#include <SmartProjectionFactor.h>

Inheritance diagram for gtsam::SmartProjectionFactor< CAMERA >:

[legend]

Public Types
typedef CAMERA	Camera
	shorthand for a set of cameras More...

typedef CameraSet< CAMERA >	Cameras

typedef std::shared_ptr< This >	shared_ptr
	shorthand for a smart pointer to a factor More...

Public Types inherited from gtsam::SmartFactorBase< CAMERA >
typedef CameraSet< CAMERA >	Cameras
	The CameraSet data structure is used to refer to a set of cameras. More...

typedef std::vector< MatrixZD, Eigen::aligned_allocator< MatrixZD > >	FBlocks

typedef Eigen::Matrix< double, ZDim, Dim >	MatrixZD

Public Types inherited from gtsam::NonlinearFactor
typedef std::shared_ptr< This >	shared_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...

Public Member Functions
void	computeJacobiansWithTriangulatedPoint (typename Base::FBlocks &Fs, Matrix &E, Vector &b, const Cameras &cameras) const

std::shared_ptr< RegularHessianFactor< Base::Dim > >	createHessianFactor (const Cameras &cameras, const double lambda=0.0, bool diagonalDamping=false) const
	Create a Hessianfactor that is an approximation of error(p). More...

std::shared_ptr< JacobianFactorQ< Base::Dim, 2 > >	createJacobianQFactor (const Cameras &cameras, double lambda) const
	Create JacobianFactorQ factor. More...

std::shared_ptr< JacobianFactorQ< Base::Dim, 2 > >	createJacobianQFactor (const Values &values, double lambda) const
	Create JacobianFactorQ factor, takes values. More...

std::shared_ptr< JacobianFactor >	createJacobianSVDFactor (const Cameras &cameras, double lambda) const
	Different (faster) way to compute a JacobianFactorSVD factor. More...

std::shared_ptr< RegularImplicitSchurFactor< CAMERA > >	createRegularImplicitSchurFactor (const Cameras &cameras, double lambda) const

bool	decideIfTriangulate (const Cameras &cameras) const
	Check if the new linearization point is the same as the one used for previous triangulation. More...

bool	equals (const NonlinearFactor &p, double tol=1e-9) const override
	equals More...

double	error (const Values &values) const override
	Calculate total reprojection error. More...

bool	isDegenerate () const

bool	isFarPoint () const

bool	isOutlier () const

bool	isPointBehindCamera () const

bool	isValid () const
	Is result valid? More...

std::shared_ptr< GaussianFactor >	linearize (const Values &values) const override
	linearize More...

std::shared_ptr< GaussianFactor >	linearizeDamped (const Cameras &cameras, const double lambda=0.0) const

std::shared_ptr< GaussianFactor >	linearizeDamped (const Values &values, const double lambda=0.0) const

virtual std::shared_ptr< RegularHessianFactor< Base::Dim > >	linearizeToHessian (const Values &values, double lambda=0.0) const
	Linearize to a Hessianfactor. More...

virtual std::shared_ptr< RegularImplicitSchurFactor< CAMERA > >	linearizeToImplicit (const Values &values, double lambda=0.0) const
	Linearize to an Implicit Schur factor. More...

virtual std::shared_ptr< JacobianFactorQ< Base::Dim, 2 > >	linearizeToJacobian (const Values &values, double lambda=0.0) const
	Linearize to a JacobianfactorQ. More...

TriangulationResult	point () const

TriangulationResult	point (const Values &values) const

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override

Vector	reprojectionErrorAfterTriangulation (const Values &values) const
	Calculate vector of re-projection errors, before applying noise model. More...

