#include <PinholeCamera.h>

Inheritance diagram for gtsam::PinholeCamera< Calibration >:

Public Types
typedef Point2	Measurement

typedef Point2Vector	MeasurementVector

Public Types inherited from gtsam::PinholeBaseK< Calibration >
typedef Calibration	CalibrationType

Public Types inherited from gtsam::PinholeBase
typedef Point2	Measurement

typedef Point2Vector	MeasurementVector

typedef Rot3	Rotation

typedef Point3	Translation

Static Public Attributes
constexpr static auto	dimension = 6 + DimK
	Dimension depends on calibration. More...

Private Types
typedef PinholeBaseK< Calibration >	Base
	base class has 3D pose as private member More...

Private Attributes
Calibration	K_
	Calibration, part of class now. More...

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

Standard Constructors
	PinholeCamera ()

	PinholeCamera (const Pose3 &pose)

	PinholeCamera (const Pose3 &pose, const Calibration &K)

Named Constructors
static PinholeCamera	Level (const Calibration &K, const Pose2 &pose2, double height)

static PinholeCamera	Level (const Pose2 &pose2, double height)
	PinholeCamera::level with default calibration. More...

static PinholeCamera	Lookat (const Point3 &eye, const Point3 &target, const Point3 &upVector, const Calibration &K=Calibration())

static PinholeCamera	Create (const Pose3 &pose, const Calibration &K, OptionalJacobian< dimension, 6 > H1={}, OptionalJacobian< dimension, DimK > H2={})

Advanced Constructors
	PinholeCamera (const Vector &v)
	Init from vector, can be 6D (default calibration) or dim. More...

	PinholeCamera (const Vector &v, const Vector &K)
	Init from Vector and calibration. More...

Testable
bool	equals (const Base &camera, double tol=1e-9) const
	assert equality up to a tolerance More...

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

Standard Interface
	~PinholeCamera () override

const Pose3 &	pose () const
	return pose More...

const Pose3 &	getPose (OptionalJacobian< 6, dimension > H) const
	return pose, with derivative More...

const Calibration &	calibration () const override
	return calibration More...

Manifold
typedef Eigen::Matrix< double, dimension, 1 >	VectorK6

size_t	dim () const

PinholeCamera	retract (const Vector &d) const
	move a cameras according to d More...

VectorK6	localCoordinates (const PinholeCamera &T2) const
	return canonical coordinate More...

static size_t	Dim ()

static PinholeCamera	Identity ()
	for Canonical More...

Transformations and measurement functions
typedef Eigen::Matrix< double, 2, DimK >	Matrix2K

template<class POINT >
Point2	_project2 (const POINT &pw, OptionalJacobian< 2, dimension > Dcamera, OptionalJacobian< 2, FixedDimension< POINT >::value > Dpoint) const

Point2	project2 (const Point3 &pw, OptionalJacobian< 2, dimension > Dcamera={}, OptionalJacobian< 2, 3 > Dpoint={}) const
	project a 3D point from world coordinates into the image More...

Point2	project2 (const Unit3 &pw, OptionalJacobian< 2, dimension > Dcamera={}, OptionalJacobian< 2, 2 > Dpoint={}) const
	project a point at infinity from world coordinates into the image More...

double	range (const Point3 &point, OptionalJacobian< 1, dimension > Dcamera={}, OptionalJacobian< 1, 3 > Dpoint={}) const

double	range (const Pose3 &pose, OptionalJacobian< 1, dimension > Dcamera={}, OptionalJacobian< 1, 6 > Dpose={}) const

template<class CalibrationB >
double	range (const PinholeCamera< CalibrationB > &camera, OptionalJacobian< 1, dimension > Dcamera={}, OptionalJacobian< 1, 6+CalibrationB::dimension > Dother={}) const

double	range (const CalibratedCamera &camera, OptionalJacobian< 1, dimension > Dcamera={}, OptionalJacobian< 1, 6 > Dother={}) const

Matrix34	cameraProjectionMatrix () const
	for Linear Triangulation More...

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

Additional Inherited Members
Public Member Functions inherited from gtsam::PinholeBaseK< Calibration >
	PinholeBaseK ()

	PinholeBaseK (const Pose3 &pose)

	PinholeBaseK (const Vector &v)

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

std::pair< Point2, bool >	projectSafe (const Point3 &pw) const
	Project a point into the image and check depth. More...

