Detailed Description

An essential matrix is like a Pose3, except with translation up to scale It is named after the 3*3 matrix aEb = [aTb]x aRb from computer vision, but here we choose instead to parameterize it as a (Rot3,Unit3) pair.

We can then non-linearly optimize immediately on this 5-dimensional manifold.

Inheritance diagram for gtsam::EssentialMatrix:

Constructors and named constructors
static EssentialMatrix	FromPose3 (const Pose3 &_1P2_, boost::optional< Matrix & > H=boost::none)
	Named constructor converting a Pose3 with scale to EssentialMatrix (no scale)

template<typename Engine >
static EssentialMatrix	Random (Engine &rng)
	Random, using Rot3::Random and Unit3::Random.

	EssentialMatrix ()
	Default constructor.

	EssentialMatrix (const Rot3 &aRb, const Unit3 &aTb)
	Construct from rotation and translation.

Manifold
static size_t	Dim ()
	Dimensionality of tangent space = 5 DOF.

virtual size_t	dim () const
	Return the dimensionality of the tangent space.

virtual EssentialMatrix	retract (const Vector &xi) const
	Retract delta to manifold.

virtual Vector	localCoordinates (const EssentialMatrix &other) const
	Compute the coordinates in the tangent space.

Essential matrix methods
EssentialMatrix	operator* (const Rot3 &cRb, const EssentialMatrix &E)
	Given essential matrix E in camera frame B, convert to body frame C. More...

const Rot3 &	rotation () const
	Rotation.

const Unit3 &	direction () const
	Direction.

const Matrix3 &	matrix () const
	Return 3*3 matrix representation.

const Unit3 &	epipole_a () const
	Return epipole in image_a , as Unit3 to allow for infinity.

Unit3	epipole_b () const
	Return epipole in image_b, as Unit3 to allow for infinity.

Point3	transform_to (const Point3 &p, boost::optional< Matrix & > DE=boost::none, boost::optional< Matrix & > Dpoint=boost::none) const
	takes point in world coordinates and transforms it to pose with \|t\|==1 More...

EssentialMatrix	rotate (const Rot3 &cRb, boost::optional< Matrix & > HE=boost::none, boost::optional< Matrix & > HR=boost::none) const
	Given essential matrix E in camera frame B, convert to body frame C. More...

double	error (const Vector &vA, const Vector &vB, boost::optional< Matrix & > H=boost::none) const
	epipolar error, algebraic

Advanced Interface
class	boost::serialization::access
	Serialization function.

Public Member Functions
Testable
void	print (const std::string &s="") const
	print with optional string

bool	equals (const EssentialMatrix &other, double tol=1e-8) const
	assert equality up to a tolerance

Public Member Functions inherited from gtsam::DerivedValue< EssentialMatrix >
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 EssentialMatrix & () const
	Conversion to the derived class.

	operator EssentialMatrix & ()
	Conversion to the derived class.

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

Static Public Member Functions
static Vector	Homogeneous (const Point2 &p)
	Static function to convert Point2 to homogeneous coordinates.

Friends
Streaming operators
GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const EssentialMatrix &E)
	stream to stream

GTSAM_EXPORT friend std::istream &	operator>> (std::istream &is, EssentialMatrix &E)
	stream from stream

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

Member Function Documentation

EssentialMatrix gtsam::EssentialMatrix::rotate	(	const Rot3 &	cRb,
		boost::optional< Matrix & >	HE = `boost::none`,
		boost::optional< Matrix & >	HR = `boost::none`
	)		const

Given essential matrix E in camera frame B, convert to body frame C.

Parameters

cRb	rotation from body frame to camera frame
E	essential matrix E in camera frame C

Point3 gtsam::EssentialMatrix::transform_to	(	const Point3 &	p,
		boost::optional< Matrix & >	DE = `boost::none`,
		boost::optional< Matrix & >	Dpoint = `boost::none`
	)		const

takes point in world coordinates and transforms it to pose with |t|==1

Parameters

p	point in world coordinates
DE	optional 3*5 Jacobian wrpt to E
Dpoint	optional 3*3 Jacobian wrpt point

Returns: point in pose coordinates

Friends And Related Function Documentation

EssentialMatrix operator*	(	const Rot3 &	cRb,
		const EssentialMatrix &	E
	)

friend

Given essential matrix E in camera frame B, convert to body frame C.

Parameters

cRb	rotation from body frame to camera frame
E	essential matrix E in camera frame C

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

/home/cbeall3/git/gtsam/gtsam/geometry/EssentialMatrix.h
/home/cbeall3/git/gtsam/gtsam/geometry/EssentialMatrix.cpp

Detailed Description

Constructors and named constructors

Manifold

Essential matrix methods

Advanced Interface

Public Member Functions

Static Public Member Functions

Friends

Additional Inherited Members

Member Function Documentation

Friends And Related Function Documentation