	SmartProjectionFactor ()

	SmartProjectionFactor (const SharedNoiseModel &sharedNoiseModel, const SmartProjectionParams &params=SmartProjectionParams())

double	totalReprojectionError (const Cameras &cameras, std::optional< Point3 > externalPoint={}) const

bool	triangulateAndComputeE (Matrix &E, const Cameras &cameras) const

bool	triangulateAndComputeE (Matrix &E, const Values &values) const

bool	triangulateAndComputeJacobians (typename Base::FBlocks &Fs, Matrix &E, Vector &b, const Values &values) const
	Version that takes values, and creates the point. More...

bool	triangulateAndComputeJacobiansSVD (typename Base::FBlocks &Fs, Matrix &Enull, Vector &b, const Values &values) const
	takes values More...

bool	triangulateForLinearize (const Cameras &cameras) const
	Possibly re-triangulate before calculating Jacobians. More...

TriangulationResult	triangulateSafe (const Cameras &cameras) const
	Call gtsam::triangulateSafe iff we need to re-triangulate. More...

	~SmartProjectionFactor () override

Public Member Functions inherited from gtsam::SmartFactorBase< CAMERA >
void	add (const Z &measured, const Key &key)

void	add (const ZVector &measurements, const KeyVector &cameraKeys)
	Add a bunch of measurements, together with the camera keys. More...

template<class SFM_TRACK >
void	add (const SFM_TRACK &trackToAdd)

Pose3	body_P_sensor () const

virtual Cameras	cameras (const Values &values) const
	Collect all cameras: important that in key order. More...

template<class POINT >
void	computeJacobians (FBlocks &Fs, Matrix &E, Vector &b, const Cameras &cameras, const POINT &point) const

template<class POINT >
void	computeJacobiansSVD (FBlocks &Fs, Matrix &Enull, Vector &b, const Cameras &cameras, const POINT &point) const

virtual void	correctForMissingMeasurements (const Cameras &cameras, Vector &ue, typename Cameras::FBlocks Fs=nullptr, Matrix E=nullptr) const

template<class ... OptArgs>
void	correctForMissingMeasurements (const Cameras &cameras, Vector &ue, OptArgs &&... optArgs) const

std::shared_ptr< RegularHessianFactor< Dim > >	createHessianFactor (const Cameras &cameras, const Point3 &point, const double lambda=0.0, bool diagonalDamping=false) const
	Linearize to a Hessianfactor. More...

std::shared_ptr< JacobianFactorQ< Dim, ZDim > >	createJacobianQFactor (const Cameras &cameras, const Point3 &point, double lambda=0.0, bool diagonalDamping=false) const
	Return Jacobians as JacobianFactorQ. More...

std::shared_ptr< JacobianFactor >	createJacobianSVDFactor (const Cameras &cameras, const Point3 &point, double lambda=0.0) const

std::shared_ptr< RegularImplicitSchurFactor< CAMERA > >	createRegularImplicitSchurFactor (const Cameras &cameras, const Point3 &point, double lambda=0.0, bool diagonalDamping=false) const
	Return Jacobians as RegularImplicitSchurFactor with raw access. More...

size_t	dim () const override
	Return the dimension (number of rows!) of the factor. More...

const ZVector &	measured () const
	Return the 2D measurements (ZDim, in general). More...

	SmartFactorBase ()
	Default Constructor, for serialization. More...

	SmartFactorBase (const SharedNoiseModel &sharedNoiseModel, std::optional< Pose3 > body_P_sensor={}, size_t expectedNumberCameras=10)
	Construct with given noise model and optional arguments. More...

template<class POINT >
double	totalReprojectionError (const Cameras &cameras, const POINT &point) const

template<class POINT >
Vector	unwhitenedError (const Cameras &cameras, const POINT &point, typename Cameras::FBlocks Fs=nullptr, Matrix E=nullptr) const

template<class POINT , class ... OptArgs, typename = std::enable_if_t<sizeof...(OptArgs)!=0>>
Vector	unwhitenedError (const Cameras &cameras, const POINT &point, OptArgs &&... optArgs) const

void	updateAugmentedHessian (const Cameras &cameras, const Point3 &point, const double lambda, bool diagonalDamping, SymmetricBlockMatrix &augmentedHessian, const KeyVector allKeys) const

template<class POINT >
Vector	whitenedError (const Cameras &cameras, const POINT &point) const

void	whitenJacobians (FBlocks &F, Matrix &E, Vector &b) const
	Whiten the Jacobians computed by computeJacobians using noiseModel_. More...

