Inheritance diagram for gtsam::PinholeCamera< Calibration >:

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

Vector	localCoordinates (const PinholeCamera &T2) const
	return canonical coordinate

size_t	dim () const
	Manifold dimension.

static size_t	Dim ()
	Manifold dimension.

Transformations and measurement functions
std::pair< Point2, bool >	projectSafe (const Point3 &pw) const
	Project a point into the image and check depth.

Point2	project (const Point3 &pw, boost::optional< Matrix & > Dpose=boost::none, boost::optional< Matrix & > Dpoint=boost::none, boost::optional< Matrix & > Dcal=boost::none) const
	project a point from world coordinate to the image More...

Point2	projectPointAtInfinity (const Point3 &pw, boost::optional< Matrix & > Dpose=boost::none, boost::optional< Matrix & > Dpoint=boost::none, boost::optional< Matrix & > Dcal=boost::none) const
	project a point at infinity from world coordinate to the image More...

Point2	project2 (const Point3 &pw, boost::optional< Matrix & > Dcamera=boost::none, boost::optional< Matrix & > Dpoint=boost::none) const
	project a point from world coordinate to the image More...

Point3	backproject (const Point2 &p, double depth) const
	backproject a 2-dimensional point to a 3-dimensional point at given depth

Point3	backprojectPointAtInfinity (const Point2 &p) const
	backproject a 2-dimensional point to a 3-dimensional point at infinity

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

double	range (const Pose3 &pose, boost::optional< Matrix & > Dpose=boost::none, boost::optional< Matrix & > Dpose2=boost::none) const
	Calculate range to another pose. More...

template<class CalibrationB >
double	range (const PinholeCamera< CalibrationB > &camera, boost::optional< Matrix & > Dpose=boost::none, boost::optional< Matrix & > Dother=boost::none) const
	Calculate range to another camera. More...

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

static Point2	project_to_camera (const Point3 &P, boost::optional< Matrix & > Dpoint=boost::none)
	projects a 3-dimensional point in camera coordinates into the camera and returns a 2-dimensional point, no calibration applied More...

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

Public Member Functions
Standard Constructors
	PinholeCamera ()
	default constructor

	PinholeCamera (const Pose3 &pose)
	constructor with pose

	PinholeCamera (const Pose3 &pose, const Calibration &K)
	constructor with pose and calibration

Advanced Constructors
	PinholeCamera (const Vector &v)

	PinholeCamera (const Vector &v, const Vector &K)

Testable
bool	equals (const PinholeCamera &camera, double tol=1e-9) const
	assert equality up to a tolerance

void	print (const std::string &s="PinholeCamera") const
	print

Standard Interface
virtual	~PinholeCamera ()

Pose3 &	pose ()
	return pose

const Pose3 &	pose () const
	return pose

Calibration &	calibration ()
	return calibration

const Calibration &	calibration () const
	return calibration

Group ?? Frank says this might not make sense
const PinholeCamera	compose (const PinholeCamera &c, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	compose two cameras: TODO Frank says this might not make sense

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

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

const PinholeCamera	compose (const Pose3 &c) const
	compose two cameras: TODO Frank says this might not make sense

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

	operator PinholeCamera< Calibration > & ()
	Conversion to the derived class.

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

Static Public Member Functions
Named Constructors
static PinholeCamera	Level (const Calibration &K, const Pose2 &pose2, double height)
	Create a level camera at the given 2D pose and height. More...

static PinholeCamera	Level (const Pose2 &pose2, double height)
	PinholeCamera::level with default calibration.

static PinholeCamera	Lookat (const Point3 &eye, const Point3 &target, const Point3 &upVector, const Calibration &K=Calibration())
	Create a camera at the given eye position looking at a target point in the scene with the specified up direction vector. More...

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

Member Function Documentation

template<typename Calibration>

static PinholeCamera gtsam::PinholeCamera< Calibration >::Level	(	const Calibration &	K,
		const Pose2 &	pose2,
		double	height
	)

inlinestatic

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

Parameters

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

template<typename Calibration>

static PinholeCamera gtsam::PinholeCamera< Calibration >::Lookat	(	const Point3 &	eye,
		const Point3 &	target,
		const Point3 &	upVector,
		const Calibration &	K = `Calibration()`
	)

inlinestatic

Create a camera at the given eye position looking at a target point in the scene with the specified up direction vector.

