triangulation.h File Reference

Functions for triangulation. More...

#include "gtsam/geometry/Point3.h"
#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/geometry/Cal3Fisheye.h>
#include <gtsam/geometry/Cal3Unified.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/Cal3DS2.h>
#include <gtsam/geometry/CameraSet.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/SphericalCamera.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/slam/TriangulationFactor.h>
#include <optional>

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Classes
class	gtsam::TriangulationUnderconstrainedException
	Exception thrown by triangulateDLT when SVD returns rank < 3. More...
class	gtsam::TriangulationCheiralityException
	Exception thrown by triangulateDLT when landmark is behind one or more of the cameras. More...
struct	gtsam::TriangulationParameters
class	gtsam::TriangulationResult

Namespaces
	gtsam

Typedefs
using	gtsam::CameraSetCal3Bundler = CameraSet< PinholeCamera< Cal3Bundler > >
using	gtsam::CameraSetCal3_S2 = CameraSet< PinholeCamera< Cal3_S2 > >
using	gtsam::CameraSetCal3DS2 = CameraSet< PinholeCamera< Cal3DS2 > >
using	gtsam::CameraSetCal3Fisheye = CameraSet< PinholeCamera< Cal3Fisheye > >
using	gtsam::CameraSetCal3Unified = CameraSet< PinholeCamera< Cal3Unified > >
using	gtsam::CameraSetSpherical = CameraSet< SphericalCamera >

