triangulation.h File Reference

Functions for triangulation. More...

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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::CameraProjectionMatrix< CALIBRATION >
	Create a 3*4 camera projection matrix from calibration and pose. More...
struct	gtsam::TriangulationParameters
class	gtsam::TriangulationResult
	TriangulationResult is an optional point, along with the reasons why it is invalid. More...

Namespaces
	gtsam
	Global functions in a separate testing namespace.

Functions
Vector4	gtsam::triangulateHomogeneousDLT (const std::vector< Matrix34 > &projection_matrices, const std::vector< Point2 > &measurements, double rank_tol=1e-9)
	DLT triangulation: See Hartley and Zisserman, 2nd Ed., page 312. More...
Point3	gtsam::triangulateDLT (const std::vector< Matrix34 > &projection_matrices, const std::vector< Point2 > &measurements, double rank_tol=1e-9)
	DLT triangulation: See Hartley and Zisserman, 2nd Ed., page 312. More...
template<class CALIBRATION >
std::pair< NonlinearFactorGraph, Values >	gtsam::triangulationGraph (const std::vector< Pose3 > &poses, boost::shared_ptr< CALIBRATION > sharedCal, const std::vector< Point2 > &measurements, Key landmarkKey, const Point3 &initialEstimate)
	Create a factor graph with projection factors from poses and one calibration. More...
template<class CAMERA >
std::pair< NonlinearFactorGraph, Values >	gtsam::triangulationGraph (const std::vector< CAMERA > &cameras, const std::vector< typename CAMERA::Measurement > &measurements, Key landmarkKey, const Point3 &initialEstimate)
	Create a factor graph with projection factors from pinhole cameras (each camera has a pose and calibration) More...
template<class CALIBRATION >
std::pair< NonlinearFactorGraph, Values >	gtsam::triangulationGraph (const std::vector< PinholeCamera< CALIBRATION > > &cameras, const std::vector< Point2 > &measurements, Key landmarkKey, const Point3 &initialEstimate)
	PinholeCamera specific version // TODO: (chris) why does this exist?
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 std::vector< Point2 > &measurements, const Point3 &initialEstimate)
	Given an initial estimate , refine a point using measurements in several cameras. More...
template<class CAMERA >
Point3	gtsam::triangulateNonlinear (const std::vector< CAMERA > &cameras, const std::vector< typename CAMERA::Measurement > &measurements, const Point3 &initialEstimate)
	Given an initial estimate , refine a point using measurements in several cameras. More...
template<class CALIBRATION >
Point3	gtsam::triangulateNonlinear (const std::vector< PinholeCamera< CALIBRATION > > &cameras, const std::vector< Point2 > &measurements, const Point3 &initialEstimate)
	PinholeCamera specific version // TODO: (chris) why does this exist?
template<class CALIBRATION >
Point3	gtsam::triangulatePoint3 (const std::vector< Pose3 > &poses, boost::shared_ptr< CALIBRATION > sharedCal, const std::vector< Point2 > &measurements, double rank_tol=1e-9, bool optimize=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 std::vector< CAMERA > &cameras, const std::vector< Point2 > &measurements, double rank_tol=1e-9, bool optimize=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 std::vector< PinholeCamera< CALIBRATION > > &cameras, const std::vector< Point2 > &measurements, double rank_tol=1e-9, bool optimize=false)
	Pinhole-specific version.
template<class CAMERA >
TriangulationResult	gtsam::triangulateSafe (const std::vector< CAMERA > &cameras, const std::vector< Point2 > &measured, const TriangulationParameters &params)
	triangulateSafe: extensive checking of the outcome

Detailed Description

Functions for triangulation.

Date

July 31, 2013

Author

Chris Beall