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	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...

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...

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

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

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...

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::PinholeCamera< Calibration >

A pinhole camera class that has a Pose3 and a Calibration. Use PinholePose if you will not be optimizing for Calibration

Definition at line 33 of file PinholeCamera.h.

Member Typedef Documentation

◆ Base

template<typename Calibration >

typedef PinholeBaseK<Calibration> gtsam::PinholeCamera< Calibration >::Base

private

base class has 3D pose as private member

Definition at line 46 of file PinholeCamera.h.

◆ Matrix2K

template<typename Calibration >

typedef Eigen::Matrix<double, 2, DimK> gtsam::PinholeCamera< Calibration >::Matrix2K

Definition at line 222 of file PinholeCamera.h.

◆ Measurement

template<typename Calibration >

typedef Point2 gtsam::PinholeCamera< Calibration >::Measurement

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

Definition at line 41 of file PinholeCamera.h.

◆ MeasurementVector

template<typename Calibration >

typedef Point2Vector gtsam::PinholeCamera< Calibration >::MeasurementVector

Definition at line 42 of file PinholeCamera.h.

◆ VectorK6

template<typename Calibration >

typedef Eigen::Matrix<double, dimension, 1> gtsam::PinholeCamera< Calibration >::VectorK6

Definition at line 194 of file PinholeCamera.h.

Constructor & Destructor Documentation

◆ PinholeCamera() [1/5]

template<typename Calibration >

gtsam::PinholeCamera< Calibration >::PinholeCamera ( )

inline

default constructor

Definition at line 60 of file PinholeCamera.h.

◆ PinholeCamera() [2/5]

template<typename Calibration >

gtsam::PinholeCamera< Calibration >::PinholeCamera ( const Pose3 & pose )

inlineexplicit

constructor with pose

Definition at line 64 of file PinholeCamera.h.

◆ PinholeCamera() [3/5]

template<typename Calibration >

gtsam::PinholeCamera< Calibration >::PinholeCamera	(	const Pose3 &	pose,
		const Calibration &	K
	)

inline

constructor with pose and calibration

Definition at line 69 of file PinholeCamera.h.

◆ PinholeCamera() [4/5]

template<typename Calibration >

gtsam::PinholeCamera< Calibration >::PinholeCamera ( const Vector & v )

inlineexplicit

Init from vector, can be 6D (default calibration) or dim.

Definition at line 127 of file PinholeCamera.h.

◆ PinholeCamera() [5/5]

template<typename Calibration >

gtsam::PinholeCamera< Calibration >::PinholeCamera	(	const Vector &	v,
		const Vector &	K
	)

inline

Init from Vector and calibration.

Definition at line 134 of file PinholeCamera.h.

◆ ~PinholeCamera()

template<typename Calibration >

gtsam::PinholeCamera< Calibration >::~PinholeCamera ( )

inlineoverride

Definition at line 158 of file PinholeCamera.h.

Member Function Documentation

◆ _project2()

template<typename Calibration >

template<class POINT >

Point2 gtsam::PinholeCamera< Calibration >::_project2	(	const POINT &	pw,
		OptionalJacobian< 2, dimension >	Dcamera,
		OptionalJacobian< 2, FixedDimension< POINT >::value >	Dpoint
	)		const

inline

Templated projection of a 3D point or a point at infinity into the image

Parameters

pw	either a Point3 or a Unit3, in world coordinates

Definition at line 228 of file PinholeCamera.h.

◆ calibration()

template<typename Calibration >

const Calibration& gtsam::PinholeCamera< Calibration >::calibration ( ) const

inlineoverride

return calibration

Definition at line 176 of file PinholeCamera.h.

◆ cameraProjectionMatrix()

template<typename Calibration >

Matrix34 gtsam::PinholeCamera< Calibration >::cameraProjectionMatrix ( ) const

inline

for Linear Triangulation

Definition at line 316 of file PinholeCamera.h.

