gtsam 4.2.0
gtsam
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Functions for triangulation. More...
Go to the source code of this file.
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 |
TriangulationResult is an optional point, along with the reasons why it is invalid. More... | |
Namespaces | |
namespace | gtsam |
Global functions in a separate testing namespace. | |
Functions | |
Vector4 | gtsam::triangulateHomogeneousDLT (const std::vector< Matrix34, Eigen::aligned_allocator< Matrix34 > > &projection_matrices, const Point2Vector &measurements, double rank_tol=1e-9) |
DLT triangulation: See Hartley and Zisserman, 2nd Ed., page 312. More... | |
Vector4 | gtsam::triangulateHomogeneousDLT (const std::vector< Matrix34, Eigen::aligned_allocator< Matrix34 > > &projection_matrices, const std::vector< Unit3 > &measurements, double rank_tol=1e-9) |
Same math as Hartley and Zisserman, 2nd Ed., page 312, but with unit-norm bearing vectors (contrarily to pinhole projection, the z entry is not assumed to be 1 as in Hartley and Zisserman) More... | |
Point3 | gtsam::triangulateDLT (const std::vector< Matrix34, Eigen::aligned_allocator< Matrix34 > > &projection_matrices, const Point2Vector &measurements, double rank_tol=1e-9) |
DLT triangulation: See Hartley and Zisserman, 2nd Ed., page 312. More... | |
Point3 | gtsam::triangulateDLT (const std::vector< Matrix34, Eigen::aligned_allocator< Matrix34 > > &projection_matrices, const std::vector< Unit3 > &measurements, double rank_tol=1e-9) |
overload of previous function to work with Unit3 (projected to canonical camera) | |
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, boost::shared_ptr< CALIBRATION > sharedCal, const Point2Vector &measurements, Key landmarkKey, const Point3 &initialEstimate, const SharedNoiseModel &model=noiseModel::Unit::Create(2)) |
Create a factor graph with projection factors from poses and one calibration. More... | |
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) |
Create a factor graph with projection factors from pinhole cameras (each camera has a pose and calibration) More... | |
Point3 | gtsam::optimize (const NonlinearFactorGraph &graph, const Values &values, Key landmarkKey) |
Optimize for triangulation. More... | |
template<class CALIBRATION > | |
Point3 | gtsam::triangulateNonlinear (const std::vector< Pose3 > &poses, boost::shared_ptr< CALIBRATION > sharedCal, const Point2Vector &measurements, const Point3 &initialEstimate, const SharedNoiseModel &model=nullptr) |
Given an initial estimate , refine a point using measurements in several cameras. More... | |
template<class CAMERA > | |
Point3 | gtsam::triangulateNonlinear (const CameraSet< CAMERA > &cameras, const typename CAMERA::MeasurementVector &measurements, const Point3 &initialEstimate, const SharedNoiseModel &model=nullptr) |
Given an initial estimate , refine a point using measurements in several cameras. More... | |
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, boost::shared_ptr< CALIBRATION > sharedCal) |
template<class CALIBRATION > | |
Cal3_S2 | gtsam::createPinholeCalibration (const CALIBRATION &cal) |
Create a pinhole calibration from a different Cal3 object, removing distortion. More... | |
template<class CALIBRATION , class MEASUREMENT > | |
MEASUREMENT | gtsam::undistortMeasurementInternal (const CALIBRATION &cal, const MEASUREMENT &measurement, boost::optional< Cal3_S2 > pinholeCal=boost::none) |
Internal undistortMeasurement to be used by undistortMeasurement and undistortMeasurements. | |
template<class CALIBRATION > | |
Point2Vector | gtsam::undistortMeasurements (const CALIBRATION &cal, const Point2Vector &measurements) |
Remove distortion for measurements so as if the measurements came from a pinhole camera. More... | |
template<> | |
Point2Vector | gtsam::undistortMeasurements (const Cal3_S2 &cal, const Point2Vector &measurements) |
Specialization for Cal3_S2 as it doesn't need to be undistorted. | |
template<class CAMERA > | |
CAMERA::MeasurementVector | gtsam::undistortMeasurements (const CameraSet< CAMERA > &cameras, const typename CAMERA::MeasurementVector &measurements) |
Remove distortion for measurements so as if the measurements came from a pinhole camera. More... | |
template<class CAMERA = PinholeCamera<Cal3_S2>> | |
PinholeCamera< Cal3_S2 >::MeasurementVector | gtsam::undistortMeasurements (const CameraSet< PinholeCamera< Cal3_S2 > > &cameras, const PinholeCamera< Cal3_S2 >::MeasurementVector &measurements) |
Specialize for Cal3_S2 to do nothing. | |
template<class CAMERA = SphericalCamera> | |
SphericalCamera::MeasurementVector | gtsam::undistortMeasurements (const CameraSet< SphericalCamera > &cameras, const SphericalCamera::MeasurementVector &measurements) |
Specialize for SphericalCamera to do nothing. | |
template<class CALIBRATION > | |
Point3Vector | gtsam::calibrateMeasurementsShared (const CALIBRATION &cal, const Point2Vector &measurements) |
Convert pixel measurements in image to homogeneous measurements in the image plane using shared camera intrinsics. More... | |
template<class CAMERA > | |
Point3Vector | gtsam::calibrateMeasurements (const CameraSet< CAMERA > &cameras, const typename CAMERA::MeasurementVector &measurements) |
Convert pixel measurements in image to homogeneous measurements in the image plane using camera intrinsics of each measurement. More... | |
template<class CAMERA = SphericalCamera> | |
Point3Vector | gtsam::calibrateMeasurements (const CameraSet< SphericalCamera > &cameras, const SphericalCamera::MeasurementVector &measurements) |
Specialize for SphericalCamera to do nothing. | |
template<class CALIBRATION > | |
Point3 | gtsam::triangulatePoint3 (const std::vector< Pose3 > &poses, boost::shared_ptr< CALIBRATION > sharedCal, const Point2Vector &measurements, double rank_tol=1e-9, bool optimize=false, const SharedNoiseModel &model=nullptr, const bool useLOST=false) |
Function to triangulate 3D landmark point from an arbitrary number of poses (at least 2) using the DLT. More... | |
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) |
Function to triangulate 3D landmark point from an arbitrary number of poses (at least 2) using the DLT. More... | |
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 ¶ms) |
triangulateSafe: extensive checking of the outcome | |
Functions for triangulation.