A set of cameras, all with their own calibration. More...

#include <CameraSet.h>

Inheritance diagram for gtsam::CameraSet< CAMERA >:

Public Types
using	FBlocks = std::vector< MatrixZD, Eigen::aligned_allocator< MatrixZD > >

using	MatrixZD = Eigen::Matrix< double, ZDim, D >
	Definitions for blocks of F. More...

Public Member Functions
bool	equals (const CameraSet &p, double tol=1e-9) const
	equals More...

virtual void	print (const std::string &s="") const

template<class POINT >
ZVector	project2 (const POINT &point, FBlocks Fs=nullptr, Matrix E=nullptr) const

template<class POINT , class... OptArgs>
ZVector	project2 (const POINT &point, OptArgs &... args) const

template<class POINT >
Vector	reprojectionError (const POINT &point, const ZVector &measured, FBlocks Fs=nullptr, Matrix E=nullptr) const
	Calculate vector [project2(point)-z] of re-projection errors. More...

template<class POINT , class... OptArgs, typename = std::enable_if_t<sizeof...(OptArgs)!=0>>
Vector	reprojectionError (const POINT &point, const ZVector &measured, OptArgs &... args) const

virtual	~CameraSet ()=default
	Destructor. More...

Static Public Member Functions
template<int N>
static void	ComputePointCovariance (Eigen::Matrix< double, N, N > &P, const Matrix &E, double lambda, bool diagonalDamping=false)
	Computes Point Covariance P, with lambda parameter. More...

static Matrix	PointCov (const Matrix &E, const double lambda=0.0, bool diagonalDamping=false)
	Computes Point Covariance P, with lambda parameter, dynamic version. More...

template<int N, int ND>
static SymmetricBlockMatrix	SchurComplement (const std::vector< Eigen::Matrix< double, ZDim, ND >, Eigen::aligned_allocator< Eigen::Matrix< double, ZDim, ND >>> &Fs, const Matrix &E, const Eigen::Matrix< double, N, N > &P, const Vector &b)

template<int N>
static SymmetricBlockMatrix	SchurComplement (const FBlocks &Fs, const Matrix &E, const Eigen::Matrix< double, N, N > &P, const Vector &b)

static SymmetricBlockMatrix	SchurComplement (const FBlocks &Fblocks, const Matrix &E, const Vector &b, const double lambda=0.0, bool diagonalDamping=false)

template<int N, int ND, int NDD>
static SymmetricBlockMatrix	SchurComplementAndRearrangeBlocks (const std::vector< Eigen::Matrix< double, ZDim, ND >, Eigen::aligned_allocator< Eigen::Matrix< double, ZDim, ND >>> &Fs, const Matrix &E, const Eigen::Matrix< double, N, N > &P, const Vector &b, const KeyVector &jacobianKeys, const KeyVector &hessianKeys)

template<int N>
static void	UpdateSchurComplement (const FBlocks &Fs, const Matrix &E, const Eigen::Matrix< double, N, N > &P, const Vector &b, const KeyVector &allKeys, const KeyVector &keys, SymmetricBlockMatrix &augmentedHessian)

Protected Types
using	Base = std::vector< CAMERA, typename Eigen::aligned_allocator< CAMERA > >

typedef CAMERA::Measurement	Z

typedef CAMERA::MeasurementVector	ZVector

Static Protected Member Functions
static Vector	ErrorVector (const ZVector &predicted, const ZVector &measured)
	Make a vector of re-projection errors. More...

Static Protected Attributes
static const int	D = traits<CAMERA>::dimension
	Camera dimension. More...

static const int	ZDim = traits<Z>::dimension
	Measurement dimension. More...

Detailed Description

template<class CAMERA>
class gtsam::CameraSet< CAMERA >

A set of cameras, all with their own calibration.

Definition at line 36 of file CameraSet.h.

Member Typedef Documentation

◆ Base

template<class CAMERA>

using gtsam::CameraSet< CAMERA >::Base = std::vector<CAMERA, typename Eigen::aligned_allocator<CAMERA> >

protected

Definition at line 38 of file CameraSet.h.

◆ FBlocks

template<class CAMERA>

using gtsam::CameraSet< CAMERA >::FBlocks = std::vector<MatrixZD, Eigen::aligned_allocator<MatrixZD> >

Definition at line 78 of file CameraSet.h.

◆ MatrixZD

template<class CAMERA>

using gtsam::CameraSet< CAMERA >::MatrixZD = Eigen::Matrix<double, ZDim, D>

Definitions for blocks of F.

Definition at line 77 of file CameraSet.h.

