#include <PinholeCamera.h>

Inheritance diagram for gtsam::PinholeCamera< Calibration >:

Collaboration diagram for gtsam::PinholeCamera< Calibration >:

Public Types
enum	{ dimension = 6 + DimK }

typedef Point2	Measurement

typedef Point2Vector	MeasurementVector

typedef Calibration	CalibrationType

typedef Rot3	Rotation

typedef Point3	Translation

Derivatives
static Matrix26	Dpose (const Point2 &pn, double d)

static Matrix23	Dpoint (const Point2 &pn, double d, const Matrix3 &Rt)

Static functions
static Pose3	LevelPose (const Pose2 &pose2, double height)

static Pose3	LookatPose (const Point3 &eye, const Point3 &target, const Point3 &upVector)

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

Standard Interface
const Rot3 &	rotation () const
	get rotation

const Point3 &	translation () const
	get translation

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

Transformations and measurement functions
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 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

Advanced interface
static std::pair< size_t, size_t >	translationInterval ()

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.

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.

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

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

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

Standard Interface
	~PinholeCamera () override

const Pose3 &	pose () const
	return pose

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

const Calibration &	calibration () const override
	return calibration

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

size_t	dim () const

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

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

static size_t	Dim ()

static PinholeCamera	Identity ()
	for Canonical

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

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

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

Vector	defaultErrorWhenTriangulatingBehindCamera () const
	for Nonlinear Triangulation

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

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

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

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

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

Unit3	backprojectPointAtInfinity (const Point2 &p) const
	backproject a 2-dimensional point to a 3-dimensional point at infinity

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

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

Member Typedef Documentation

◆ 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.

◆ Rotation

typedef Rot3 gtsam::PinholeBase::Rotation

inherited

Pose Concept requirements

Constructor & Destructor Documentation

◆ PinholeCamera() [1/3]

template<typename Calibration>

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

inline

default constructor

◆ PinholeCamera() [2/3]

template<typename Calibration>

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

inlineexplicit

constructor with pose

◆ PinholeCamera() [3/3]

template<typename Calibration>

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

inline

constructor with pose and calibration

Member Function Documentation

◆ _project()

Point2 gtsam::PinholeBaseK< Calibration >::_project	(	const POINT &	pw,
		OptionalJacobian< 2, 6 >	Dpose,
		OptionalJacobian< 2, FixedDimension< POINT >::value >	Dpoint,
		OptionalJacobian< 2, DimK >	Dcal
	)		const

inlineinherited

Templated projection of a point (possibly at infinity) from world coordinate to the image

Parameters

pw	is a 3D point or a Unit3 (point at infinity) in world coordinates
Dpose	is the Jacobian w.r.t. pose3
Dpoint	is the Jacobian w.r.t. point3
Dcal	is the Jacobian w.r.t. calibration

◆ _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

◆ dim()

template<typename Calibration>

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

inline

Deprecated:

◆ Dim()

template<typename Calibration>

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

inlinestatic

Deprecated:

◆ Dpoint()

static Matrix23 gtsam::PinholeBase::Dpoint	(	const Point2 &	pn,
		double	d,
		const Matrix3 &	Rt
	)

staticprotectedinherited

Calculate Jacobian with respect to point

Parameters

pn	projection in normalized coordinates
d	disparity (inverse depth)
Rt	transposed rotation matrix

◆ Dpose()

static Matrix26 gtsam::PinholeBase::Dpose	(	const Point2 &	pn,
		double	d
	)

staticprotectedinherited

Calculate Jacobian with respect to pose

Parameters

pn	projection in normalized coordinates
d	disparity (inverse depth)

◆ Level()

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

◆ LevelPose()

static Pose3 gtsam::PinholeBase::LevelPose	(	const Pose2 &	pose2,
		double	height
	)

staticinherited

Create a level pose 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

◆ 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

◆ LookatPose()

static Pose3 gtsam::PinholeBase::LookatPose	(	const Point3 &	eye,
		const Point3 &	target,
		const Point3 &	upVector
	)

staticinherited

Create a camera pose 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

◆ Project() [1/2]

static Point2 gtsam::PinholeBase::Project	(	const Point3 &	pc,
		OptionalJacobian< 2, 3 >	Dpoint = `{}`
	)

staticinherited

Project from 3D point in camera coordinates into image Does not throw a CheiralityException, even if pc behind image plane

