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Add stereo jacobians

release/4.3a0
Fan Jiang 2022-04-17 17:04:07 -04:00
parent 693f05b04a
commit 4c8260bc0e
1 changed files with 23 additions and 1 deletions
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24
gtsam/geometry/geometry.i
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@ -837,12 +837,25 @@ class CalibratedCamera {
// Action on Point3 // Action on Point3
gtsam::Point2 project(const gtsam::Point3& point) const; gtsam::Point2 project(const gtsam::Point3& point) const;
gtsam::Point2 project(const gtsam::Point3& point,
Eigen::Ref<Eigen::MatrixXd> Dcamera,
Eigen::Ref<Eigen::MatrixXd> Dpoint);
gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const;
gtsam::Point3 backproject(const gtsam::Point2& p, double depth,
Eigen::Ref<Eigen::MatrixXd> Dresult_dpose,
Eigen::Ref<Eigen::MatrixXd> Dresult_dp,
Eigen::Ref<Eigen::MatrixXd> Dresult_ddepth);
static gtsam::Point2 Project(const gtsam::Point3& cameraPoint); static gtsam::Point2 Project(const gtsam::Point3& cameraPoint);
// Standard Interface // Standard Interface
gtsam::Pose3 pose() const; gtsam::Pose3 pose() const;
double range(const gtsam::Point3& point) const; double range(const gtsam::Point3& point) const;
double range(const gtsam::Point3& point, Eigen::Ref<Eigen::MatrixXd> Dcamera,
Eigen::Ref<Eigen::MatrixXd> Dpoint);
double range(const gtsam::Pose3& pose) const; double range(const gtsam::Pose3& pose) const;
double range(const gtsam::Pose3& point, Eigen::Ref<Eigen::MatrixXd> Dcamera,
Eigen::Ref<Eigen::MatrixXd> Dpose);
double range(const gtsam::CalibratedCamera& camera) const; double range(const gtsam::CalibratedCamera& camera) const;
// enabling serialization functionality // enabling serialization functionality
@ -965,9 +978,18 @@ class StereoCamera {
static size_t Dim(); static size_t Dim();
// Transformations and measurement functions // Transformations and measurement functions
gtsam::StereoPoint2 project(const gtsam::Point3& point); gtsam::StereoPoint2 project(const gtsam::Point3& point) const;
gtsam::Point3 backproject(const gtsam::StereoPoint2& p) const; gtsam::Point3 backproject(const gtsam::StereoPoint2& p) const;
// project with Jacobian
gtsam::StereoPoint2 project2(const gtsam::Point3& point,
Eigen::Ref<Eigen::MatrixXd> H1,
Eigen::Ref<Eigen::MatrixXd> H2) const;
gtsam::Point3 backproject2(const gtsam::StereoPoint2& p,
Eigen::Ref<Eigen::MatrixXd> H1,
Eigen::Ref<Eigen::MatrixXd> H2) const;
// enabling serialization functionality // enabling serialization functionality
void serialize() const; void serialize() const;
}; };