#include <SmartProjectionPoseFactor.h>

Inheritance diagram for gtsam::SmartProjectionPoseFactor< CALIBRATION >:

[legend]

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

Public Types inherited from gtsam::SmartProjectionFactor< PinholePose< CALIBRATION > >
typedef PinholePose< CALIBRATION >	Camera
	shorthand for a set of cameras More...

typedef CameraSet< PinholePose< CALIBRATION > >	Cameras

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

Public Types inherited from gtsam::SmartFactorBase< PinholePose< CALIBRATION > >
typedef CameraSet< PinholePose< CALIBRATION > >	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
const std::shared_ptr< CALIBRATION >	calibration () const

Base::Cameras	cameras (const Values &values) const override

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

double	error (const Values &values) const override

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

	SmartProjectionPoseFactor ()

	SmartProjectionPoseFactor (const SharedNoiseModel &sharedNoiseModel, const std::shared_ptr< CALIBRATION > K, const SmartProjectionParams &params=SmartProjectionParams())

	SmartProjectionPoseFactor (const SharedNoiseModel &sharedNoiseModel, const std::shared_ptr< CALIBRATION > K, const std::optional< Pose3 > body_P_sensor, const SmartProjectionParams &params=SmartProjectionParams())

	~SmartProjectionPoseFactor () override

Public Member Functions inherited from gtsam::SmartProjectionFactor< PinholePose< CALIBRATION > >
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< PinholePose< CALIBRATION > > >	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< PinholePose< CALIBRATION > > >	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< PinholePose< CALIBRATION > >
void	add (const SFM_TRACK &trackToAdd)

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...

Pose3	body_P_sensor () const

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

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

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

Vector	unwhitenedError (const Cameras &cameras, const POINT &point, OptArgs &&... optArgs) const

Vector	unwhitenedError (const Cameras &cameras, const POINT &point, typename Cameras::FBlocks Fs=nullptr, Matrix E=nullptr) 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 size_t	dim () const =0

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
std::shared_ptr< CALIBRATION >	K_
	calibration object (one for all cameras) More...

Protected Attributes inherited from gtsam::SmartProjectionFactor< PinholePose< CALIBRATION > >
SmartProjectionParams	params_

TriangulationResult	result_
	result from triangulateSafe More...

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

Protected Attributes inherited from gtsam::SmartFactorBase< PinholePose< CALIBRATION > >
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 SmartProjectionFactor< Camera >	Base

typedef PinholePose< CALIBRATION >	Camera

typedef SmartProjectionPoseFactor< CALIBRATION >	This

Additional Inherited Members
Static Public Member Functions inherited from gtsam::SmartFactorBase< PinholePose< CALIBRATION > >
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< PinholePose< CALIBRATION > >
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< PinholePose< CALIBRATION > >
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

template<class CALIBRATION>
class gtsam::SmartProjectionPoseFactor< CALIBRATION >

If you are using the factor, please cite: L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors, Int. Conf. on Robotics and Automation (ICRA), 2014. This factor assumes that camera calibration is fixed, and that the calibration is the same for all cameras involved in this factor. The factor only constrains poses (variable dimension is 6). This factor requires that values contains the involved poses (Pose3). If the calibration should be optimized, as well, use SmartProjectionFactor instead!

Definition at line 45 of file SmartProjectionPoseFactor.h.

Member Typedef Documentation

◆ Base

template<class CALIBRATION >

typedef SmartProjectionFactor<Camera> gtsam::SmartProjectionPoseFactor< CALIBRATION >::Base

private

Definition at line 49 of file SmartProjectionPoseFactor.h.

◆ Camera

template<class CALIBRATION >

typedef PinholePose<CALIBRATION> gtsam::SmartProjectionPoseFactor< CALIBRATION >::Camera

private

Definition at line 48 of file SmartProjectionPoseFactor.h.

◆ shared_ptr

template<class CALIBRATION >

typedef std::shared_ptr<This> gtsam::SmartProjectionPoseFactor< CALIBRATION >::shared_ptr

shorthand for a smart pointer to a factor

Definition at line 59 of file SmartProjectionPoseFactor.h.

◆ This

template<class CALIBRATION >

typedef SmartProjectionPoseFactor<CALIBRATION> gtsam::SmartProjectionPoseFactor< CALIBRATION >::This

private

Definition at line 50 of file SmartProjectionPoseFactor.h.

