A Calibrated camera class [R|-R't], calibration K=I.
If calibration is known, it is more computationally efficient to calibrate the measurements rather than try to predict in pixels.
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Point2 | project (const Point3 &point, OptionalJacobian< 2, 6 > Dcamera=boost::none, OptionalJacobian< 2, 3 > Dpoint=boost::none) const |
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Point3 | backproject (const Point2 &pn, double depth, OptionalJacobian< 3, 6 > Dresult_dpose=boost::none, OptionalJacobian< 3, 2 > Dresult_dp=boost::none, OptionalJacobian< 3, 1 > Dresult_ddepth=boost::none) const |
| backproject a 2-dimensional point to a 3-dimensional point at given depth
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double | range (const Point3 &point, OptionalJacobian< 1, 6 > Dcamera=boost::none, OptionalJacobian< 1, 3 > Dpoint=boost::none) const |
| Calculate range to a landmark.
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double | range (const Pose3 &pose, OptionalJacobian< 1, 6 > Dcamera=boost::none, OptionalJacobian< 1, 6 > Dpose=boost::none) const |
| Calculate range to another pose.
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double | range (const CalibratedCamera &camera, OptionalJacobian< 1, 6 > H1=boost::none, OptionalJacobian< 1, 6 > H2=boost::none) const |
| Calculate range to another camera.
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std::pair< Point2, bool > | projectSafe (const Point3 &pw) const |
| Project a point into the image and check depth.
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Point2 | project2 (const Point3 &point, OptionalJacobian< 2, 6 > Dpose=boost::none, OptionalJacobian< 2, 3 > Dpoint=boost::none) const |
| Project point into the image Throws a CheiralityException if point behind image plane iff GTSAM_THROW_CHEIRALITY_EXCEPTION.
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Point2 | project2 (const Unit3 &point, OptionalJacobian< 2, 6 > Dpose=boost::none, OptionalJacobian< 2, 2 > Dpoint=boost::none) const |
| Project point at infinity into the image Throws a CheiralityException if point behind image plane iff GTSAM_THROW_CHEIRALITY_EXCEPTION.
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| PinholeBase () |
| Default constructor.
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| PinholeBase (const Pose3 &pose) |
| Constructor with pose.
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| PinholeBase (const Vector &v) |
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virtual | ~PinholeBase ()=default |
| Default destructor.
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bool | equals (const PinholeBase &camera, double tol=1e-9) const |
| assert equality up to a tolerance
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const Pose3 & | pose () const |
| return pose, constant version
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const Rot3 & | rotation () const |
| get rotation
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const Point3 & | translation () const |
| get translation
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const Pose3 & | getPose (OptionalJacobian< 6, 6 > H) const |
| return pose, with derivative
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static Pose3 | LevelPose (const Pose2 &pose2, double height) |
| Create a level pose at the given 2D pose and height.
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static Pose3 | LookatPose (const Point3 &eye, const Point3 &target, const Point3 &upVector) |
| Create a camera pose at the given eye position looking at a target point in the scene with the specified up direction vector.
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static Point2 | Project (const Point3 &pc, OptionalJacobian< 2, 3 > Dpoint=boost::none) |
| Project from 3D point in camera coordinates into image Does not throw a CheiralityException, even if pc behind image plane.
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static Point2 | Project (const Unit3 &pc, OptionalJacobian< 2, 2 > Dpoint=boost::none) |
| Project from 3D point at infinity in camera coordinates into image Does not throw a CheiralityException, even if pc behind image plane.
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static Point3 | BackprojectFromCamera (const Point2 &p, const double depth, OptionalJacobian< 3, 2 > Dpoint=boost::none, OptionalJacobian< 3, 1 > Ddepth=boost::none) |
| backproject a 2-dimensional point to a 3-dimensional point at given depth
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static std::pair< size_t, size_t > | translationInterval () |
| Return the start and end indices (inclusive) of the translation component of the exponential map parameterization.
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static Matrix26 | Dpose (const Point2 &pn, double d) |
| Calculate Jacobian with respect to pose.
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static Matrix23 | Dpoint (const Point2 &pn, double d, const Matrix3 &Rt) |
| Calculate Jacobian with respect to point.
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