SmartProjectionPoseFactor.h
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1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4  * Atlanta, Georgia 30332-0415
5  * All Rights Reserved
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7 
8  * See LICENSE for the license information
9 
10  * -------------------------------------------------------------------------- */
11 
20 #pragma once
21 
23 
24 namespace gtsam {
44 template <class CALIBRATION>
46  : public SmartProjectionFactor<PinholePose<CALIBRATION> > {
47  private:
51 
52 protected:
53 
54  std::shared_ptr<CALIBRATION> K_;
55 
56 public:
57 
59  typedef std::shared_ptr<This> shared_ptr;
60 
65 
73  const SharedNoiseModel& sharedNoiseModel,
74  const std::shared_ptr<CALIBRATION> K,
76  : Base(sharedNoiseModel, params), K_(K) {
77  }
78 
87  const SharedNoiseModel& sharedNoiseModel,
88  const std::shared_ptr<CALIBRATION> K,
89  const std::optional<Pose3> body_P_sensor,
91  : SmartProjectionPoseFactor(sharedNoiseModel, K, params) {
93  }
94 
97  }
98 
104  void print(const std::string& s = "", const KeyFormatter& keyFormatter =
105  DefaultKeyFormatter) const override {
106  std::cout << s << "SmartProjectionPoseFactor, z = \n ";
107  Base::print("", keyFormatter);
108  }
109 
111  bool equals(const NonlinearFactor& p, double tol = 1e-9) const override {
112  const This *e = dynamic_cast<const This*>(&p);
113  return e && Base::equals(p, tol);
114  }
115 
119  double error(const Values& values) const override {
120  if (this->active(values)) {
121  return this->totalReprojectionError(cameras(values));
122  } else { // else of active flag
123  return 0.0;
124  }
125  }
126 
128  inline const std::shared_ptr<CALIBRATION> calibration() const {
129  return K_;
130  }
131 
138  typename Base::Cameras cameras(const Values& values) const override {
139  typename Base::Cameras cameras;
140  for (const Key& k : this->keys_) {
141  const Pose3 world_P_sensor_k =
143  : values.at<Pose3>(k);
144  cameras.emplace_back(world_P_sensor_k, K_);
145  }
146  return cameras;
147  }
148 
149  private:
150 
151 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
152  friend class boost::serialization::access;
154  template<class ARCHIVE>
155  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
156  ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
157  ar & BOOST_SERIALIZATION_NVP(K_);
158  }
159 #endif
160 };
161 // end of class declaration
162 
164 template<class CALIBRATION>
165 struct traits<SmartProjectionPoseFactor<CALIBRATION> > : public Testable<
166  SmartProjectionPoseFactor<CALIBRATION> > {
167 };
168 
169 } // \ namespace gtsam
Base::Cameras cameras(const Values &values) const override
SmartProjectionPoseFactor< CALIBRATION > This
std::string serialize(const T &input)
serializes to a string
const ValueType at(Key j) const
Definition: Values-inl.h:204
leaf::MyValues values
static Cal3_S2 K(500, 500, 0.1, 640/2, 480/2)
KeyVector keys_
The keys involved in this factor.
Definition: Factor.h:87
static const KeyFormatter DefaultKeyFormatter
Definition: Key.h:43
bool equals(const NonlinearFactor &p, double tol=1e-9) const override
equals
void print(const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
static const SmartProjectionParams params
Smart factor on cameras (pose + calibration)
SmartProjectionPoseFactor(const SharedNoiseModel &sharedNoiseModel, const std::shared_ptr< CALIBRATION > K, const SmartProjectionParams &params=SmartProjectionParams())
Array< double, 1, 3 > e(1./3., 0.5, 2.)
RealScalar s
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Definition: Key.h:35
double error(const Values &values) const override
traits
Definition: chartTesting.h:28
bool equals(const NonlinearFactor &p, double tol=1e-9) const override
equals
virtual bool active(const Values &) const
const std::shared_ptr< CALIBRATION > calibration() const
std::shared_ptr< CALIBRATION > K_
calibration object (one for all cameras)
float * p
const G double tol
Definition: Group.h:86
SmartProjectionPoseFactor(const SharedNoiseModel &sharedNoiseModel, const std::shared_ptr< CALIBRATION > K, const std::optional< Pose3 > body_P_sensor, const SmartProjectionParams &params=SmartProjectionParams())
SmartProjectionFactor< Camera > Base
std::shared_ptr< This > shared_ptr
shorthand for a smart pointer to a factor
std::optional< Pose3 > body_P_sensor_
Pose of the camera in the body frame.
std::uint64_t Key
Integer nonlinear key type.
Definition: types.h:102
void print(const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
noiseModel::Base::shared_ptr SharedNoiseModel
Definition: NoiseModel.h:741
double totalReprojectionError(const Cameras &cameras, std::optional< Point3 > externalPoint={}) const


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autogenerated on Tue Jul 4 2023 02:35:52