Public Member Functions | Private Types | Private Attributes | Static Private Attributes | List of all members
gtsam::EssentialMatrixFactor4< CALIBRATION > Class Template Reference

#include <EssentialMatrixFactor.h>

Inheritance diagram for gtsam::EssentialMatrixFactor4< CALIBRATION >:
Inheritance graph
[legend]

Public Member Functions

gtsam::NonlinearFactor::shared_ptr clone () const override
 
 EssentialMatrixFactor4 (Key keyE, Key keyK, const Point2 &pA, const Point2 &pB, const SharedNoiseModel &model)
 
Vector evaluateError (const EssentialMatrix &E, const CALIBRATION &K, OptionalMatrixType H1, OptionalMatrixType H2) const override
 Calculate the algebraic epipolar error pA' (K^-1)' E K pB. More...
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 print More...
 
- Public Member Functions inherited from gtsam::NoiseModelFactorN< EssentialMatrix, CALIBRATION >
Key key () const
 
 ~NoiseModelFactorN () override
 
 NoiseModelFactorN ()
 Default Constructor for I/O. More...
 
 NoiseModelFactorN (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys)
 
 NoiseModelFactorN (const SharedNoiseModel &noiseModel, CONTAINER keys)
 
Vector unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override
 
virtual Vector evaluateError (const ValueTypes &... x, OptionalMatrixTypeT< ValueTypes >... H) const=0
 
Vector evaluateError (const ValueTypes &... x, MatrixTypeT< ValueTypes > &... H) const
 
Vector evaluateError (const ValueTypes &... x) const
 
AreAllMatrixRefs< Vector, OptionalJacArgs... > evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const
 
AreAllMatrixPtrs< Vector, OptionalJacArgs... > evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const
 
Key key1 () const
 
Key key2 () const
 
Key key3 () const
 
Key key4 () const
 
Key key5 () const
 
Key key6 () const
 
- Public Member Functions inherited from gtsam::NoiseModelFactor
shared_ptr cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const
 
size_t dim () const override
 
bool equals (const NonlinearFactor &f, double tol=1e-9) const override
 
double error (const Values &c) const override
 
std::shared_ptr< GaussianFactorlinearize (const Values &x) const override
 
const SharedNoiseModelnoiseModel () const
 access to the noise model More...
 
 NoiseModelFactor ()
 
template<typename CONTAINER >
 NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)
 
Vector unweightedWhitenedError (const Values &c) const
 
Vector unwhitenedError (const Values &x, std::vector< Matrix > &H) const
 
double weight (const Values &c) const
 
Vector whitenedError (const Values &c) const
 
 ~NoiseModelFactor () override
 
- Public Member Functions inherited from gtsam::NonlinearFactor
 NonlinearFactor ()
 
template<typename CONTAINER >
 NonlinearFactor (const CONTAINER &keys)
 
double error (const HybridValues &c) const override
 
virtual bool active (const Values &) const
 
virtual shared_ptr rekey (const std::map< Key, Key > &rekey_mapping) const
 
virtual shared_ptr rekey (const KeyVector &new_keys) const
 
virtual bool sendable () const
 
- Public Member Functions inherited from gtsam::Factor
virtual ~Factor ()=default
 Default destructor. More...
 
bool empty () const
 Whether the factor is empty (involves zero variables). More...
 
Key front () const
 First key. More...
 
Key back () const
 Last key. More...
 
const_iterator find (Key key) const
 find More...
 
const KeyVectorkeys () const
 Access the factor's involved variable keys. More...
 
const_iterator begin () const
 
const_iterator end () const
 
size_t size () const
 
virtual void printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
 print only keys More...
 
bool equals (const This &other, double tol=1e-9) const
 check equality More...
 
KeyVectorkeys ()
 
iterator begin ()
 
iterator end ()
 

Private Types

typedef NoiseModelFactorN< EssentialMatrix, CALIBRATION > Base
 
typedef Eigen::Matrix< double, 2, DimKJacobianCalibration
 
typedef EssentialMatrixFactor4 This
 

Private Attributes

Point2 pA_
 
Point2 pB_
 points in pixel coordinates More...
 

Static Private Attributes

static constexpr int DimK = FixedDimension<CALIBRATION>::value
 

Additional Inherited Members

- Public Types inherited from gtsam::NoiseModelFactorN< EssentialMatrix, CALIBRATION >
enum  
 N is the number of variables (N-way factor) More...
 
using ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type
 
- Public Types inherited from gtsam::NoiseModelFactor
typedef std::shared_ptr< Thisshared_ptr
 
- Public Types inherited from gtsam::NonlinearFactor
typedef std::shared_ptr< Thisshared_ptr
 
- Public Types inherited from gtsam::Factor
typedef KeyVector::const_iterator const_iterator
 Const iterator over keys. More...
 
typedef KeyVector::iterator iterator
 Iterator over keys. More...
 
