#include <SphericalCamera.h>

Public Types
using	CalibrationType = EmptyCal

using	Measurement = Unit3

using	MeasurementVector = std::vector< Unit3 >

Public Member Functions
Matrix34	cameraProjectionMatrix () const
	for Linear Triangulation More...

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

size_t	dim () const

Vector6	localCoordinates (const SphericalCamera &p) const
	return canonical coordinate More...

SphericalCamera	retract (const Vector6 &d) const
	move a cameras according to d More...

Static Public Member Functions
static size_t	Dim ()

static SphericalCamera	Identity ()
	for Canonical More...

Static Public Attributes
constexpr static auto	dimension = 6

Protected Attributes
EmptyCal::shared_ptr	emptyCal_

Private Attributes
Pose3	pose_
	3D pose of camera More...

Standard Constructors
	SphericalCamera ()
	Default constructor. More...

	SphericalCamera (const Pose3 &pose)
	Constructor with pose. More...

	SphericalCamera (const Pose3 &pose, const EmptyCal::shared_ptr &cal)
	Constructor with empty intrinsics (needed for smart factors) More...

Advanced Constructors
	SphericalCamera (const Vector &v)

virtual	~SphericalCamera ()=default
	Default destructor. More...

const EmptyCal::shared_ptr &	sharedCalibration () const
	return shared pointer to calibration More...

const EmptyCal &	calibration () const
	return calibration More...

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

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

Standard Interface
const Pose3 &	pose () const
	return pose, constant version More...

const Rot3 &	rotation () const
	get rotation More...

const Point3 &	translation () const
	get translation More...

Transformations and measurement functions
std::pair< Unit3, bool >	projectSafe (const Point3 &pw) const
	Project a point into the image and check depth. More...

Unit3	project2 (const Point3 &pw, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 3 > Dpoint={}) const

Unit3	project2 (const Unit3 &pwu, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 2 > Dpoint={}) const

Point3	backproject (const Unit3 &p, const double depth) const
	backproject a 2-dimensional point to a 3-dimensional point at given depth More...

Unit3	backprojectPointAtInfinity (const Unit3 &p) const
	backproject point at infinity More...

Unit3	project (const Point3 &point, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 3 > Dpoint={}) const

Vector2	reprojectionError (const Point3 &point, const Unit3 &measured, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 3 > Dpoint={}) const

Detailed Description

A spherical camera class that has a Pose3 and measures bearing vectors. The camera has an ‘Empty’ calibration and the only 6 dof are the pose

Definition at line 74 of file SphericalCamera.h.

Member Typedef Documentation

◆ CalibrationType

using gtsam::SphericalCamera::CalibrationType = EmptyCal

Definition at line 80 of file SphericalCamera.h.

◆ Measurement

using gtsam::SphericalCamera::Measurement = Unit3

Definition at line 78 of file SphericalCamera.h.

◆ MeasurementVector

using gtsam::SphericalCamera::MeasurementVector = std::vector<Unit3>

Definition at line 79 of file SphericalCamera.h.

Constructor & Destructor Documentation

◆ SphericalCamera() [1/4]

gtsam::SphericalCamera::SphericalCamera ( )

inline

Default constructor.

Definition at line 93 of file SphericalCamera.h.

◆ SphericalCamera() [2/4]

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

inlineexplicit

Constructor with pose.

Definition at line 97 of file SphericalCamera.h.

◆ SphericalCamera() [3/4]

gtsam::SphericalCamera::SphericalCamera	(	const Pose3 &	pose,
		const EmptyCal::shared_ptr &	cal
	)

inlineexplicit

Constructor with empty intrinsics (needed for smart factors)

Definition at line 101 of file SphericalCamera.h.

◆ SphericalCamera() [4/4]

gtsam::SphericalCamera::SphericalCamera ( const Vector & v )

inlineexplicit

Definition at line 108 of file SphericalCamera.h.

◆ ~SphericalCamera()

virtual gtsam::SphericalCamera::~SphericalCamera ( )

virtualdefault

Default destructor.

Member Function Documentation

◆ backproject()

Point3 gtsam::SphericalCamera::backproject	(	const Unit3 &	p,
		const double	depth
	)		const

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

Definition at line 73 of file SphericalCamera.cpp.

◆ backprojectPointAtInfinity()

Unit3 gtsam::SphericalCamera::backprojectPointAtInfinity ( const Unit3 & p ) const

backproject point at infinity

Definition at line 78 of file SphericalCamera.cpp.

◆ calibration()

const EmptyCal& gtsam::SphericalCamera::calibration ( ) const

inline

return calibration

Definition at line 119 of file SphericalCamera.h.

◆ cameraProjectionMatrix()

Matrix34 gtsam::SphericalCamera::cameraProjectionMatrix ( ) const

inline

for Linear Triangulation

Definition at line 210 of file SphericalCamera.h.

◆ defaultErrorWhenTriangulatingBehindCamera()

Vector gtsam::SphericalCamera::defaultErrorWhenTriangulatingBehindCamera ( ) const

inline

for Nonlinear Triangulation

Definition at line 215 of file SphericalCamera.h.

◆ Dim()

static size_t gtsam::SphericalCamera::Dim ( )

inlinestatic

Deprecated:

Definition at line 223 of file SphericalCamera.h.

