#include <SmartStereoProjectionFactor.h>

Inheritance diagram for gtsam::SmartStereoProjectionFactor:

[legend]

Public Types
typedef CameraSet< StereoCamera >	Cameras
	Vector of cameras. More...

typedef PinholeCamera< Cal3_S2 >	MonoCamera
	Vector of monocular cameras (stereo treated as 2 monocular) More...

typedef CameraSet< MonoCamera >	MonoCameras

typedef MonoCamera::MeasurementVector	MonoMeasurements

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

Public Types inherited from gtsam::SmartFactorBase< StereoCamera >
typedef CameraSet< StereoCamera >	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 (FBlocks &Fs, Matrix &E, Vector &b, const Cameras &cameras) const

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

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

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

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

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...

	SmartStereoProjectionFactor (const SharedNoiseModel &sharedNoiseModel, const SmartStereoProjectionParams &params=SmartStereoProjectionParams(), const std::optional< Pose3 > body_P_sensor={})

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

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

bool	triangulateForLinearize (const Cameras &cameras) const
	triangulate More...

TriangulationResult	triangulateSafe (const Cameras &cameras) const
	triangulateSafe More...

	~SmartStereoProjectionFactor () override

Public Member Functions inherited from gtsam::SmartFactorBase< StereoCamera >
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...

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...

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

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

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< StereoCamera > >	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...

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

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

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

	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...

double	totalReprojectionError (const Cameras &cameras, const POINT &point) const

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

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

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
const SmartStereoProjectionParams	params_

Caching triangulation
TriangulationResult	result_
	result from triangulateSafe More...

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

Protected Attributes inherited from gtsam::SmartFactorBase< StereoCamera >
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< StereoCamera >	Base

Additional Inherited Members
Static Public Member Functions inherited from gtsam::SmartFactorBase< StereoCamera >
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< StereoCamera >
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< StereoCamera >
static const int	Dim
	Camera dimension. More...

static const int	ZDim
	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

SmartStereoProjectionFactor: triangulates point and keeps an estimate of it around. This factor operates with StereoCamera. This factor requires that values contains the involved StereoCameras. Calibration is assumed to be fixed, as this is also assumed in StereoCamera. If you'd like to store poses in values instead of cameras, use SmartStereoProjectionPoseFactor instead

Definition at line 55 of file SmartStereoProjectionFactor.h.

Member Typedef Documentation

◆ Base

typedef SmartFactorBase<StereoCamera> gtsam::SmartStereoProjectionFactor::Base

private

Definition at line 59 of file SmartStereoProjectionFactor.h.

◆ Cameras

typedef CameraSet<StereoCamera> gtsam::SmartStereoProjectionFactor::Cameras

Vector of cameras.

Definition at line 80 of file SmartStereoProjectionFactor.h.

◆ MonoCamera

typedef PinholeCamera<Cal3_S2> gtsam::SmartStereoProjectionFactor::MonoCamera

Vector of monocular cameras (stereo treated as 2 monocular)

Definition at line 83 of file SmartStereoProjectionFactor.h.

◆ MonoCameras

typedef CameraSet<MonoCamera> gtsam::SmartStereoProjectionFactor::MonoCameras

Definition at line 84 of file SmartStereoProjectionFactor.h.

◆ MonoMeasurements

typedef MonoCamera::MeasurementVector gtsam::SmartStereoProjectionFactor::MonoMeasurements

Definition at line 85 of file SmartStereoProjectionFactor.h.

◆ shared_ptr

typedef std::shared_ptr<SmartStereoProjectionFactor> gtsam::SmartStereoProjectionFactor::shared_ptr

shorthand for a smart pointer to a factor

Definition at line 77 of file SmartStereoProjectionFactor.h.

Constructor & Destructor Documentation

◆ SmartStereoProjectionFactor()

gtsam::SmartStereoProjectionFactor::SmartStereoProjectionFactor	(	const SharedNoiseModel &	sharedNoiseModel,
		const SmartStereoProjectionParams &	params = `SmartStereoProjectionParams()`,
		const std::optional< Pose3 >	body_P_sensor = `{}`
	)

inline

Constructor

Parameters

params internal parameters of the smart factors

Definition at line 91 of file SmartStereoProjectionFactor.h.

