Transfers points between views using essential matrices, optimizes for calibrations of the views, as well. Note that the EssentialMatrixFactor4 does something similar but without transfer. More...

#include <TransferFactor.h>

Inheritance diagram for gtsam::EssentialTransferFactorK< K >:

[legend]

Public Types
using	Base = NoiseModelFactorN< EM, EM, K, K, K >

using	shared_ptr = std::shared_ptr< This >

using	This = EssentialTransferFactorK< K >

Public Types inherited from gtsam::NoiseModelFactorN< EssentialMatrix, EssentialMatrix, K, K, K >
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...

Public Member Functions
size_t	dim () const override
	Return the dimension of the factor. More...

	EssentialTransferFactorK (EdgeKey edge1, EdgeKey edge2, const std::vector< Triplet > &triplets, const SharedNoiseModel &model=nullptr)
	Constructor that accepts a vector of point triplets. More...

	EssentialTransferFactorK (EdgeKey edge1, EdgeKey edge2, Key keyK, const std::vector< Triplet > &triplets, const SharedNoiseModel &model=nullptr)
	Constructor that accepts a vector of point triplets. More...

Vector	evaluateError (const EM &E1, const EM &E2, const K &Ka, const K &Kb, const K &Kc, OptionalMatrixType H1=nullptr, OptionalMatrixType H2=nullptr, OptionalMatrixType H3=nullptr, OptionalMatrixType H4=nullptr, OptionalMatrixType H5=nullptr) const override
	Evaluate error function. More...

Vector2	TransferError (const Matrix3 &Eca, const K &Ka, const Point2 &pa, const Matrix3 &Ecb, const K &Kb, const Point2 &pb, const K &Kc, const Point2 &pc) const
	Transfer points pa and pb to view c and evaluate error. More...

Public Member Functions inherited from gtsam::NoiseModelFactorN< EssentialMatrix, EssentialMatrix, K, K, K >
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

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)

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

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	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 ()

Private Types
using	EM = EssentialMatrix

using	Triplet = std::tuple< Point2, Point2, Point2 >

Private Attributes
std::vector< Triplet >	triplets_
	Point triplets. More...

Private Attributes inherited from gtsam::TransferEdges< EssentialMatrix >
uint32_t	c_
	The transfer target. More...

EdgeKey	edge1_

EdgeKey	edge2_
	The two EdgeKeys. More...

Additional Inherited Members
Static Public Attributes inherited from gtsam::NoiseModelFactorN< EssentialMatrix, EssentialMatrix, K, K, K >
constexpr static auto	N
	N is the number of variables (N-way factor) More...

Protected Types inherited from gtsam::NoiseModelFactorN< EssentialMatrix, EssentialMatrix, K, K, K >
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...

Private Member Functions inherited from gtsam::TransferEdges< EssentialMatrix >
std::pair< Matrix3, Matrix3 >	getMatrices (const EssentialMatrix &F1, const EssentialMatrix &F2) const
	Create Matrix3 objects based on EdgeKey configurations. More...

	TransferEdges (EdgeKey edge1, EdgeKey edge2)

Static Private Member Functions inherited from gtsam::TransferEdges< EssentialMatrix >
static size_t	ViewA (const EdgeKey &edge1, const EdgeKey &edge2)
	Returns the view A index based on the EdgeKeys. More...

static size_t	ViewB (const EdgeKey &edge1, const EdgeKey &edge2)
	Returns the view B index based on the EdgeKeys. More...

static size_t	ViewC (const EdgeKey &edge1, const EdgeKey &edge2)
	Returns the view C index based on the EdgeKeys. More...

Detailed Description

template<typename K>
class gtsam::EssentialTransferFactorK< K >

Transfers points between views using essential matrices, optimizes for calibrations of the views, as well. Note that the EssentialMatrixFactor4 does something similar but without transfer.

Note: Derives calibration keys from edges, and uses symbol 'k'.

This factor is templated on the calibration class K and extends the TransferFactor for EssentialMatrices. It involves two essential matrices and three calibration objects (Ka, Kb, Kc). The evaluateError function calibrates the image points, calls the base class's transfer method, and computes the error using bulk numerical differentiation.

Definition at line 224 of file TransferFactor.h.

Member Typedef Documentation

◆ Base

template<typename K >

using gtsam::EssentialTransferFactorK< K >::Base = NoiseModelFactorN<EM, EM, K, K, K>

Definition at line 232 of file TransferFactor.h.