◆ Z

template<class CAMERA>

typedef CAMERA::Measurement gtsam::CameraSet< CAMERA >::Z

protected

2D measurement and noise model for each of the m views The order is kept the same as the keys that we use to create the factor.

Definition at line 44 of file CameraSet.h.

◆ ZVector

template<class CAMERA>

typedef CAMERA::MeasurementVector gtsam::CameraSet< CAMERA >::ZVector

protected

Definition at line 45 of file CameraSet.h.

Constructor & Destructor Documentation

◆ ~CameraSet()

template<class CAMERA>

virtual gtsam::CameraSet< CAMERA >::~CameraSet ( )

virtualdefault

Destructor.

Member Function Documentation

◆ ComputePointCovariance()

template<class CAMERA>

template<int N>

static void gtsam::CameraSet< CAMERA >::ComputePointCovariance	(	Eigen::Matrix< double, N, N > &	P,
		const Matrix &	E,
		double	lambda,
		bool	diagonalDamping = `false`
	)

inlinestatic

Computes Point Covariance P, with lambda parameter.

Definition at line 336 of file CameraSet.h.

◆ equals()

template<class CAMERA>

bool gtsam::CameraSet< CAMERA >::equals	(	const CameraSet< CAMERA > &	p,
		double	tol = `1e-9`
	)		const

inline

equals

Definition at line 91 of file CameraSet.h.

◆ ErrorVector()

template<class CAMERA>

static Vector gtsam::CameraSet< CAMERA >::ErrorVector	(	const ZVector &	predicted,
		const ZVector &	measured
	)

inlinestaticprotected

Make a vector of re-projection errors.

Definition at line 51 of file CameraSet.h.

◆ PointCov()

template<class CAMERA>

static Matrix gtsam::CameraSet< CAMERA >::PointCov	(	const Matrix &	E,
		const double	lambda = `0.0`,
		bool	diagonalDamping = `false`
	)

inlinestatic

Computes Point Covariance P, with lambda parameter, dynamic version.

Definition at line 352 of file CameraSet.h.

◆ print()

template<class CAMERA>

virtual void gtsam::CameraSet< CAMERA >::print ( const std::string & s = "" ) const

inlinevirtual

print

Parameters

s	optional string naming the factor
keyFormatter	optional formatter useful for printing Symbols

Reimplemented in gtsam::PinholeSet< CAMERA >.

Definition at line 85 of file CameraSet.h.

◆ project2() [1/2]

template<class CAMERA>

template<class POINT >

ZVector gtsam::CameraSet< CAMERA >::project2	(	const POINT &	point,
		FBlocks *	Fs = `nullptr`,
		Matrix *	E = `nullptr`
	)		const

inline

Project a point (possibly Unit3 at infinity), with derivatives Note that F is a sparse block-diagonal matrix, so instead of a large dense matrix this function returns the diagonal blocks. throws CheiralityException

Definition at line 108 of file CameraSet.h.

◆ project2() [2/2]

template<class CAMERA>

template<class POINT , class... OptArgs>

ZVector gtsam::CameraSet< CAMERA >::project2	(	const POINT &	point,
		OptArgs &...	args
	)		const

inline

An overload o the project2 function to accept full matrices and vectors and pass it to the pointer version of the function

Definition at line 139 of file CameraSet.h.

◆ reprojectionError() [1/2]

template<class CAMERA>

template<class POINT >

Vector gtsam::CameraSet< CAMERA >::reprojectionError	(	const POINT &	point,
		const ZVector &	measured,
		FBlocks *	Fs = `nullptr`,
		Matrix *	E = `nullptr`
	)		const

inline

Calculate vector [project2(point)-z] of re-projection errors.

Definition at line 146 of file CameraSet.h.

◆ reprojectionError() [2/2]

template<class CAMERA>

template<class POINT , class... OptArgs, typename = std::enable_if_t<sizeof...(OptArgs)!=0>>

Vector gtsam::CameraSet< CAMERA >::reprojectionError	(	const POINT &	point,
		const ZVector &	measured,
		OptArgs &...	args
	)		const

inline

An overload o the reprojectionError function to accept full matrices and vectors and pass it to the pointer version of the function

Definition at line 157 of file CameraSet.h.

◆ SchurComplement() [1/3]

template<class CAMERA>

template<int N, int ND>

static SymmetricBlockMatrix gtsam::CameraSet< CAMERA >::SchurComplement	(	const std::vector< Eigen::Matrix< double, ZDim, ND >, Eigen::aligned_allocator< Eigen::Matrix< double, ZDim, ND >>> &	Fs,
		const Matrix &	E,
		const Eigen::Matrix< double, N, N > &	P,
		const Vector &	b
	)

inlinestatic

Do Schur complement, given Jacobian as Fs,E,P, return SymmetricBlockMatrix G = F' * F - F' * E * P * E' * F g = F' * (b - E * P * E' * b) Fixed size version

Definition at line 171 of file CameraSet.h.