- Protected Types inherited from gtsam::NoiseModelFactorN< EssentialMatrix, CALIBRATION >
using Base = NoiseModelFactor
 
using KeyType = Key
 
using MatrixTypeT = Matrix
 
using OptionalMatrixTypeT = Matrix *
 
using This = NoiseModelFactorN< ValueTypes... >
 
using IsConvertible = typename std::enable_if< std::is_convertible< From, To >::value, void >::type
 
using IndexIsValid = typename std::enable_if<(I >=1) &&(I<=N), void >::type
 
using ContainerElementType = typename std::decay< decltype(*std::declval< Container >().begin())>::type
 
using IsContainerOfKeys = IsConvertible< ContainerElementType< Container >, Key >
 
using AreAllMatrixRefs = std::enable_if_t<(... &&std::is_convertible< Args, Matrix &>::value), Ret >
 
using IsMatrixPointer = std::is_same< typename std::decay_t< Arg >, Matrix *>
 
using IsNullpointer = std::is_same< typename std::decay_t< Arg >, std::nullptr_t >
 
using AreAllMatrixPtrs = std::enable_if_t<(... &&(IsMatrixPointer< Args >::value||IsNullpointer< Args >::value)), Ret >
 
- Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor Base
 
typedef NoiseModelFactor This
 
- Protected Types inherited from gtsam::NonlinearFactor
typedef Factor Base
 
typedef NonlinearFactor This
 
- Protected Member Functions inherited from gtsam::NoiseModelFactor
 NoiseModelFactor (const SharedNoiseModel &noiseModel)
 
- Protected Member Functions inherited from gtsam::Factor
 Factor ()
 
template<typename CONTAINER >
 Factor (const CONTAINER &keys)
 
template<typename ITERATOR >
 Factor (ITERATOR first, ITERATOR last)
 
- Static Protected Member Functions inherited from gtsam::Factor
template<typename CONTAINER >
static Factor FromKeys (const CONTAINER &keys)
 
template<typename ITERATOR >
static Factor FromIterators (ITERATOR first, ITERATOR last)
 
- Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel noiseModel_
 
- Protected Attributes inherited from gtsam::Factor
KeyVector keys_
 The keys involved in this factor. More...
 

Detailed Description

template<class CALIBRATION>
class gtsam::EssentialMatrixFactor4< CALIBRATION >

Binary factor that optimizes for E and calibration K using the algebraic epipolar error (K^-1 pA)'E (K^-1 pB). The calibration is shared between two images.

Note: As correspondences between 2d coordinates can only recover 7 DoF, this factor should always be used with a prior factor on calibration. Even with a prior, we can only optimize 2 DoF in the calibration. So the prior should have a noise model with very low sigma in the remaining dimensions. This has been tested to work on Cal3_S2. With Cal3Bundler, it works only with a strong prior (low sigma noisemodel) on all degrees of freedom.

Definition at line 334 of file EssentialMatrixFactor.h.

Member Typedef Documentation

◆ Base

template<class CALIBRATION>
typedef NoiseModelFactorN<EssentialMatrix, CALIBRATION> gtsam::EssentialMatrixFactor4< CALIBRATION >::Base
private

Definition at line 339 of file EssentialMatrixFactor.h.

◆ JacobianCalibration

template<class CALIBRATION>
typedef Eigen::Matrix<double, 2, DimK> gtsam::EssentialMatrixFactor4< CALIBRATION >::JacobianCalibration
private

Definition at line 343 of file EssentialMatrixFactor.h.

◆ This

template<class CALIBRATION>
typedef EssentialMatrixFactor4 gtsam::EssentialMatrixFactor4< CALIBRATION >::This
private

Definition at line 340 of file EssentialMatrixFactor.h.

Constructor & Destructor Documentation

◆ EssentialMatrixFactor4()

template<class CALIBRATION>
gtsam::EssentialMatrixFactor4< CALIBRATION >::EssentialMatrixFactor4 ( Key  keyE,
Key  keyK,
const Point2 pA,
const Point2 pB,
const SharedNoiseModel model 
)
inline

Constructor

Parameters
keyEEssential Matrix (from camera B to A) variable key
keyKCalibration variable key (common for both cameras)
pApoint in first camera, in pixel coordinates
pBpoint in second camera, in pixel coordinates
modelnoise model is about dot product in ideal, homogeneous coordinates

Definition at line 359 of file EssentialMatrixFactor.h.

Member Function Documentation

◆ clone()

template<class CALIBRATION>
gtsam::NonlinearFactor::shared_ptr gtsam::EssentialMatrixFactor4< CALIBRATION >::clone ( ) const
inlineoverridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 364 of file EssentialMatrixFactor.h.

◆ evaluateError()

template<class CALIBRATION>
Vector gtsam::EssentialMatrixFactor4< CALIBRATION >::evaluateError ( const EssentialMatrix E,
const CALIBRATION &  K,
OptionalMatrixType  H1,
OptionalMatrixType  H2 
) const
inlineoverride

Calculate the algebraic epipolar error pA' (K^-1)' E K pB.

Parameters
Eessential matrix for key keyE
Kcalibration (common for both images) for key keyK
H1optional jacobian of error w.r.t E
H2optional jacobian of error w.r.t K
Returns
* Vector 1D vector of algebraic error

Definition at line 388 of file EssentialMatrixFactor.h.

◆ print()

template<class CALIBRATION>
void gtsam::EssentialMatrixFactor4< CALIBRATION >::print ( const std::string &  s = "",
const KeyFormatter keyFormatter = DefaultKeyFormatter 
) const
inlineoverridevirtual

print

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 370 of file EssentialMatrixFactor.h.

Member Data Documentation

◆ DimK

template<class CALIBRATION>
constexpr int gtsam::EssentialMatrixFactor4< CALIBRATION >::DimK = FixedDimension<CALIBRATION>::value
staticprivate

Definition at line 342 of file EssentialMatrixFactor.h.

◆ pA_

template<class CALIBRATION>
Point2 gtsam::EssentialMatrixFactor4< CALIBRATION >::pA_
private

Definition at line 337 of file EssentialMatrixFactor.h.

◆ pB_

template<class CALIBRATION>
Point2 gtsam::EssentialMatrixFactor4< CALIBRATION >::pB_
private

points in pixel coordinates

Definition at line 337 of file EssentialMatrixFactor.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:46:17