◆ ~SmartStereoProjectionFactor()

gtsam::SmartStereoProjectionFactor::~SmartStereoProjectionFactor ( )

inlineoverride

Virtual destructor

Definition at line 100 of file SmartStereoProjectionFactor.h.

Member Function Documentation

◆ computeJacobiansWithTriangulatedPoint()

void gtsam::SmartStereoProjectionFactor::computeJacobiansWithTriangulatedPoint	(	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 363 of file SmartStereoProjectionFactor.h.

◆ correctForMissingMeasurements()

void gtsam::SmartStereoProjectionFactor::correctForMissingMeasurements	(	const Cameras &	cameras,
		Vector &	ue,
		typename Cameras::FBlocks *	Fs = `nullptr`,
		Matrix *	E = `nullptr`
	)		const

inlineoverridevirtual

This corrects the Jacobians and error vector for the case in which the right 2D measurement in the monocular camera is missing (nan).

Reimplemented from gtsam::SmartFactorBase< StereoCamera >.

Definition at line 457 of file SmartStereoProjectionFactor.h.

◆ createHessianFactor()

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

inline

linearize returns a Hessianfactor that is an approximation of error(p)

Definition at line 203 of file SmartStereoProjectionFactor.h.

◆ createJacobianSVDFactor()

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

inline

different (faster) way to compute Jacobian factor

Definition at line 273 of file SmartStereoProjectionFactor.h.

◆ decideIfTriangulate()

bool gtsam::SmartStereoProjectionFactor::decideIfTriangulate ( const Cameras & cameras ) const

inline

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

Definition at line 126 of file SmartStereoProjectionFactor.h.

◆ equals()

bool gtsam::SmartStereoProjectionFactor::equals	(	const NonlinearFactor &	p,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

equals

Reimplemented from gtsam::NonlinearFactor.

Reimplemented in gtsam::SmartStereoProjectionFactorPP, and gtsam::SmartStereoProjectionPoseFactor.

Definition at line 118 of file SmartStereoProjectionFactor.h.

◆ error()

double gtsam::SmartStereoProjectionFactor::error ( const Values & values ) const

inlineoverridevirtual

Calculate total reprojection error.

Reimplemented from gtsam::NonlinearFactor.

Reimplemented in gtsam::SmartStereoProjectionFactorPP, and gtsam::SmartStereoProjectionPoseFactor.

Definition at line 445 of file SmartStereoProjectionFactor.h.

◆ isDegenerate()

bool gtsam::SmartStereoProjectionFactor::isDegenerate ( ) const

inline

return the degenerate state

Definition at line 494 of file SmartStereoProjectionFactor.h.

◆ isFarPoint()

bool gtsam::SmartStereoProjectionFactor::isFarPoint ( ) const

inline

return the farPoint state

Definition at line 503 of file SmartStereoProjectionFactor.h.

◆ isOutlier()

bool gtsam::SmartStereoProjectionFactor::isOutlier ( ) const

inline

return the outlier state

Definition at line 500 of file SmartStereoProjectionFactor.h.

◆ isPointBehindCamera()

bool gtsam::SmartStereoProjectionFactor::isPointBehindCamera ( ) const

inline

return the cheirality status flag

Definition at line 497 of file SmartStereoProjectionFactor.h.

◆ isValid()

bool gtsam::SmartStereoProjectionFactor::isValid ( ) const

inline

Is result valid?

Definition at line 491 of file SmartStereoProjectionFactor.h.

◆ linearize()

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

inlineoverridevirtual

linearize

Implements gtsam::NonlinearFactor.

Reimplemented in gtsam::SmartStereoProjectionFactorPP.

Definition at line 334 of file SmartStereoProjectionFactor.h.

◆ linearizeDamped() [1/2]

std::shared_ptr<GaussianFactor> gtsam::SmartStereoProjectionFactor::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 304 of file SmartStereoProjectionFactor.h.

◆ linearizeDamped() [2/2]

std::shared_ptr<GaussianFactor> gtsam::SmartStereoProjectionFactor::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 326 of file SmartStereoProjectionFactor.h.

