matrix3& gtsam::EssentialMatrix::matrix ( ) const
inline

Return 3*3 matrix representation.

Definition at line 120 of file EssentialMatrix.h.

◆ print()

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

print with optional string

Definition at line 48 of file EssentialMatrix.cpp.

◆ Random()

template<typename Engine >
static EssentialMatrix gtsam::EssentialMatrix::Random ( Engine &  rng)
inlinestatic

Random, using Rot3::Random and Unit3::Random.

Definition at line 61 of file EssentialMatrix.h.

◆ retract()

EssentialMatrix gtsam::EssentialMatrix::retract ( const Vector5 &  xi) const
inline

Retract delta to manifold.

Definition at line 92 of file EssentialMatrix.h.

◆ rotate()

EssentialMatrix gtsam::EssentialMatrix::rotate ( const Rot3 cRb,
OptionalJacobian< 5, 5 >  HE = {},
OptionalJacobian< 5, 3 >  HR = {} 
) const

Given essential matrix E in camera frame B, convert to body frame C

Parameters
cRbrotation from body frame to camera frame
Eessential matrix E in camera frame C

Definition at line 73 of file EssentialMatrix.cpp.

◆ rotation()

const Rot3& gtsam::EssentialMatrix::rotation ( ) const
inline

Rotation.

Definition at line 110 of file EssentialMatrix.h.

◆ transformTo()

Point3 gtsam::EssentialMatrix::transformTo ( const Point3 p,
OptionalJacobian< 3, 5 >  DE = {},
OptionalJacobian< 3, 3 >  Dpoint = {} 
) const

takes point in world coordinates and transforms it to pose with |t|==1

Parameters
ppoint in world coordinates
DEoptional 3*5 Jacobian wrpt to E
Dpointoptional 3*3 Jacobian wrpt point
Returns
point in pose coordinates

Definition at line 55 of file EssentialMatrix.cpp.

Friends And Related Function Documentation

◆ operator*

EssentialMatrix operator* ( const Rot3 cRb,
const EssentialMatrix E 
)
friend

Given essential matrix E in camera frame B, convert to body frame C

Parameters
cRbrotation from body frame to camera frame
Eessential matrix E in camera frame C

Definition at line 158 of file EssentialMatrix.h.

◆ operator<<

GTSAM_EXPORT friend std::ostream& operator<< ( std::ostream &  os,
const EssentialMatrix E 
)
friend

stream to stream

◆ operator>>

GTSAM_EXPORT friend std::istream& operator>> ( std::istream &  is,
EssentialMatrix E 
)
friend

stream from stream

Member Data Documentation

◆ dimension

constexpr static auto gtsam::EssentialMatrix::dimension = 5
inlinestaticconstexpr

Definition at line 85 of file EssentialMatrix.h.

◆ E_

Matrix3 gtsam::EssentialMatrix::E_
private

Essential matrix.

Definition at line 30 of file EssentialMatrix.h.

◆ R_

Rot3 gtsam::EssentialMatrix::R_
private

Rotation.

Definition at line 28 of file EssentialMatrix.h.

◆ t_

Unit3 gtsam::EssentialMatrix::t_
private

Translation.

Definition at line 29 of file EssentialMatrix.h.


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


gtsam
Author(s):
autogenerated on Sun Dec 22 2024 04:23:43