	~SmartFactorBase () override
	Virtual destructor, subclasses from NonlinearFactor. More...

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	clone () 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 KeyVector &	keys () 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...

KeyVector &	keys ()

iterator	begin ()

iterator	end ()

Protected Attributes
Parameters
SmartProjectionParams	params_

Caching triangulation
TriangulationResult	result_
	result from triangulateSafe More...

std::vector< Pose3, Eigen::aligned_allocator< Pose3 > >	cameraPosesTriangulation_
	current triangulation poses More...

Protected Attributes inherited from gtsam::SmartFactorBase< CAMERA >
std::optional< Pose3 >	body_P_sensor_
	Pose of the camera in the body frame. More...

FBlocks	Fs

ZVector	measured_

SharedIsotropic	noiseModel_

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Private Types
typedef SmartFactorBase< CAMERA >	Base

typedef SmartProjectionFactor< CAMERA >	SmartProjectionCameraFactor

typedef SmartProjectionFactor< CAMERA >	This

Additional Inherited Members
Static Public Member Functions inherited from gtsam::SmartFactorBase< CAMERA >
static void	FillDiagonalF (const FBlocks &Fs, Matrix &F)
	Create BIG block-diagonal matrix F from Fblocks. More...

static Matrix	PointCov (const Matrix &E)
	Computes Point Covariance P from the "point Jacobian" E. More...

Public Attributes inherited from gtsam::SmartFactorBase< CAMERA >
GTSAM_MAKE_ALIGNED_OPERATOR_NEW typedef std::shared_ptr< This >	shared_ptr
	shorthand for a smart pointer to a factor. More...

Static Public Attributes inherited from gtsam::SmartFactorBase< CAMERA >
static const int	Dim = traits<CAMERA>::dimension
	Camera dimension. More...

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

Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base

typedef NonlinearFactor	This

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)

Detailed Description

template<class CAMERA>
class gtsam::SmartProjectionFactor< CAMERA >

SmartProjectionFactor: triangulates point and keeps an estimate of it around. This factor operates with monocular cameras, where a camera is expected to behave like PinholeCamera or PinholePose. This factor is intended to be used directly with PinholeCamera, which optimizes the camera pose and calibration. This also requires that values contains the involved cameras (instead of poses and calibrations separately). If the calibration is fixed use SmartProjectionPoseFactor instead!

Definition at line 44 of file SmartProjectionFactor.h.

Member Typedef Documentation

◆ Base

template<class CAMERA>

typedef SmartFactorBase<CAMERA> gtsam::SmartProjectionFactor< CAMERA >::Base

private

Definition at line 49 of file SmartProjectionFactor.h.

◆ Camera

template<class CAMERA>

typedef CAMERA gtsam::SmartProjectionFactor< CAMERA >::Camera

shorthand for a set of cameras

Definition at line 73 of file SmartProjectionFactor.h.

◆ Cameras

template<class CAMERA>

typedef CameraSet<CAMERA> gtsam::SmartProjectionFactor< CAMERA >::Cameras

Definition at line 74 of file SmartProjectionFactor.h.

◆ shared_ptr

template<class CAMERA>

typedef std::shared_ptr<This> gtsam::SmartProjectionFactor< CAMERA >::shared_ptr

shorthand for a smart pointer to a factor

Definition at line 70 of file SmartProjectionFactor.h.

◆ SmartProjectionCameraFactor

template<class CAMERA>

typedef SmartProjectionFactor<CAMERA> gtsam::SmartProjectionFactor< CAMERA >::SmartProjectionCameraFactor

private

Definition at line 51 of file SmartProjectionFactor.h.

