GTSAM
4.0.2
C++ library for smoothing and mapping (SAM)
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#include <StereoCamera.h>
Public Types | |
enum | { dimension = 6 } |
typedef StereoPoint2 | Measurement |
typedef StereoPoint2Vector | MeasurementVector |
Public Member Functions | |
Standard Constructors | |
StereoCamera () | |
Default constructor allocates a calibration! | |
StereoCamera (const Pose3 &leftCamPose, const Cal3_S2Stereo::shared_ptr K) | |
Construct from pose and shared calibration. | |
const Cal3_S2Stereo & | calibration () const |
Return shared pointer to calibration. | |
Testable | |
void | print (const std::string &s="") const |
print | |
bool | equals (const StereoCamera &camera, double tol=1e-9) const |
equals | |
Standard Interface | |
const Pose3 & | pose () const |
pose | |
double | baseline () const |
baseline | |
StereoPoint2 | project (const Point3 &point) const |
Project 3D point to StereoPoint2 (uL,uR,v) | |
StereoPoint2 | project2 (const Point3 &point, OptionalJacobian< 3, 6 > H1={}, OptionalJacobian< 3, 3 > H2={}) const |
Point3 | backproject (const StereoPoint2 &z) const |
back-project a measurement | |
Point3 | backproject2 (const StereoPoint2 &z, OptionalJacobian< 3, 6 > H1={}, OptionalJacobian< 3, 3 > H2={}) const |
Deprecated | |
StereoPoint2 | project (const Point3 &point, OptionalJacobian< 3, 6 > H1, OptionalJacobian< 3, 3 > H2={}, OptionalJacobian< 3, 0 > H3={}) const |
Vector | defaultErrorWhenTriangulatingBehindCamera () const |
for Nonlinear Triangulation | |
Manifold | |
size_t | dim () const |
Dimensionality of the tangent space. | |
StereoCamera | retract (const Vector &v) const |
Updates a with tangent space delta. | |
Vector6 | localCoordinates (const StereoCamera &t2) const |
Local coordinates of manifold neighborhood around current value. | |
static size_t | Dim () |
Dimensionality of the tangent space. | |
A stereo camera class, parameterize by left camera pose and stereo calibration
Some classes template on either PinholeCamera or StereoCamera, and this typedef informs those classes what "project" returns.
Point3 gtsam::StereoCamera::backproject2 | ( | const StereoPoint2 & | z, |
OptionalJacobian< 3, 6 > | H1 = {} , |
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OptionalJacobian< 3, 3 > | H2 = {} |
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) | const |
Back-project the 2D point and compute optional derivatives
H1 | derivative with respect to pose |
H2 | derivative with respect to point |
StereoPoint2 gtsam::StereoCamera::project | ( | const Point3 & | point, |
OptionalJacobian< 3, 6 > | H1, | ||
OptionalJacobian< 3, 3 > | H2 = {} , |
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OptionalJacobian< 3, 0 > | H3 = {} |
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) | const |
Project 3D point and compute optional derivatives
H1 | derivative with respect to pose |
H2 | derivative with respect to point |
H3 | IGNORED (for calibration) |
StereoPoint2 gtsam::StereoCamera::project2 | ( | const Point3 & | point, |
OptionalJacobian< 3, 6 > | H1 = {} , |
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OptionalJacobian< 3, 3 > | H2 = {} |
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) | const |
Project 3D point and compute optional derivatives
H1 | derivative with respect to pose |
H2 | derivative with respect to point |