GTSAM
4.0.2
C++ library for smoothing and mapping (SAM)
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#include <PinholePose.h>
Public Types | |
enum | { dimension = 6 } |
typedef CALIBRATION | CalibrationType |
typedef Rot3 | Rotation |
typedef Point3 | Translation |
typedef Point2 | Measurement |
typedef Point2Vector | MeasurementVector |
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 Pose3 & | pose () const |
return pose, constant version | |
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 | |
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 () |
Transformations and measurement functions | |
std::pair< Point2, bool > | projectSafe (const Point3 &pw) const |
Project a point into the image and check depth. | |
template<class POINT > | |
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 |
template<class CalibrationB > | |
double | range (const PinholeBaseK< CalibrationB > &camera, OptionalJacobian< 1, 6 > Dcamera={}, OptionalJacobian< 1, 6 > Dother={}) const |
Standard Constructors | |
PinholePose () | |
PinholePose (const Pose3 &pose) | |
PinholePose (const Pose3 &pose, const std::shared_ptr< CALIBRATION > &K) | |
Named Constructors | |
static PinholePose | Level (const std::shared_ptr< CALIBRATION > &K, const Pose2 &pose2, double height) |
static PinholePose | Level (const Pose2 &pose2, double height) |
PinholePose::level with default calibration. | |
static PinholePose | Lookat (const Point3 &eye, const Point3 &target, const Point3 &upVector, const std::shared_ptr< CALIBRATION > &K=std::make_shared< CALIBRATION >()) |
Advanced Constructors | |
PinholePose (const Vector &v) | |
Init from 6D vector. | |
PinholePose (const Vector &v, const Vector &K) | |
Init from Vector and calibration. | |
PinholePose (const Pose3 &pose, const Vector &K) | |
Testable | |
bool | equals (const Base &camera, double tol=1e-9) const |
assert equality up to a tolerance | |
void | print (const std::string &s="PinholePose") const override |
print | |
std::ostream & | operator<< (std::ostream &os, const PinholePose &camera) |
stream operator | |
Standard Interface | |
~PinholePose () override | |
const std::shared_ptr< CALIBRATION > & | sharedCalibration () const |
return shared pointer to calibration | |
const CALIBRATION & | calibration () const override |
return calibration | |
Point2 | project2 (const Point3 &pw, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 3 > Dpoint={}) const |
Point2 | project2 (const Unit3 &pw, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 2 > Dpoint={}) const |
project2 version for point at infinity | |
Manifold | |
size_t | dim () const |
PinholePose | retract (const Vector6 &d) const |
move a cameras according to d | |
Vector6 | localCoordinates (const PinholePose &p) const |
return canonical coordinate | |
Matrix34 | cameraProjectionMatrix () const |
for Linear Triangulation | |
Vector | defaultErrorWhenTriangulatingBehindCamera () const |
for Nonlinear Triangulation | |
static size_t | Dim () |
static PinholePose | Identity () |
for Canonical | |
A pinhole camera class that has a Pose3 and a fixed Calibration. Instead of using this class, one might consider calibrating the measurements and using CalibratedCamera, which would then be faster.
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inherited |
Some classes template on either PinholeCamera or StereoCamera, and this typedef informs those classes what "project" returns.
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inherited |
Pose Concept requirements
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inline |
default constructor
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inlineexplicit |
constructor with pose, uses default calibration
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inline |
constructor with pose and calibration
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inlineinherited |
Templated projection of a point (possibly at infinity) from world coordinate to the image
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 |
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inline |
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inlinestatic |
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staticprotectedinherited |
Calculate Jacobian with respect to point
pn | projection in normalized coordinates |
d | disparity (inverse depth) |
Rt | transposed rotation matrix |
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staticprotectedinherited |
Calculate Jacobian with respect to pose
pn | projection in normalized coordinates |
d | disparity (inverse depth) |
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inlinestatic |
Create a level camera at the given 2D pose and height
K | the calibration |
pose2 | specifies the location and viewing direction (theta 0 = looking in direction of positive X axis) |
height | camera height |
Create a level pose at the given 2D pose and height
K | the calibration |
pose2 | specifies the location and viewing direction (theta 0 = looking in direction of positive X axis) |
height | camera height |
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inlinestatic |
Create a camera at the given eye position looking at a target point in the scene with the specified up direction vector.
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 |
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staticinherited |
Create a camera pose at the given eye position looking at a target point in the scene with the specified up direction vector.
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 |
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staticinherited |
Project from 3D point in camera coordinates into image Does not throw a CheiralityException, even if pc behind image plane
pc | point in camera coordinates |
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staticinherited |
Project from 3D point at infinity in camera coordinates into image Does not throw a CheiralityException, even if pc behind image plane
pc | point in camera coordinates |
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inline |
project a point from world coordinate to the image, 2 derivatives only
pw | is a point in world coordinates |
Dpose | is the Jacobian w.r.t. the whole camera (really only the pose) |
Dpoint | is the Jacobian w.r.t. point3 |
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inlineinherited |
Calculate range to a landmark
point | 3D location of landmark |
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inlineinherited |
Calculate range to another pose
pose | Other SO(3) pose |
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inlineinherited |
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inlineinherited |
Calculate range to a PinholePoseK derived class
camera | Other camera |
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inlinestaticinherited |
Return the start and end indices (inclusive) of the translation component of the exponential map parameterization