vision_common::InverseDepthMeasurement Class Reference

#include <inverse_depth_measurement.h>

Public Types
enum	{ dimension = 1 }

Public Member Functions
	InverseDepthMeasurement (const double inverse_depth, const Eigen::Vector2d &image_coordinates, const Eigen::Matrix3d &intrinsics, const gtsam::Pose3 &body_T_sensor)
Eigen::Vector3d	Backproject (boost::optional< gtsam::Matrix & > d_backprojected_point_d_depth=boost::none) const
boost::optional< Eigen::Vector2d >	Project (const gtsam::Pose3 &world_T_source_body, const gtsam::Pose3 &world_T_target_body, boost::optional< gtsam::Matrix & > d_projected_point_d_world_T_source_body=boost::none, boost::optional< gtsam::Matrix & > d_projected_point_d_world_T_target_body=boost::none, boost::optional< gtsam::Matrix & > d_projected_point_d_inverse_depth=boost::none) const
double	depth () const
double	inverse_depth () const
size_t	dim () const
InverseDepthMeasurement	retract (const gtsam::Vector &d) const
gtsam::Vector1	localCoordinates (const InverseDepthMeasurement &T2) const
void	print (const std::string &s=std::string()) const
bool	equals (const InverseDepthMeasurement &s, double tol=1e-9) const

Static Public Member Functions
static size_t	Dim ()

Detailed Description

Optimizable inverse depth parameterization for a landmark point using a (u,v) image space measurement and the associated camera pose for the measurement along with the camera intrinsics matrix to be able to backproject the inverse depth point to a 3d point.

Member Enumeration Documentation

anonymous enum

anonymous enum

Enumerator
dimension

Constructor & Destructor Documentation

InverseDepthMeasurement()

vision_common::InverseDepthMeasurement::InverseDepthMeasurement ( const double  inverse_depth, const Eigen::Vector2d &  image_coordinates, const Eigen::Matrix3d &  intrinsics, const gtsam::Pose3 &  body_T_sensor  )

inline

Member Function Documentation

Backproject()

Eigen::Vector3d vision_common::InverseDepthMeasurement::Backproject ( boost::optional< gtsam::Matrix & >  d_backprojected_point_d_depth = boost::none ) const

inline

depth()

double vision_common::InverseDepthMeasurement::depth ( ) const

inline

Dim()

static size_t vision_common::InverseDepthMeasurement::Dim ( )

inlinestatic

dim()

size_t vision_common::InverseDepthMeasurement::dim ( ) const

inline

equals()

bool vision_common::InverseDepthMeasurement::equals ( const InverseDepthMeasurement &  s, double  tol = 1e-9  ) const

inline

inverse_depth()

double vision_common::InverseDepthMeasurement::inverse_depth ( ) const

inline

localCoordinates()

gtsam::Vector1 vision_common::InverseDepthMeasurement::localCoordinates ( const InverseDepthMeasurement &  T2 ) const

inline

print()

void vision_common::InverseDepthMeasurement::print ( const std::string &  s = std::string() ) const

inline

Project()

boost::optional<Eigen::Vector2d> vision_common::InverseDepthMeasurement::Project ( const gtsam::Pose3 &  world_T_source_body, const gtsam::Pose3 &  world_T_target_body, boost::optional< gtsam::Matrix & >  d_projected_point_d_world_T_source_body = boost::none, boost::optional< gtsam::Matrix & >  d_projected_point_d_world_T_target_body = boost::none, boost::optional< gtsam::Matrix & >  d_projected_point_d_inverse_depth = boost::none  ) const

inline

retract()

InverseDepthMeasurement vision_common::InverseDepthMeasurement::retract ( const gtsam::Vector &  d ) const

inline

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

• localization/vision_common/include/vision_common/inverse_depth_measurement.h