◆ point() [1/2]

TriangulationResult gtsam::SmartStereoProjectionFactor::point ( ) const

inline

return the landmark

Definition at line 480 of file SmartStereoProjectionFactor.h.

◆ point() [2/2]

TriangulationResult gtsam::SmartStereoProjectionFactor::point ( const Values & values ) const

inline

COMPUTE the landmark

Definition at line 485 of file SmartStereoProjectionFactor.h.

◆ print()

void gtsam::SmartStereoProjectionFactor::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::NonlinearFactor.

Reimplemented in gtsam::SmartStereoProjectionFactorPP, and gtsam::SmartStereoProjectionPoseFactor.

Definition at line 108 of file SmartStereoProjectionFactor.h.

◆ reprojectionErrorAfterTriangulation()

Vector gtsam::SmartStereoProjectionFactor::reprojectionErrorAfterTriangulation ( const Values & values ) const

inline

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

Definition at line 405 of file SmartStereoProjectionFactor.h.

◆ totalReprojectionError()

double gtsam::SmartStereoProjectionFactor::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 420 of file SmartStereoProjectionFactor.h.

◆ triangulateAndComputeE() [1/2]

bool gtsam::SmartStereoProjectionFactor::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 343 of file SmartStereoProjectionFactor.h.

◆ triangulateAndComputeE() [2/2]

bool gtsam::SmartStereoProjectionFactor::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 354 of file SmartStereoProjectionFactor.h.

◆ triangulateAndComputeJacobians()

bool gtsam::SmartStereoProjectionFactor::triangulateAndComputeJacobians	(	FBlocks &	Fs,
		Matrix &	E,
		Vector &	b,
		const Values &	values
	)		const

inline

Version that takes values, and creates the point.

Definition at line 383 of file SmartStereoProjectionFactor.h.

◆ triangulateAndComputeJacobiansSVD()

bool gtsam::SmartStereoProjectionFactor::triangulateAndComputeJacobiansSVD	(	FBlocks &	Fs,
		Matrix &	Enull,
		Vector &	b,
		const Values &	values
	)		const

inline

takes values

Definition at line 394 of file SmartStereoProjectionFactor.h.

◆ triangulateForLinearize()

bool gtsam::SmartStereoProjectionFactor::triangulateForLinearize ( const Cameras & cameras ) const

inline

triangulate

Definition at line 197 of file SmartStereoProjectionFactor.h.

◆ triangulateSafe()

TriangulationResult gtsam::SmartStereoProjectionFactor::triangulateSafe ( const Cameras & cameras ) const

inline

triangulateSafe

Definition at line 167 of file SmartStereoProjectionFactor.h.

Member Data Documentation

◆ cameraPosesTriangulation_

std::vector<Pose3> gtsam::SmartStereoProjectionFactor::cameraPosesTriangulation_

mutableprotected

current triangulation poses

Definition at line 71 of file SmartStereoProjectionFactor.h.

◆ params_

const SmartStereoProjectionParams gtsam::SmartStereoProjectionFactor::params_

protected

Definition at line 65 of file SmartStereoProjectionFactor.h.

◆ result_

TriangulationResult gtsam::SmartStereoProjectionFactor::result_

mutableprotected

result from triangulateSafe

Definition at line 70 of file SmartStereoProjectionFactor.h.

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

SmartStereoProjectionFactor.h

Public Types

Public Member Functions

Protected Attributes

Private Types

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ Cameras

◆ MonoCamera

◆ MonoCameras

◆ MonoMeasurements

◆ shared_ptr

Constructor & Destructor Documentation

◆ SmartStereoProjectionFactor()

◆ ~SmartStereoProjectionFactor()

Member Function Documentation

◆ computeJacobiansWithTriangulatedPoint()

◆ correctForMissingMeasurements()

◆ createHessianFactor()

◆ createJacobianSVDFactor()

◆ decideIfTriangulate()

◆ equals()

◆ error()

◆ isDegenerate()

◆ isFarPoint()

◆ isOutlier()

◆ isPointBehindCamera()

◆ isValid()

◆ linearize()

◆ linearizeDamped() [1/2]

◆ linearizeDamped() [2/2]

◆ 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_