◆ SchurComplement() [2/3]

template<class CAMERA>

template<int N>

static SymmetricBlockMatrix gtsam::CameraSet< CAMERA >::SchurComplement	(	const FBlocks &	Fs,
		const Matrix &	E,
		const Eigen::Matrix< double, N, N > &	P,
		const Vector &	b
	)

inlinestatic

Do Schur complement, given Jacobian as Fs,E,P, return SymmetricBlockMatrix G = F' * F - F' * E * P * E' * F g = F' * (b - E * P * E' * b) Fixed size version

Definition at line 328 of file CameraSet.h.

◆ SchurComplement() [3/3]

template<class CAMERA>

static SymmetricBlockMatrix gtsam::CameraSet< CAMERA >::SchurComplement	(	const FBlocks &	Fblocks,
		const Matrix &	E,
		const Vector &	b,
		const double	lambda = `0.0`,
		bool	diagonalDamping = `false`
	)

inlinestatic

Do Schur complement, given Jacobian as Fs,E,P, return SymmetricBlockMatrix Dynamic version

Definition at line 369 of file CameraSet.h.

◆ SchurComplementAndRearrangeBlocks()

template<class CAMERA>

template<int N, int ND, int NDD>

static SymmetricBlockMatrix gtsam::CameraSet< CAMERA >::SchurComplementAndRearrangeBlocks	(	const std::vector< Eigen::Matrix< double, ZDim, ND >, Eigen::aligned_allocator< Eigen::Matrix< double, ZDim, ND >>> &	Fs,
		const Matrix &	E,
		const Eigen::Matrix< double, N, N > &	P,
		const Vector &	b,
		const KeyVector &	jacobianKeys,
		const KeyVector &	hessianKeys
	)

inlinestatic

Do Schur complement, given Jacobian as Fs,E,P, return SymmetricBlockMatrix G = F' * F - F' * E * P * E' * F g = F' * (b - E * P * E' * b) In this version, we allow for the case where the keys in the Jacobian are organized differently from the keys in the output SymmetricBlockMatrix In particular: each diagonal block of the Jacobian F captures 2 poses (useful for rolling shutter and extrinsic calibration) such that F keeps the block structure that makes the Schur complement trick fast.

N = 2 or 3 (point dimension), ND is the Jacobian block dimension, NDD is the Hessian block dimension

Definition at line 239 of file CameraSet.h.

◆ UpdateSchurComplement()

template<class CAMERA>

template<int N>

static void gtsam::CameraSet< CAMERA >::UpdateSchurComplement	(	const FBlocks &	Fs,
		const Matrix &	E,
		const Eigen::Matrix< double, N, N > &	P,
		const Vector &	b,
		const KeyVector &	allKeys,
		const KeyVector &	keys,
		SymmetricBlockMatrix &	augmentedHessian
	)

inlinestatic

Applies Schur complement (exploiting block structure) to get a smart factor on cameras, and adds the contribution of the smart factor to a pre-allocated augmented Hessian.

Definition at line 390 of file CameraSet.h.

Member Data Documentation

◆ D

template<class CAMERA>

const int gtsam::CameraSet< CAMERA >::D = traits<CAMERA>::dimension

staticprotected

Camera dimension.

Definition at line 47 of file CameraSet.h.

◆ ZDim

template<class CAMERA>

const int gtsam::CameraSet< CAMERA >::ZDim = traits<Z>::dimension

staticprotected

Measurement dimension.

Definition at line 48 of file CameraSet.h.

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

CameraSet.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Types

Static Protected Member Functions

Static Protected Attributes

Detailed Description

template<class CAMERA> class gtsam::CameraSet< CAMERA >

Member Typedef Documentation

◆ Base

◆ FBlocks

◆ MatrixZD

◆ Z

◆ ZVector

Constructor & Destructor Documentation

◆ ~CameraSet()

Member Function Documentation

◆ ComputePointCovariance()

◆ equals()

◆ ErrorVector()

◆ PointCov()

◆ print()

◆ project2() [1/2]

◆ project2() [2/2]

◆ reprojectionError() [1/2]

◆ reprojectionError() [2/2]

◆ SchurComplement() [1/3]

◆ SchurComplement() [2/3]

◆ SchurComplement() [3/3]

◆ SchurComplementAndRearrangeBlocks()

◆ UpdateSchurComplement()

Member Data Documentation

◆ D

◆ ZDim

template<class CAMERA>
class gtsam::CameraSet< CAMERA >