◆ dim()

size_t gtsam::SphericalCamera::dim ( ) const

inline

Deprecated:

Definition at line 220 of file SphericalCamera.h.

◆ equals()

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

assert equality up to a tolerance

Definition at line 26 of file SphericalCamera.cpp.

◆ Identity()

static SphericalCamera gtsam::SphericalCamera::Identity ( )

inlinestatic

for Canonical

Definition at line 204 of file SphericalCamera.h.

◆ localCoordinates()

Vector6 gtsam::SphericalCamera::localCoordinates ( const SphericalCamera & p ) const

inline

return canonical coordinate

Definition at line 199 of file SphericalCamera.h.

◆ pose()

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

inline

return pose, constant version

Definition at line 136 of file SphericalCamera.h.

◆ print()

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

virtual

print

Definition at line 31 of file SphericalCamera.cpp.

◆ project()

Unit3 gtsam::SphericalCamera::project	(	const Point3 &	point,
		OptionalJacobian< 2, 6 >	Dpose = `{}`,
		OptionalJacobian< 2, 3 >	Dpoint = `{}`
	)		const

Project point into the image (note: there is no CheiralityException for a spherical camera)

Parameters

point 3D point in world coordinates

Returns: the intrinsic coordinates of the projected point

Definition at line 83 of file SphericalCamera.cpp.

◆ project2() [1/2]

Unit3 gtsam::SphericalCamera::project2	(	const Point3 &	pw,
		OptionalJacobian< 2, 6 >	Dpose = `{}`,
		OptionalJacobian< 2, 3 >	Dpoint = `{}`
	)		const

Project point into the image (note: there is no CheiralityException for a spherical camera)

Parameters

point 3D point in world coordinates

Returns: the intrinsic coordinates of the projected point

Definition at line 41 of file SphericalCamera.cpp.

◆ project2() [2/2]

Unit3 gtsam::SphericalCamera::project2	(	const Unit3 &	pwu,
		OptionalJacobian< 2, 6 >	Dpose = `{}`,
		OptionalJacobian< 2, 2 >	Dpoint = `{}`
	)		const

Project point into the image (note: there is no CheiralityException for a spherical camera)

Parameters

point 3D direction in world coordinates

Returns: the intrinsic coordinates of the projected point

Definition at line 59 of file SphericalCamera.cpp.

◆ projectSafe()

pair< Unit3, bool > gtsam::SphericalCamera::projectSafe ( const Point3 & pw ) const

Project a point into the image and check depth.

Definition at line 34 of file SphericalCamera.cpp.

◆ reprojectionError()

Vector2 gtsam::SphericalCamera::reprojectionError	(	const Point3 &	point,
		const Unit3 &	measured,
		OptionalJacobian< 2, 6 >	Dpose = `{}`,
		OptionalJacobian< 2, 3 >	Dpoint = `{}`
	)		const

Compute reprojection error for a given 3D point in world coordinates

Parameters

point 3D point in world coordinates

Returns: the tangent space error between the projection and the measurement

Definition at line 90 of file SphericalCamera.cpp.

◆ retract()

SphericalCamera gtsam::SphericalCamera::retract ( const Vector6 & d ) const

inline

move a cameras according to d

Definition at line 194 of file SphericalCamera.h.

◆ rotation()

const Rot3& gtsam::SphericalCamera::rotation ( ) const

inline

get rotation

Definition at line 139 of file SphericalCamera.h.

◆ sharedCalibration()

const EmptyCal::shared_ptr& gtsam::SphericalCamera::sharedCalibration ( ) const

inline

return shared pointer to calibration

Definition at line 114 of file SphericalCamera.h.

◆ translation()

const Point3& gtsam::SphericalCamera::translation ( ) const

inline

get translation

Definition at line 142 of file SphericalCamera.h.

Member Data Documentation

◆ dimension

constexpr static auto gtsam::SphericalCamera::dimension = 6

inlinestaticconstexpr

Definition at line 76 of file SphericalCamera.h.

◆ emptyCal_

EmptyCal::shared_ptr gtsam::SphericalCamera::emptyCal_

protected

Definition at line 86 of file SphericalCamera.h.

◆ pose_

Pose3 gtsam::SphericalCamera::pose_

private

3D pose of camera

Definition at line 83 of file SphericalCamera.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Attributes

Private Attributes

Standard Constructors

Advanced Constructors

Testable

Standard Interface

Transformations and measurement functions

Detailed Description

Member Typedef Documentation

◆ CalibrationType

◆ Measurement

◆ MeasurementVector

Constructor & Destructor Documentation

◆ SphericalCamera() [1/4]

◆ SphericalCamera() [2/4]

◆ SphericalCamera() [3/4]

◆ SphericalCamera() [4/4]

◆ ~SphericalCamera()

Member Function Documentation

◆ backproject()

◆ backprojectPointAtInfinity()

◆ calibration()

◆ cameraProjectionMatrix()

◆ defaultErrorWhenTriangulatingBehindCamera()

◆ Dim()

◆ dim()

◆ equals()

◆ Identity()

◆ localCoordinates()

◆ pose()

◆ print()

◆ project()

◆ project2() [1/2]

◆ project2() [2/2]

◆ projectSafe()

◆ reprojectionError()

◆ retract()

◆ rotation()

◆ sharedCalibration()

◆ translation()

Member Data Documentation

◆ dimension

◆ emptyCal_

◆ pose_