#include <EssentialMatrixFactor.h>

Inheritance diagram for gtsam::EssentialMatrixFactor4< CALIBRATION >:

[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=nullptr)

Vector	evaluateError (const EssentialMatrix &E, const CALIBRATION &K, OptionalMatrixType HE, OptionalMatrixType HK) 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

virtual Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const =0

Vector	unwhitenedError (const Values &x, std::vector< Matrix > &H) 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 HybridValues &c) const override

virtual double	error (const Values &c) const

double	error (const Values &c) const override

std::shared_ptr< GaussianFactor >	linearize (const Values &x) const override

const SharedNoiseModel &	noiseModel () 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 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 ()

Private Types
typedef NoiseModelFactorN< EssentialMatrix, CALIBRATION >	Base

typedef Eigen::Matrix< double, 2, DimK >	JacobianCalibration

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 >
using	ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type

Public Types inherited from gtsam::NoiseModelFactor
typedef std::shared_ptr< This >	shared_ptr

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...

Static Public Attributes inherited from gtsam::NoiseModelFactorN< EssentialMatrix, CALIBRATION >
constexpr static auto	N
	N is the number of variables (N-way factor) 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 noise model) 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 = `nullptr`
	)

inline

Constructor

Parameters

keyE	Essential Matrix aEb variable key
keyK	Calibration variable key (common for both cameras)
pA	point in first camera, in pixel coordinates
pB	point in second camera, in pixel coordinates
model	noise model is about dot product in ideal, homogeneous coordinates

Definition at line 358 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 363 of file EssentialMatrixFactor.h.

◆ evaluateError()

template<class CALIBRATION >

Vector gtsam::EssentialMatrixFactor4< CALIBRATION >::evaluateError	(	const EssentialMatrix &	E,
		const CALIBRATION &	K,
		OptionalMatrixType	HE,
		OptionalMatrixType	HK
	)		const

inlineoverride

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

Parameters

E	essential matrix for key keyE
K	calibration (common for both images) for key keyK
H1	optional jacobian of error w.r.t E
H2	optional jacobian of error w.r.t K

Returns: * Vector 1D vector of algebraic error

Definition at line 387 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 369 of file EssentialMatrixFactor.h.

Member Data Documentation

◆ DimK

template<class CALIBRATION >

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

staticconstexprprivate

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:

EssentialMatrixFactor.h

Public Member Functions

Private Types

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ Base

◆ JacobianCalibration

◆ This

Constructor & Destructor Documentation

◆ EssentialMatrixFactor4()

Member Function Documentation

◆ clone()

◆ evaluateError()

◆ print()

Member Data Documentation

◆ DimK

◆ pA_

◆ pB_

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