◆ This

template<class CAMERA>

typedef SmartProjectionFactor<CAMERA> gtsam::SmartProjectionFactor< CAMERA >::This

private

Definition at line 50 of file SmartProjectionFactor.h.

Constructor & Destructor Documentation

◆ SmartProjectionFactor() [1/2]

template<class CAMERA>

gtsam::SmartProjectionFactor< CAMERA >::SmartProjectionFactor ( )

inline

Default constructor, only for serialization

Definition at line 79 of file SmartProjectionFactor.h.

◆ SmartProjectionFactor() [2/2]

template<class CAMERA>

gtsam::SmartProjectionFactor< CAMERA >::SmartProjectionFactor	(	const SharedNoiseModel &	sharedNoiseModel,
		const SmartProjectionParams &	params = `SmartProjectionParams()`
	)

inline

Constructor

Parameters

sharedNoiseModel	isotropic noise model for the 2D feature measurements
params	parameters for the smart projection factors

Definition at line 86 of file SmartProjectionFactor.h.

◆ ~SmartProjectionFactor()

template<class CAMERA>

gtsam::SmartProjectionFactor< CAMERA >::~SmartProjectionFactor ( )

inlineoverride

Virtual destructor

Definition at line 94 of file SmartProjectionFactor.h.

Member Function Documentation

◆ computeJacobiansWithTriangulatedPoint()

template<class CAMERA>

void gtsam::SmartProjectionFactor< CAMERA >::computeJacobiansWithTriangulatedPoint	(	typename Base::FBlocks &	Fs,
		Matrix &	E,
		Vector &	b,
		const Cameras &	cameras
	)		const

inline

Compute F, E only (called below in both vanilla and SVD versions) Assumes the point has been computed Note E can be 2m*3 or 2m*2, in case point is degenerate

Definition at line 357 of file SmartProjectionFactor.h.

◆ createHessianFactor()

template<class CAMERA>

std::shared_ptr<RegularHessianFactor<Base::Dim> > gtsam::SmartProjectionFactor< CAMERA >::createHessianFactor	(	const Cameras &	cameras,
		const double	lambda = `0.0`,
		bool	diagonalDamping = `false`
	)		const

inline

Create a Hessianfactor that is an approximation of error(p).

Definition at line 198 of file SmartProjectionFactor.h.

◆ createJacobianQFactor() [1/2]

template<class CAMERA>

std::shared_ptr<JacobianFactorQ<Base::Dim, 2> > gtsam::SmartProjectionFactor< CAMERA >::createJacobianQFactor	(	const Cameras &	cameras,
		double	lambda
	)		const

inline

Create JacobianFactorQ factor.

Definition at line 250 of file SmartProjectionFactor.h.

◆ createJacobianQFactor() [2/2]

template<class CAMERA>

std::shared_ptr<JacobianFactorQ<Base::Dim, 2> > gtsam::SmartProjectionFactor< CAMERA >::createJacobianQFactor	(	const Values &	values,
		double	lambda
	)		const

inline

Create JacobianFactorQ factor, takes values.

Definition at line 260 of file SmartProjectionFactor.h.

◆ createJacobianSVDFactor()

template<class CAMERA>

std::shared_ptr<JacobianFactor> gtsam::SmartProjectionFactor< CAMERA >::createJacobianSVDFactor	(	const Cameras &	cameras,
		double	lambda
	)		const

inline

Different (faster) way to compute a JacobianFactorSVD factor.

Definition at line 266 of file SmartProjectionFactor.h.

◆ createRegularImplicitSchurFactor()

template<class CAMERA>

std::shared_ptr<RegularImplicitSchurFactor<CAMERA> > gtsam::SmartProjectionFactor< CAMERA >::createRegularImplicitSchurFactor	(	const Cameras &	cameras,
		double	lambda
	)		const

inline

Definition at line 240 of file SmartProjectionFactor.h.