◆ EM

template<typename K >

using gtsam::EssentialTransferFactorK< K >::EM = EssentialMatrix

private

Definition at line 227 of file TransferFactor.h.

◆ shared_ptr

template<typename K >

using gtsam::EssentialTransferFactorK< K >::shared_ptr = std::shared_ptr<This>

Definition at line 234 of file TransferFactor.h.

◆ This

template<typename K >

using gtsam::EssentialTransferFactorK< K >::This = EssentialTransferFactorK<K>

Definition at line 233 of file TransferFactor.h.

◆ Triplet

template<typename K >

using gtsam::EssentialTransferFactorK< K >::Triplet = std::tuple<Point2, Point2, Point2>

private

Definition at line 228 of file TransferFactor.h.

Constructor & Destructor Documentation

◆ EssentialTransferFactorK() [1/2]

template<typename K >

gtsam::EssentialTransferFactorK< K >::EssentialTransferFactorK	(	EdgeKey	edge1,
		EdgeKey	edge2,
		const std::vector< Triplet > &	triplets,
		const SharedNoiseModel &	model = `nullptr`
	)

inline

Constructor that accepts a vector of point triplets.

Note: Calibrations are assumed all different, keys are derived from edges.

Parameters

edge1	First EdgeKey specifying E1: (a, c) or (c, a)
edge2	Second EdgeKey specifying E2: (b, c) or (c, b)
triplets	A vector of triplets containing (pa, pb, pc)
model	An optional SharedNoiseModel

Definition at line 246 of file TransferFactor.h.

◆ EssentialTransferFactorK() [2/2]

template<typename K >

gtsam::EssentialTransferFactorK< K >::EssentialTransferFactorK	(	EdgeKey	edge1,
		EdgeKey	edge2,
		Key	keyK,
		const std::vector< Triplet > &	triplets,
		const SharedNoiseModel &	model = `nullptr`
	)

inline

Constructor that accepts a vector of point triplets.

Note: Calibrations are assumed all same, using given key keyK.

Parameters

edge1	First EdgeKey specifying E1: (a, c) or (c, a)
edge2	Second EdgeKey specifying E2: (b, c) or (c, b)
keyK	Calibration key for all views.
triplets	A vector of triplets containing (pa, pb, pc)
model	An optional SharedNoiseModel

Definition at line 267 of file TransferFactor.h.

Member Function Documentation

◆ dim()

template<typename K >

size_t gtsam::EssentialTransferFactorK< K >::dim ( ) const

inlineoverridevirtual

Return the dimension of the factor.

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 319 of file TransferFactor.h.

◆ evaluateError()

template<typename K >

Vector gtsam::EssentialTransferFactorK< K >::evaluateError	(	const EM &	E1,
		const EM &	E2,
		const K &	Ka,
		const K &	Kb,
		const K &	Kc,
		OptionalMatrixType	H1 = `nullptr`,
		OptionalMatrixType	H2 = `nullptr`,
		OptionalMatrixType	H3 = `nullptr`,
		OptionalMatrixType	H4 = `nullptr`,
		OptionalMatrixType	H5 = `nullptr`
	)		const

inlineoverride

Evaluate error function.

Definition at line 285 of file TransferFactor.h.

◆ TransferError()

template<typename K >

Vector2 gtsam::EssentialTransferFactorK< K >::TransferError	(	const Matrix3 &	Eca,
		const K &	Ka,
		const Point2 &	pa,
		const Matrix3 &	Ecb,
		const K &	Kb,
		const Point2 &	pb,
		const K &	Kc,
		const Point2 &	pc
	)		const

inline

Transfer points pa and pb to view c and evaluate error.

Definition at line 275 of file TransferFactor.h.

Member Data Documentation

◆ triplets_

template<typename K >

std::vector<Triplet> gtsam::EssentialTransferFactorK< K >::triplets_

private

Point triplets.

Definition at line 229 of file TransferFactor.h.

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

TransferFactor.h

Public Types

Public Member Functions

Private Types

Private Attributes

Additional Inherited Members

Detailed Description

template<typename K> class gtsam::EssentialTransferFactorK< K >

Member Typedef Documentation

◆ Base

◆ EM

◆ shared_ptr

◆ This

◆ Triplet

Constructor & Destructor Documentation

◆ EssentialTransferFactorK() [1/2]

◆ EssentialTransferFactorK() [2/2]

Member Function Documentation

◆ dim()

◆ evaluateError()

◆ TransferError()

Member Data Documentation

◆ triplets_

template<typename K>
class gtsam::EssentialTransferFactorK< K >