Functions
GTSAM_EXPORT Vector4	gtsam::triangulateHomogeneousDLT (const std::vector< Matrix34, Eigen::aligned_allocator< Matrix34 >> &projection_matrices, const Point2Vector &measurements, double rank_tol=1e-9)
GTSAM_EXPORT Vector4	gtsam::triangulateHomogeneousDLT (const std::vector< Matrix34, Eigen::aligned_allocator< Matrix34 >> &projection_matrices, const std::vector< Unit3 > &measurements, double rank_tol=1e-9)
GTSAM_EXPORT Point3	gtsam::triangulateDLT (const std::vector< Matrix34, Eigen::aligned_allocator< Matrix34 >> &projection_matrices, const Point2Vector &measurements, double rank_tol=1e-9)
GTSAM_EXPORT Point3	gtsam::triangulateDLT (const std::vector< Matrix34, Eigen::aligned_allocator< Matrix34 >> &projection_matrices, const std::vector< Unit3 > &measurements, double rank_tol=1e-9)
GTSAM_EXPORT Point3	gtsam::triangulateLOST (const std::vector< Pose3 > &poses, const Point3Vector &calibratedMeasurements, const SharedIsotropic &measurementNoise)
	Triangulation using the LOST (Linear Optimal Sine Triangulation) algorithm proposed in https://arxiv.org/pdf/2205.12197.pdf by Sebastien Henry and John Christian. More...
template<class CALIBRATION >
std::pair< NonlinearFactorGraph, Values >	gtsam::triangulationGraph (const std::vector< Pose3 > &poses, std::shared_ptr< CALIBRATION > sharedCal, const Point2Vector &measurements, Key landmarkKey, const Point3 &initialEstimate, const SharedNoiseModel &model=noiseModel::Unit::Create(2))
template<class CAMERA >
std::pair< NonlinearFactorGraph, Values >	gtsam::triangulationGraph (const CameraSet< CAMERA > &cameras, const typename CAMERA::MeasurementVector &measurements, Key landmarkKey, const Point3 &initialEstimate, const SharedNoiseModel &model=nullptr)
GTSAM_EXPORT Point3	gtsam::optimize (const NonlinearFactorGraph &graph, const Values &values, Key landmarkKey)
template<class CALIBRATION >
Point3	gtsam::triangulateNonlinear (const std::vector< Pose3 > &poses, std::shared_ptr< CALIBRATION > sharedCal, const Point2Vector &measurements, const Point3 &initialEstimate, const SharedNoiseModel &model=nullptr)
template<class CAMERA >
Point3	gtsam::triangulateNonlinear (const CameraSet< CAMERA > &cameras, const typename CAMERA::MeasurementVector &measurements, const Point3 &initialEstimate, const SharedNoiseModel &model=nullptr)
template<class CAMERA >
std::vector< Matrix34, Eigen::aligned_allocator< Matrix34 > >	gtsam::projectionMatricesFromCameras (const CameraSet< CAMERA > &cameras)
template<class CALIBRATION >
std::vector< Matrix34, Eigen::aligned_allocator< Matrix34 > >	gtsam::projectionMatricesFromPoses (const std::vector< Pose3 > &poses, std::shared_ptr< CALIBRATION > sharedCal)
template<class CALIBRATION >
Cal3_S2	gtsam::createPinholeCalibration (const CALIBRATION &cal)
template<class CALIBRATION , class MEASUREMENT >
MEASUREMENT	gtsam::undistortMeasurementInternal (const CALIBRATION &cal, const MEASUREMENT &measurement, std::optional< Cal3_S2 > pinholeCal={})
template<class CALIBRATION >
Point2Vector	gtsam::undistortMeasurements (const CALIBRATION &cal, const Point2Vector &measurements)
template<>
Point2Vector	gtsam::undistortMeasurements (const Cal3_S2 &cal, const Point2Vector &measurements)
template<class CAMERA >
CAMERA::MeasurementVector	gtsam::undistortMeasurements (const CameraSet< CAMERA > &cameras, const typename CAMERA::MeasurementVector &measurements)
template<class CAMERA = PinholeCamera<Cal3_S2>>
PinholeCamera< Cal3_S2 >::MeasurementVector	gtsam::undistortMeasurements (const CameraSet< PinholeCamera< Cal3_S2 >> &cameras, const PinholeCamera< Cal3_S2 >::MeasurementVector &measurements)
template<class CAMERA = SphericalCamera>
SphericalCamera::MeasurementVector	gtsam::undistortMeasurements (const CameraSet< SphericalCamera > &cameras, const SphericalCamera::MeasurementVector &measurements)
template<class CALIBRATION >
Point3Vector	gtsam::calibrateMeasurementsShared (const CALIBRATION &cal, const Point2Vector &measurements)
template<class CAMERA >
Point3Vector	gtsam::calibrateMeasurements (const CameraSet< CAMERA > &cameras, const typename CAMERA::MeasurementVector &measurements)
template<class CAMERA = SphericalCamera>
Point3Vector	gtsam::calibrateMeasurements (const CameraSet< SphericalCamera > &cameras, const SphericalCamera::MeasurementVector &measurements)
template<class CALIBRATION >
Point3	gtsam::triangulatePoint3 (const std::vector< Pose3 > &poses, std::shared_ptr< CALIBRATION > sharedCal, const Point2Vector &measurements, double rank_tol=1e-9, bool optimize=false, const SharedNoiseModel &model=nullptr, const bool useLOST=false)
template<class CAMERA >
Point3	gtsam::triangulatePoint3 (const CameraSet< CAMERA > &cameras, const typename CAMERA::MeasurementVector &measurements, double rank_tol=1e-9, bool optimize=false, const SharedNoiseModel &model=nullptr, const bool useLOST=false)
template<class CALIBRATION >
Point3	gtsam::triangulatePoint3 (const CameraSet< PinholeCamera< CALIBRATION >> &cameras, const Point2Vector &measurements, double rank_tol=1e-9, bool optimize=false, const SharedNoiseModel &model=nullptr, const bool useLOST=false)
	Pinhole-specific version.
template<class CAMERA >
TriangulationResult	gtsam::triangulateSafe (const CameraSet< CAMERA > &cameras, const typename CAMERA::MeasurementVector &measured, const TriangulationParameters &params)
	triangulateSafe: extensive checking of the outcome

Detailed Description

Functions for triangulation.

Date

July 31, 2013

Author

Chris Beall

Luca Carlone

Akshay Krishnan