◆ decideIfTriangulate()

template<class CAMERA>

bool gtsam::SmartProjectionFactor< CAMERA >::decideIfTriangulate ( const Cameras & cameras ) const

inline

Check if the new linearization point is the same as the one used for previous triangulation.

Parameters

cameras

Returns: true if we need to re-triangulate.

Definition at line 127 of file SmartProjectionFactor.h.

◆ equals()

template<class CAMERA>

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

inlineoverridevirtual

equals

Reimplemented from gtsam::SmartFactorBase< CAMERA >.

Reimplemented in gtsam::SmartProjectionPoseFactorRollingShutter< CAMERA >, and gtsam::SmartProjectionRigFactor< CAMERA >.

Definition at line 114 of file SmartProjectionFactor.h.

◆ error()

template<class CAMERA>

double gtsam::SmartProjectionFactor< CAMERA >::error ( const Values & values ) const

inlineoverridevirtual

Calculate total reprojection error.

Reimplemented from gtsam::NonlinearFactor.

Reimplemented in gtsam::SmartProjectionPoseFactorRollingShutter< CAMERA >, and gtsam::SmartProjectionRigFactor< CAMERA >.

Definition at line 433 of file SmartProjectionFactor.h.

◆ isDegenerate()

template<class CAMERA>

bool gtsam::SmartProjectionFactor< CAMERA >::isDegenerate ( ) const

inline

return the degenerate state

Definition at line 456 of file SmartProjectionFactor.h.

◆ isFarPoint()

template<class CAMERA>

bool gtsam::SmartProjectionFactor< CAMERA >::isFarPoint ( ) const

inline

return the farPoint state

Definition at line 465 of file SmartProjectionFactor.h.

◆ isOutlier()

template<class CAMERA>

bool gtsam::SmartProjectionFactor< CAMERA >::isOutlier ( ) const

inline

return the outlier state

Definition at line 462 of file SmartProjectionFactor.h.

◆ isPointBehindCamera()

template<class CAMERA>

bool gtsam::SmartProjectionFactor< CAMERA >::isPointBehindCamera ( ) const

inline

return the cheirality status flag

Definition at line 459 of file SmartProjectionFactor.h.

◆ isValid()

template<class CAMERA>

bool gtsam::SmartProjectionFactor< CAMERA >::isValid ( ) const

inline

Is result valid?

Definition at line 453 of file SmartProjectionFactor.h.

◆ linearize()

template<class CAMERA>

std::shared_ptr<GaussianFactor> gtsam::SmartProjectionFactor< CAMERA >::linearize ( const Values & values ) const

inlineoverridevirtual

linearize

Implements gtsam::NonlinearFactor.

Reimplemented in gtsam::SmartProjectionPoseFactorRollingShutter< CAMERA >, and gtsam::SmartProjectionRigFactor< CAMERA >.

Definition at line 328 of file SmartProjectionFactor.h.

◆ linearizeDamped() [1/2]

template<class CAMERA>

std::shared_ptr<GaussianFactor> gtsam::SmartProjectionFactor< CAMERA >::linearizeDamped	(	const Cameras &	cameras,
		const double	lambda = `0.0`
	)		const

inline

Linearize to Gaussian Factor

Parameters

values Values structure which must contain camera poses for this factor

Returns: a Gaussian factor

Definition at line 298 of file SmartProjectionFactor.h.

◆ linearizeDamped() [2/2]

template<class CAMERA>

std::shared_ptr<GaussianFactor> gtsam::SmartProjectionFactor< CAMERA >::linearizeDamped	(	const Values &	values,
		const double	lambda = `0.0`
	)		const

inline

Linearize to Gaussian Factor

Parameters

values Values structure which must contain camera poses for this factor

Returns: a Gaussian factor

Definition at line 320 of file SmartProjectionFactor.h.

◆ linearizeToHessian()

template<class CAMERA>

virtual std::shared_ptr<RegularHessianFactor<Base::Dim> > gtsam::SmartProjectionFactor< CAMERA >::linearizeToHessian	(	const Values &	values,
		double	lambda = `0.0`
	)		const

inlinevirtual

Linearize to a Hessianfactor.