Constructor & Destructor Documentation

◆ SmartProjectionPoseFactor() [1/3]

template<class CALIBRATION >

gtsam::SmartProjectionPoseFactor< CALIBRATION >::SmartProjectionPoseFactor ( )

inline

Default constructor, only for serialization

Definition at line 64 of file SmartProjectionPoseFactor.h.

◆ SmartProjectionPoseFactor() [2/3]

template<class CALIBRATION >

gtsam::SmartProjectionPoseFactor< CALIBRATION >::SmartProjectionPoseFactor	(	const SharedNoiseModel &	sharedNoiseModel,
		const std::shared_ptr< CALIBRATION >	K,
		const SmartProjectionParams &	params = `SmartProjectionParams()`
	)

inline

Constructor

Parameters

sharedNoiseModel	isotropic noise model for the 2D feature measurements
K	(fixed) calibration, assumed to be the same for all cameras
params	parameters for the smart projection factors

Definition at line 72 of file SmartProjectionPoseFactor.h.

◆ SmartProjectionPoseFactor() [3/3]

template<class CALIBRATION >

gtsam::SmartProjectionPoseFactor< CALIBRATION >::SmartProjectionPoseFactor	(	const SharedNoiseModel &	sharedNoiseModel,
		const std::shared_ptr< CALIBRATION >	K,
		const std::optional< Pose3 >	body_P_sensor,
		const SmartProjectionParams &	params = `SmartProjectionParams()`
	)

inline

Constructor

Parameters

sharedNoiseModel	isotropic noise model for the 2D feature measurements
K	(fixed) calibration, assumed to be the same for all cameras
body_P_sensor	pose of the camera in the body frame (optional)
params	parameters for the smart projection factors

Definition at line 86 of file SmartProjectionPoseFactor.h.

◆ ~SmartProjectionPoseFactor()

template<class CALIBRATION >

gtsam::SmartProjectionPoseFactor< CALIBRATION >::~SmartProjectionPoseFactor ( )

inlineoverride

Virtual destructor

Definition at line 96 of file SmartProjectionPoseFactor.h.

Member Function Documentation

◆ calibration()

template<class CALIBRATION >

const std::shared_ptr<CALIBRATION> gtsam::SmartProjectionPoseFactor< CALIBRATION >::calibration ( ) const

inline

return calibration shared pointers

Definition at line 128 of file SmartProjectionPoseFactor.h.

◆ cameras()

template<class CALIBRATION >

Base::Cameras gtsam::SmartProjectionPoseFactor< CALIBRATION >::cameras ( const Values & values ) const

inlineoverridevirtual

Collect all cameras involved in this factor

Parameters

values Values structure which must contain camera poses corresponding to keys involved in this factor

Returns: vector of Values

Reimplemented from gtsam::SmartFactorBase< PinholePose< CALIBRATION > >.

Definition at line 138 of file SmartProjectionPoseFactor.h.

◆ equals()

template<class CALIBRATION >

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

inlineoverridevirtual

equals

Reimplemented from gtsam::NonlinearFactor.

Definition at line 111 of file SmartProjectionPoseFactor.h.

◆ error()

template<class CALIBRATION >

double gtsam::SmartProjectionPoseFactor< CALIBRATION >::error ( const Values & values ) const

inlineoverridevirtual

error calculates the error of the factor.

Reimplemented from gtsam::NonlinearFactor.

Definition at line 119 of file SmartProjectionPoseFactor.h.

◆ print()

template<class CALIBRATION >

void gtsam::SmartProjectionPoseFactor< CALIBRATION >::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.

Definition at line 104 of file SmartProjectionPoseFactor.h.

Member Data Documentation

◆ K_

template<class CALIBRATION >

std::shared_ptr<CALIBRATION> gtsam::SmartProjectionPoseFactor< CALIBRATION >::K_

protected

calibration object (one for all cameras)

Definition at line 54 of file SmartProjectionPoseFactor.h.

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

SmartProjectionPoseFactor.h

Public Types

Public Member Functions

Protected Attributes

Private Types

Additional Inherited Members

Detailed Description

template<class CALIBRATION> class gtsam::SmartProjectionPoseFactor< CALIBRATION >

Member Typedef Documentation

◆ Base

◆ Camera

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ SmartProjectionPoseFactor() [1/3]

◆ SmartProjectionPoseFactor() [2/3]

◆ SmartProjectionPoseFactor() [3/3]

◆ ~SmartProjectionPoseFactor()

Member Function Documentation

◆ calibration()

◆ cameras()

◆ equals()

◆ error()

◆ print()

Member Data Documentation

◆ K_

template<class CALIBRATION>
class gtsam::SmartProjectionPoseFactor< CALIBRATION >