Parameters

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

template<typename Calibration>

Point2 gtsam::PinholeCamera< Calibration >::project	(	const Point3 &	pw,
		boost::optional< Matrix & >	Dpose = `boost::none`,
		boost::optional< Matrix & >	Dpoint = `boost::none`,
		boost::optional< Matrix & >	Dcal = `boost::none`
	)		const

inline

project a point from world coordinate to the image

Parameters

pw	is a point 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

template<typename Calibration>

Point2 gtsam::PinholeCamera< Calibration >::project2	(	const Point3 &	pw,
		boost::optional< Matrix & >	Dcamera = `boost::none`,
		boost::optional< Matrix & >	Dpoint = `boost::none`
	)		const

inline

project a point from world coordinate to the image

Parameters

pw	is a point in the world coordinate
Dcamera	is the Jacobian w.r.t. [pose3 calibration]
Dpoint	is the Jacobian w.r.t. point3

template<typename Calibration>

static Point2 gtsam::PinholeCamera< Calibration >::project_to_camera	(	const Point3 &	P,
		boost::optional< Matrix & >	Dpoint = `boost::none`
	)

inlinestatic

projects a 3-dimensional point in camera coordinates into the camera and returns a 2-dimensional point, no calibration applied

Parameters

P	A point in camera coordinates
Dpoint	is the 2*3 Jacobian w.r.t. P

template<typename Calibration>

Point2 gtsam::PinholeCamera< Calibration >::projectPointAtInfinity	(	const Point3 &	pw,
		boost::optional< Matrix & >	Dpose = `boost::none`,
		boost::optional< Matrix & >	Dpoint = `boost::none`,
		boost::optional< Matrix & >	Dcal = `boost::none`
	)		const

inline

project a point at infinity from world coordinate to the image

Parameters

pw	is a point in the world coordinate (it is pw = lambda*[pw_x pw_y pw_z] with lambda->inf)
Dpose	is the Jacobian w.r.t. pose3
Dpoint	is the Jacobian w.r.t. point3
Dcal	is the Jacobian w.r.t. calibration

template<typename Calibration>

double gtsam::PinholeCamera< Calibration >::range	(	const Point3 &	point,
		boost::optional< Matrix & >	Dpose = `boost::none`,
		boost::optional< Matrix & >	Dpoint = `boost::none`
	)		const

inline

Calculate range to a landmark.

Parameters

point	3D location of landmark
Dpose	the optionally computed Jacobian with respect to pose
Dpoint	the optionally computed Jacobian with respect to the landmark

Returns: range (double)

template<typename Calibration>

double gtsam::PinholeCamera< Calibration >::range	(	const Pose3 &	pose,
		boost::optional< Matrix & >	Dpose = `boost::none`,
		boost::optional< Matrix & >	Dpose2 = `boost::none`
	)		const

inline

Calculate range to another pose.

Parameters

pose	Other SO(3) pose
Dpose	the optionally computed Jacobian with respect to pose
Dpose2	the optionally computed Jacobian with respect to the other pose

Returns: range (double)

template<typename Calibration>

template<class CalibrationB >

double gtsam::PinholeCamera< Calibration >::range	(	const PinholeCamera< CalibrationB > &	camera,
		boost::optional< Matrix & >	Dpose = `boost::none`,
		boost::optional< Matrix & >	Dother = `boost::none`
	)		const

inline

Calculate range to another camera.

Parameters

camera	Other camera
Dpose	the optionally computed Jacobian with respect to pose
Dother	the optionally computed Jacobian with respect to the other camera

Returns: range (double)

template<typename Calibration>

double gtsam::PinholeCamera< Calibration >::range	(	const CalibratedCamera &	camera,
		boost::optional< Matrix & >	Dpose = `boost::none`,
		boost::optional< Matrix & >	Dother = `boost::none`
	)		const

inline

Calculate range to another camera.

Parameters

camera	Other camera
Dpose	the optionally computed Jacobian with respect to pose
Dother	the optionally computed Jacobian with respect to the other camera

Returns: range (double)

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

/home/cbeall3/git/gtsam/gtsam/geometry/PinholeCamera.h

Manifold

Transformations and measurement functions

Advanced Interface

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Member Function Documentation