Definition at line 276 of file SmartProjectionFactor.h.

◆ linearizeToImplicit()

template<class CAMERA>

virtual std::shared_ptr<RegularImplicitSchurFactor<CAMERA> > gtsam::SmartProjectionFactor< CAMERA >::linearizeToImplicit	(	const Values &	values,
		double	lambda = `0.0`
	)		const

inlinevirtual

Linearize to an Implicit Schur factor.

Definition at line 282 of file SmartProjectionFactor.h.

◆ linearizeToJacobian()

template<class CAMERA>

virtual std::shared_ptr<JacobianFactorQ<Base::Dim, 2> > gtsam::SmartProjectionFactor< CAMERA >::linearizeToJacobian	(	const Values &	values,
		double	lambda = `0.0`
	)		const

inlinevirtual

Linearize to a JacobianfactorQ.

Definition at line 288 of file SmartProjectionFactor.h.

◆ point() [1/2]

template<class CAMERA>

TriangulationResult gtsam::SmartProjectionFactor< CAMERA >::point ( ) const

inline

return the landmark

Definition at line 442 of file SmartProjectionFactor.h.

◆ point() [2/2]

template<class CAMERA>

TriangulationResult gtsam::SmartProjectionFactor< CAMERA >::point ( const Values & values ) const

inline

COMPUTE the landmark

Definition at line 447 of file SmartProjectionFactor.h.

◆ print()

template<class CAMERA>

void gtsam::SmartProjectionFactor< CAMERA >::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

print

Parameters

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

Reimplemented from gtsam::SmartFactorBase< CAMERA >.

Reimplemented in gtsam::SmartProjectionPoseFactorRollingShutter< CAMERA >, and gtsam::SmartProjectionRigFactor< CAMERA >.

Definition at line 102 of file SmartProjectionFactor.h.

◆ reprojectionErrorAfterTriangulation()

template<class CAMERA>

Vector gtsam::SmartProjectionFactor< CAMERA >::reprojectionErrorAfterTriangulation ( const Values & values ) const

inline

Calculate vector of re-projection errors, before applying noise model.

Definition at line 396 of file SmartProjectionFactor.h.

◆ totalReprojectionError()

template<class CAMERA>

double gtsam::SmartProjectionFactor< CAMERA >::totalReprojectionError	(	const Cameras &	cameras,
		std::optional< Point3 >	externalPoint = `{}`
	)		const

inline

Calculate the error of the factor. This is the log-likelihood, e.g. $0.5(h(x)-z)^2/\sigma^2$ in case of Gaussian. In this class, we take the raw prediction error $ h(x)-z $ , ask the noise model to transform it to $(h(x)-z)^2/\sigma^2$ , and then multiply by 0.5.

Definition at line 411 of file SmartProjectionFactor.h.

◆ triangulateAndComputeE() [1/2]

template<class CAMERA>

bool gtsam::SmartProjectionFactor< CAMERA >::triangulateAndComputeE	(	Matrix &	E,
		const Cameras &	cameras
	)		const

inline

Triangulate and compute derivative of error with respect to point

Returns: whether triangulation worked

Definition at line 337 of file SmartProjectionFactor.h.

◆ triangulateAndComputeE() [2/2]

template<class CAMERA>

bool gtsam::SmartProjectionFactor< CAMERA >::triangulateAndComputeE	(	Matrix &	E,
		const Values &	values
	)		const

inline

Triangulate and compute derivative of error with respect to point

Returns: whether triangulation worked

Definition at line 349 of file SmartProjectionFactor.h.

◆ triangulateAndComputeJacobians()

template<class CAMERA>

bool gtsam::SmartProjectionFactor< CAMERA >::triangulateAndComputeJacobians	(	typename Base::FBlocks &	Fs,
		Matrix &	E,
		Vector &	b,
		const Values &	values
	)		const

inline

Version that takes values, and creates the point.

