Inheritance diagram for gtsam::CalibratedCamera:

Standard Interface
virtual	~CalibratedCamera ()
	destructor

const Pose3 &	pose () const
	return pose

const CalibratedCamera	compose (const CalibratedCamera &c, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	compose the two camera poses: TODO Frank says this might not make sense

const CalibratedCamera	between (const CalibratedCamera &c, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	between the two camera poses: TODO Frank says this might not make sense

const CalibratedCamera	inverse (boost::optional< Matrix & > H1=boost::none) const
	invert the camera pose: TODO Frank says this might not make sense

static CalibratedCamera	Level (const Pose2 &pose2, double height)
	Create a level camera at the given 2D pose and height. More...

Manifold
CalibratedCamera	retract (const Vector &d) const
	move a cameras pose according to d

Vector	localCoordinates (const CalibratedCamera &T2) const
	Return canonical coordinate.

size_t	dim () const
	Lie group dimensionality.

static size_t	Dim ()
	Lie group dimensionality.

Transformations and mesaurement functions
Point2	project (const Point3 &point, boost::optional< Matrix & > Dpose=boost::none, boost::optional< Matrix & > Dpoint=boost::none) const
	This function receives the camera pose and the landmark location and returns the location the point is supposed to appear in the image. More...

double	range (const Point3 &point, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	Calculate range to a landmark. More...

double	range (const Pose3 &pose, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	Calculate range to another pose. More...

double	range (const CalibratedCamera &camera, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	Calculate range to another camera. More...

static Point2	project_to_camera (const Point3 &cameraPoint, boost::optional< Matrix & > H1=boost::none)
	projects a 3-dimensional point in camera coordinates into the camera and returns a 2-dimensional point, no calibration applied With optional 2by3 derivative

static Point3	backproject_from_camera (const Point2 &p, const double scale)
	backproject a 2-dimensional point to a 3-dimension point

Public Member Functions
Standard Constructors
	CalibratedCamera ()
	default constructor

	CalibratedCamera (const Pose3 &pose)
	construct with pose

Advanced Constructors
	CalibratedCamera (const Vector &v)
	construct from vector

Testable
virtual void	print (const std::string &s="") const
	Print this value, for debugging and unit tests.

bool	equals (const CalibratedCamera &camera, double tol=1e-9) const
	check equality to another camera

Public Member Functions inherited from gtsam::DerivedValue< CalibratedCamera >
virtual Value *	clone_ () const
	Create a duplicate object returned as a pointer to the generic Value interface. More...

virtual void	deallocate_ () const
	Destroy and deallocate this object, only if it was originally allocated using clone_().

virtual boost::shared_ptr< Value >	clone () const
	Clone this value (normal clone on the heap, delete with 'delete' operator)

virtual bool	equals_ (const Value &p, double tol=1e-9) const
	equals implementing generic Value interface

virtual Value *	retract_ (const Vector &delta) const
	Generic Value interface version of retract.

virtual Vector	localCoordinates_ (const Value &value2) const
	Generic Value interface version of localCoordinates.

virtual Value &	operator= (const Value &rhs)
	Assignment operator.

	operator const CalibratedCamera & () const
	Conversion to the derived class.

	operator CalibratedCamera & ()
	Conversion to the derived class.

Public Member Functions inherited from gtsam::Value
virtual	~Value ()
	Virutal destructor.

Additional Inherited Members
Protected Member Functions inherited from gtsam::DerivedValue< CalibratedCamera >
DerivedValue< CalibratedCamera > &	operator= (const DerivedValue< CalibratedCamera > &rhs)
	Assignment operator, protected because only the Value or DERIVED assignment operators should be used. More...

Member Function Documentation

CalibratedCamera gtsam::CalibratedCamera::Level	(	const Pose2 &	pose2,
		double	height
	)

static

Create a level camera at the given 2D pose and height.

Parameters

pose2	specifies the location and viewing direction
height	specifies the height of the camera (along the positive Z-axis) (theta 0 = looking in direction of positive X axis)

Point2 gtsam::CalibratedCamera::project	(	const Point3 &	point,
		boost::optional< Matrix & >	Dpose = `boost::none`,
		boost::optional< Matrix & >	Dpoint = `boost::none`
	)		const

This function receives the camera pose and the landmark location and returns the location the point is supposed to appear in the image.

Parameters

point	a 3D point to be projected
Dpose	the optionally computed Jacobian with respect to pose
Dpoint	the optionally computed Jacobian with respect to the 3D point

double gtsam::CalibratedCamera::range	(	const Point3 &	point,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`
	)		const

inline

Calculate range to a landmark.

Parameters

point	3D location of landmark
H1	optionally computed Jacobian with respect to pose
H2	optionally computed Jacobian with respect to the 3D point

double gtsam::CalibratedCamera::range	(	const Pose3 &	pose,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`
	)		const

inline

Calculate range to another pose.

Parameters

pose	Other SO(3) pose
H1	optionally computed Jacobian with respect to pose
H2	optionally computed Jacobian with respect to the 3D point

double gtsam::CalibratedCamera::range	(	const CalibratedCamera &	camera,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`
	)		const

inline

Calculate range to another camera.

Parameters

camera	Other camera
H1	optionally computed Jacobian with respect to pose
H2	optionally computed Jacobian with respect to the 3D point

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

Standard Interface