gtsam::InvDepthCamera3< CALIBRATION > Class Template Reference

#include <InvDepthCamera3.h>

Standard Constructors
	InvDepthCamera3 ()
	InvDepthCamera3 (const Pose3 &pose, const std::shared_ptr< CALIBRATION > &k)

Standard Interface
virtual	~InvDepthCamera3 ()
Pose3 &	pose ()
	return pose
const std::shared_ptr< CALIBRATION > &	calibration () const
	return calibration
void	print (const std::string &s="") const
	print
gtsam::Point2	project (const Vector5 &pw, double rho, OptionalJacobian< 2, 6 > H1={}, OptionalJacobian< 2, 5 > H2={}, OptionalJacobian< 2, 1 > H3={}) const
std::pair< Vector5, double >	backproject (const gtsam::Point2 &pi, const double depth) const
static gtsam::Point3	invDepthTo3D (const Vector5 &pw, double rho)

Detailed Description

template<class CALIBRATION>
class gtsam::InvDepthCamera3< CALIBRATION >

A pinhole camera class that has a Pose3 and a Calibration.

Constructor & Destructor Documentation

InvDepthCamera3() [1/2]

template<class CALIBRATION>

gtsam::InvDepthCamera3< CALIBRATION >::InvDepthCamera3 ( )

inline

default constructor

InvDepthCamera3() [2/2]

template<class CALIBRATION>

gtsam::InvDepthCamera3< CALIBRATION >::InvDepthCamera3 ( const Pose3 &  pose, const std::shared_ptr< CALIBRATION > &  k  )

inline

constructor with pose and calibration

Member Function Documentation

backproject()

template<class CALIBRATION>

std::pair<Vector5, double> gtsam::InvDepthCamera3< CALIBRATION >::backproject ( const gtsam::Point2 &  pi, const double  depth  ) const

inline

backproject a 2-dimensional point to an Inverse Depth landmark useful for point initialization

invDepthTo3D()

template<class CALIBRATION>

static gtsam::Point3 gtsam::InvDepthCamera3< CALIBRATION >::invDepthTo3D ( const Vector5 &  pw, double  rho  )

inlinestatic

Convert an inverse depth landmark to cartesian Point3

Parameters

pw	first five parameters (x,y,z,theta,phi) of inv depth landmark
inv	inverse depth

Returns

Point3

project()

template<class CALIBRATION>

gtsam::Point2 gtsam::InvDepthCamera3< CALIBRATION >::project ( const Vector5 &  pw, double  rho, OptionalJacobian< 2, 6 >  H1 = {}, OptionalJacobian< 2, 5 >  H2 = {}, OptionalJacobian< 2, 1 >  H3 = {}  ) const

inline

project a point from world InvDepth parameterization to the image

Parameters

pw	is a point in the world coordinate
H1	is the jacobian w.r.t. [pose3 calibration]
H2	is the jacobian w.r.t. inv_depth_landmark

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

• /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam_unstable/geometry/InvDepthCamera3.h