Definition at line 374 of file SmartProjectionFactor.h.

◆ triangulateAndComputeJacobiansSVD()

template<class CAMERA>

bool gtsam::SmartProjectionFactor< CAMERA >::triangulateAndComputeJacobiansSVD	(	typename Base::FBlocks &	Fs,
		Matrix &	Enull,
		Vector &	b,
		const Values &	values
	)		const

inline

takes values

Definition at line 385 of file SmartProjectionFactor.h.

◆ triangulateForLinearize()

template<class CAMERA>

bool gtsam::SmartProjectionFactor< CAMERA >::triangulateForLinearize ( const Cameras & cameras ) const

inline

Possibly re-triangulate before calculating Jacobians.

Parameters

cameras

Returns: true if we could safely triangulate

Definition at line 192 of file SmartProjectionFactor.h.

◆ triangulateSafe()

template<class CAMERA>

TriangulationResult gtsam::SmartProjectionFactor< CAMERA >::triangulateSafe ( const Cameras & cameras ) const

inline

Call gtsam::triangulateSafe iff we need to re-triangulate.

Parameters

cameras

Returns: TriangulationResult

Definition at line 173 of file SmartProjectionFactor.h.

Member Data Documentation

◆ cameraPosesTriangulation_

template<class CAMERA>

std::vector<Pose3, Eigen::aligned_allocator<Pose3> > gtsam::SmartProjectionFactor< CAMERA >::cameraPosesTriangulation_

mutableprotected

current triangulation poses

Definition at line 64 of file SmartProjectionFactor.h.

◆ params_

template<class CAMERA>

SmartProjectionParams gtsam::SmartProjectionFactor< CAMERA >::params_

protected

Definition at line 57 of file SmartProjectionFactor.h.

◆ result_

template<class CAMERA>

TriangulationResult gtsam::SmartProjectionFactor< CAMERA >::result_

mutableprotected

result from triangulateSafe

Definition at line 62 of file SmartProjectionFactor.h.

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

SmartProjectionFactor.h

Public Types

Public Member Functions

Protected Attributes

Private Types

Additional Inherited Members

Detailed Description

template<class CAMERA> class gtsam::SmartProjectionFactor< CAMERA >

Member Typedef Documentation

◆ Base

◆ Camera

◆ Cameras

◆ shared_ptr

◆ SmartProjectionCameraFactor

◆ This

Constructor & Destructor Documentation

◆ SmartProjectionFactor() [1/2]

◆ SmartProjectionFactor() [2/2]

◆ ~SmartProjectionFactor()

Member Function Documentation

◆ computeJacobiansWithTriangulatedPoint()

◆ createHessianFactor()

◆ createJacobianQFactor() [1/2]

◆ createJacobianQFactor() [2/2]

◆ createJacobianSVDFactor()

◆ createRegularImplicitSchurFactor()

◆ decideIfTriangulate()

◆ equals()

◆ error()

◆ isDegenerate()

◆ isFarPoint()

◆ isOutlier()

◆ isPointBehindCamera()

◆ isValid()

◆ linearize()

◆ linearizeDamped() [1/2]

◆ linearizeDamped() [2/2]

◆ linearizeToHessian()

◆ linearizeToImplicit()

◆ linearizeToJacobian()

◆ point() [1/2]

◆ point() [2/2]

◆ print()

◆ reprojectionErrorAfterTriangulation()

◆ totalReprojectionError()

◆ triangulateAndComputeE() [1/2]

◆ triangulateAndComputeE() [2/2]

◆ triangulateAndComputeJacobians()

◆ triangulateAndComputeJacobiansSVD()

◆ triangulateForLinearize()

◆ triangulateSafe()

Member Data Documentation

◆ cameraPosesTriangulation_

◆ params_

◆ result_

template<class CAMERA>
class gtsam::SmartProjectionFactor< CAMERA >