◆ Create()

template<typename Calibration >

static PinholeCamera gtsam::PinholeCamera< Calibration >::Create	(	const Pose3 &	pose,
		const Calibration &	K,
		OptionalJacobian< dimension, 6 >	H1 = `{}`,
		OptionalJacobian< dimension, DimK >	H2 = `{}`
	)

inlinestatic

Definition at line 109 of file PinholeCamera.h.

◆ defaultErrorWhenTriangulatingBehindCamera()

template<typename Calibration >

Vector gtsam::PinholeCamera< Calibration >::defaultErrorWhenTriangulatingBehindCamera ( ) const

inline

for Nonlinear Triangulation

Definition at line 321 of file PinholeCamera.h.

◆ Dim()

template<typename Calibration >

static size_t gtsam::PinholeCamera< Calibration >::Dim ( )

inlinestatic

Deprecated:

Definition at line 190 of file PinholeCamera.h.

◆ dim()

template<typename Calibration >

size_t gtsam::PinholeCamera< Calibration >::dim ( ) const

inline

Deprecated:

Definition at line 185 of file PinholeCamera.h.

◆ equals()

template<typename Calibration >

bool gtsam::PinholeCamera< Calibration >::equals	(	const Base &	camera,
		double	tol = `1e-9`
	)		const

inline

assert equality up to a tolerance

Definition at line 143 of file PinholeCamera.h.

◆ getPose()

template<typename Calibration >

const Pose3& gtsam::PinholeCamera< Calibration >::getPose ( OptionalJacobian< 6, dimension > H ) const

inline

return pose, with derivative

Definition at line 167 of file PinholeCamera.h.

◆ Identity()

template<typename Calibration >

static PinholeCamera gtsam::PinholeCamera< Calibration >::Identity ( )

inlinestatic

for Canonical

Definition at line 214 of file PinholeCamera.h.

◆ Level() [1/2]

template<typename Calibration >

static PinholeCamera gtsam::PinholeCamera< Calibration >::Level	(	const Calibration &	K,
		const Pose2 &	pose2,
		double	height
	)

inlinestatic

Create a level camera at the given 2D pose and height

Parameters

K	the calibration
pose2	specifies the location and viewing direction (theta 0 = looking in direction of positive X axis)
height	camera height

Definition at line 84 of file PinholeCamera.h.

◆ Level() [2/2]

template<typename Calibration >

static PinholeCamera gtsam::PinholeCamera< Calibration >::Level	(	const Pose2 &	pose2,
		double	height
	)

inlinestatic

PinholeCamera::level with default calibration.

Definition at line 90 of file PinholeCamera.h.

◆ localCoordinates()

template<typename Calibration >

VectorK6 gtsam::PinholeCamera< Calibration >::localCoordinates ( const PinholeCamera< Calibration > & T2 ) const

inline

return canonical coordinate

Definition at line 206 of file PinholeCamera.h.

◆ Lookat()

template<typename Calibration >

static PinholeCamera gtsam::PinholeCamera< Calibration >::Lookat	(	const Point3 &	eye,
		const Point3 &	target,
		const Point3 &	upVector,
		const Calibration &	K = `Calibration()`
	)

inlinestatic

Create a camera at the given eye position looking at a target point in the scene with the specified up direction vector.

Parameters

eye	specifies the camera position
target	the point to look at
upVector	specifies the camera up direction vector, doesn't need to be on the image plane nor orthogonal to the viewing axis
K	optional calibration parameter

Definition at line 103 of file PinholeCamera.h.

◆ pose()

template<typename Calibration >

const Pose3& gtsam::PinholeCamera< Calibration >::pose ( ) const

inline

return pose

Definition at line 162 of file PinholeCamera.h.

◆ print()

template<typename Calibration >

void gtsam::PinholeCamera< Calibration >::print ( const std::string & s = "PinholeCamera< Calibration >" ) const

inlineoverridevirtual

print

Reimplemented from gtsam::PinholeBase.

Definition at line 149 of file PinholeCamera.h.

◆ project2() [1/2]

template<typename Calibration >

Point2 gtsam::PinholeCamera< Calibration >::project2	(	const Point3 &	pw,
		OptionalJacobian< 2, dimension >	Dcamera = `{}`,
		OptionalJacobian< 2, 3 >	Dpoint = `{}`
	)		const

inline

project a 3D point from world coordinates into the image

Definition at line 243 of file PinholeCamera.h.