Parameters

pc	point in camera coordinates

◆ Project() [2/2]

static Point2 gtsam::PinholeBase::Project	(	const Unit3 &	pc,
		OptionalJacobian< 2, 2 >	Dpoint = `{}`
	)

staticinherited

Project from 3D point at infinity in camera coordinates into image Does not throw a CheiralityException, even if pc behind image plane

Parameters

pc	point in camera coordinates

◆ project2() [1/2]

Point2 gtsam::PinholeBase::project2	(	const Point3 &	point,
		OptionalJacobian< 2, 6 >	Dpose = `{}`,
		OptionalJacobian< 2, 3 >	Dpoint = `{}`
	)		const

inherited

Project point into the image Throws a CheiralityException if point behind image plane iff GTSAM_THROW_CHEIRALITY_EXCEPTION

Parameters

point 3D point in world coordinates

Returns: the intrinsic coordinates of the projected point

◆ project2() [2/2]

Point2 gtsam::PinholeBase::project2	(	const Unit3 &	point,
		OptionalJacobian< 2, 6 >	Dpose = `{}`,
		OptionalJacobian< 2, 2 >	Dpoint = `{}`
	)		const

inherited

Project point at infinity into the image Throws a CheiralityException if point behind image plane iff GTSAM_THROW_CHEIRALITY_EXCEPTION

Parameters

point 3D point in world coordinates

Returns: the intrinsic coordinates of the projected point

◆ range() [1/8]

double gtsam::PinholeBaseK< Calibration >::range	(	const Point3 &	point,
		OptionalJacobian< 1, 6 >	Dcamera = `{}`,
		OptionalJacobian< 1, 3 >	Dpoint = `{}`
	)		const

inlineinherited

Calculate range to a landmark

Parameters

point 3D location of landmark

Returns: range (double)

◆ range() [2/8]

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

inlineinherited

Calculate range to another pose

Parameters

pose	Other SO(3) pose

Returns: range (double)

◆ range() [3/8]

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

inlineinherited

Calculate range to a CalibratedCamera

Parameters

camera Other camera

Returns: range (double)

◆ range() [4/8]

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

inlineinherited

Calculate range to a PinholePoseK derived class

Parameters

camera Other camera

Returns: range (double)

◆ range() [5/8]

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)

◆ range() [6/8]

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)

◆ range() [7/8]

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)

◆ range() [8/8]

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)

◆ translationInterval()

static std::pair<size_t, size_t> gtsam::PinholeBase::translationInterval ( )

inlinestaticinherited

Return the start and end indices (inclusive) of the translation component of the exponential map parameterization

Returns: a pair of [start, end] indices into the tangent space vector

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

/home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/geometry/PinholeCamera.h

Public Types

Derivatives

Static functions

Testable

Standard Interface

Transformations and measurement functions

Advanced interface

Standard Constructors

Named Constructors

Advanced Constructors

Testable

Standard Interface

Manifold

Transformations and measurement functions

Transformations and measurement functions

Detailed Description

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

Member Typedef Documentation

◆ Measurement

◆ Rotation

Constructor & Destructor Documentation

◆ PinholeCamera() [1/3]

◆ PinholeCamera() [2/3]

◆ PinholeCamera() [3/3]

Member Function Documentation

◆ _project()

◆ _project2()

◆ dim()

◆ Dim()

◆ Dpoint()

◆ Dpose()

◆ Level()

◆ LevelPose()

◆ Lookat()

◆ LookatPose()

◆ Project() [1/2]

◆ Project() [2/2]

◆ project2() [1/2]

◆ project2() [2/2]

◆ range() [1/8]

◆ range() [2/8]

◆ range() [3/8]

◆ range() [4/8]

◆ range() [5/8]

◆ range() [6/8]

◆ range() [7/8]

◆ range() [8/8]

◆ translationInterval()

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