◆ project2() [2/2]

template<typename Calibration >

Point2 gtsam::PinholeCamera< Calibration >::project2	(	const Unit3 &	pw,
		OptionalJacobian< 2, dimension >	Dcamera = `{}`,
		OptionalJacobian< 2, 2 >	Dpoint = `{}`
	)		const

inline

project a point at infinity from world coordinates into the image

Definition at line 249 of file PinholeCamera.h.

◆ range() [1/4]

template<typename Calibration >

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

inline

Calculate range to a calibrated camera

Parameters

camera Other camera

Returns: range (double)

Definition at line 309 of file PinholeCamera.h.

◆ range() [2/4]

template<typename Calibration >

template<class CalibrationB >

double gtsam::PinholeCamera< Calibration >::range	(	const PinholeCamera< CalibrationB > &	camera,
		OptionalJacobian< 1, dimension >	Dcamera = `{}`,
		OptionalJacobian< 1, 6+CalibrationB::dimension >	Dother = `{}`
	)		const

inline

Calculate range to another camera

Parameters

camera Other camera

Returns: range (double)

Definition at line 288 of file PinholeCamera.h.

◆ range() [3/4]

template<typename Calibration >

double gtsam::PinholeCamera< Calibration >::range	(	const Point3 &	point,
		OptionalJacobian< 1, dimension >	Dcamera = `{}`,
		OptionalJacobian< 1, 3 >	Dpoint = `{}`
	)		const

inline

Calculate range to a landmark

Parameters

point 3D location of landmark

Returns: range (double)

Definition at line 259 of file PinholeCamera.h.

◆ range() [4/4]

template<typename Calibration >

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

inline

Calculate range to another pose

Parameters

pose	Other SO(3) pose

Returns: range (double)

Definition at line 273 of file PinholeCamera.h.

◆ retract()

template<typename Calibration >

PinholeCamera gtsam::PinholeCamera< Calibration >::retract ( const Vector & d ) const

inline

move a cameras according to d

Definition at line 197 of file PinholeCamera.h.

Member Data Documentation

◆ dimension

template<typename Calibration >

constexpr static auto gtsam::PinholeCamera< Calibration >::dimension = 6 + DimK

inlinestaticconstexpr

Dimension depends on calibration.

Definition at line 54 of file PinholeCamera.h.

◆ DimK

template<typename Calibration >

const int gtsam::PinholeCamera< Calibration >::DimK = FixedDimension<Calibration>::value

staticprivate

Definition at line 50 of file PinholeCamera.h.

◆ K_

template<typename Calibration >

Calibration gtsam::PinholeCamera< Calibration >::K_

private

Calibration, part of class now.

Definition at line 47 of file PinholeCamera.h.

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

PinholeCamera.h

Public Types

Static Public Attributes

Private Types

Private Attributes

Static Private Attributes

Standard Constructors

Named Constructors

Advanced Constructors

Testable

Standard Interface

Manifold

Transformations and measurement functions

Additional Inherited Members

Detailed Description

template<typename Calibration> class gtsam::PinholeCamera< Calibration >

Member Typedef Documentation

◆ Base

◆ Matrix2K

◆ Measurement

◆ MeasurementVector

◆ VectorK6

Constructor & Destructor Documentation

◆ PinholeCamera() [1/5]

◆ PinholeCamera() [2/5]

◆ PinholeCamera() [3/5]

◆ PinholeCamera() [4/5]

◆ PinholeCamera() [5/5]

◆ ~PinholeCamera()

Member Function Documentation

◆ _project2()

◆ calibration()

◆ cameraProjectionMatrix()

◆ Create()

◆ defaultErrorWhenTriangulatingBehindCamera()

◆ Dim()

◆ dim()

◆ equals()

◆ getPose()

◆ Identity()

◆ Level() [1/2]

◆ Level() [2/2]

◆ localCoordinates()

◆ Lookat()

◆ pose()

◆ print()

◆ project2() [1/2]

◆ project2() [2/2]

◆ range() [1/4]

◆ range() [2/4]

◆ range() [3/4]

◆ range() [4/4]

◆ retract()

Member Data Documentation

◆ dimension

◆ DimK

◆ K_

template<typename Calibration>
class gtsam::PinholeCamera< Calibration >