#include <SmartStereoProjectionFactorPP.h>

Inheritance diagram for gtsam::SmartStereoProjectionFactorPP:

[legend]

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

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

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

typedef SmartStereoProjectionFactorPP	This
	shorthand for this class More...

Public Types inherited from gtsam::SmartStereoProjectionFactor
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	add (const std::vector< StereoPoint2 > &measurements, const KeyVector &w_P_body_keys, const KeyVector &body_P_cam_keys, const std::shared_ptr< Cal3_S2Stereo > &K)

void	add (const std::vector< StereoPoint2 > &measurements, const KeyVector &w_P_body_keys, const KeyVector &body_P_cam_keys, const std::vector< std::shared_ptr< Cal3_S2Stereo >> &Ks)

void	add (const StereoPoint2 &measured, const Key &world_P_body_key, const Key &body_P_cam_key, const std::shared_ptr< Cal3_S2Stereo > &K)

std::vector< std::shared_ptr< Cal3_S2Stereo > >	calibration () const

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

void	computeJacobiansAndCorrectForMissingMeasurements (FBlocks &Fs, Matrix &E, Vector &b, const Values &values) const

std::shared_ptr< RegularHessianFactor< DimPose > >	createHessianFactor (const Values &values, const double lambda=0.0, bool diagonalDamping=false) const
	linearize and return a Hessianfactor that is an approximation of error(p) More...

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

double	error (const Values &values) const override

const KeyVector &	getExtrinsicPoseKeys () const
	equals More...

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

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

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

	SmartStereoProjectionFactorPP (const SharedNoiseModel &sharedNoiseModel, const SmartStereoProjectionParams &params=SmartStereoProjectionParams())

Public Member Functions inherited from gtsam::SmartStereoProjectionFactor
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	isDegenerate () const

bool	isFarPoint () const

bool	isOutlier () const

bool	isPointBehindCamera () const

bool	isValid () const
	Is result valid? 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

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 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

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, 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 ()

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef SmartStereoProjectionFactor	Base
	shorthand for base class type 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
static const int	DimBlock = 12
	Camera dimension: 6 for body pose, 6 for extrinsic pose. More...

static const int	DimPose = 6
	Pose3 dimension. More...

static const int	ZDim = 3
	Measurement dimension (for a StereoPoint2 measurement) More...

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

static const int	ZDim
	Measurement dimension. More...

Protected Attributes
KeyVector	body_P_cam_keys_
	The keys corresponding to the extrinsic pose calibration for each view (pose that transform from camera to body) More...

std::vector< std::shared_ptr< Cal3_S2Stereo > >	K_all_
	shared pointer to calibration object (one for each camera) More...

KeyVector	world_P_body_keys_
	The keys corresponding to the pose of the body (with respect to an external world frame) for each view. More...

Protected Attributes inherited from gtsam::SmartStereoProjectionFactor
const SmartStereoProjectionParams	params_

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...

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...

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

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 optimizes the pose of the body as well as the extrinsic camera calibration (pose of camera wrt body). Each camera may have its own extrinsic calibration or the same calibration can be shared by multiple cameras. This factor requires that values contain the involved poses and extrinsics (both are Pose3 variables).

Definition at line 43 of file SmartStereoProjectionFactorPP.h.

Member Typedef Documentation

◆ FBlocks

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

Definition at line 71 of file SmartStereoProjectionFactorPP.h.

◆ MatrixZD

typedef Eigen::Matrix<double, ZDim, DimBlock> gtsam::SmartStereoProjectionFactorPP::MatrixZD

Definition at line 70 of file SmartStereoProjectionFactorPP.h.

◆ shared_ptr

typedef std::shared_ptr<This> gtsam::SmartStereoProjectionFactorPP::shared_ptr

shorthand for a smart pointer to a factor

Definition at line 65 of file SmartStereoProjectionFactorPP.h.

◆ This

typedef SmartStereoProjectionFactorPP gtsam::SmartStereoProjectionFactorPP::This

shorthand for this class

Definition at line 62 of file SmartStereoProjectionFactorPP.h.

Constructor & Destructor Documentation

◆ SmartStereoProjectionFactorPP()

gtsam::SmartStereoProjectionFactorPP::SmartStereoProjectionFactorPP	(	const SharedNoiseModel &	sharedNoiseModel,
		const SmartStereoProjectionParams &	params = `SmartStereoProjectionParams()`
	)

Constructor

Parameters

Isotropic	measurement noise
params	internal parameters of the smart factors

Definition at line 25 of file SmartStereoProjectionFactorPP.cpp.

Member Function Documentation

◆ add() [1/3]

void gtsam::SmartStereoProjectionFactorPP::add	(	const std::vector< StereoPoint2 > &	measurements,
		const KeyVector &	w_P_body_keys,
		const KeyVector &	body_P_cam_keys,
		const std::shared_ptr< Cal3_S2Stereo > &	K
	)

Variant of the previous one in which we include a set of measurements with the same noise and calibration

Parameters

measurements	vector of the 3m dimensional location of the projection of a single landmark in the m (stereo) view (the measurements)
w_P_body_keys	are the ordered keys corresponding to the body poses observing the same landmark
body_P_cam_keys	are the ordered keys corresponding to the extrinsic camera-to-body poses calibration (note: elements of this vector do not need to be unique: 2 camera views can share the same calibration)
K	the (known) camera calibration (same for all measurements)

Definition at line 67 of file SmartStereoProjectionFactorPP.cpp.

◆ add() [2/3]

void gtsam::SmartStereoProjectionFactorPP::add	(	const std::vector< StereoPoint2 > &	measurements,
		const KeyVector &	w_P_body_keys,
		const KeyVector &	body_P_cam_keys,
		const std::vector< std::shared_ptr< Cal3_S2Stereo >> &	Ks
	)

Variant of the previous one in which we include a set of measurements

Parameters

measurements	vector of the 3m dimensional location of the projection of a single landmark in the m (stereo) view (the measurements)
w_P_body_keys	are the ordered keys corresponding to the body poses observing the same landmark
body_P_cam_keys	are the ordered keys corresponding to the extrinsic camera-to-body poses calibration (note: elements of this vector do not need to be unique: 2 camera views can share the same calibration)
Ks	vector of intrinsic calibration objects

Definition at line 47 of file SmartStereoProjectionFactorPP.cpp.

◆ add() [3/3]

void gtsam::SmartStereoProjectionFactorPP::add	(	const StereoPoint2 &	measured,
		const Key &	world_P_body_key,
		const Key &	body_P_cam_key,
		const std::shared_ptr< Cal3_S2Stereo > &	K
	)

add a new measurement, with a pose key, and an extrinsic pose key

Parameters

measured	is the 3-dimensional location of the projection of a single landmark in the a single (stereo) view (the measurement)
world_P_body_key	is the key corresponding to the body poses observing the same landmark
body_P_cam_key	is the key corresponding to the extrinsic camera-to-body pose calibration
K	is the (fixed) camera intrinsic calibration

Definition at line 30 of file SmartStereoProjectionFactorPP.cpp.

◆ calibration()

std::vector<std::shared_ptr<Cal3_S2Stereo> > gtsam::SmartStereoProjectionFactorPP::calibration ( ) const

inline

return the calibration object

Definition at line 143 of file SmartStereoProjectionFactorPP.h.

◆ cameras()

SmartStereoProjectionFactorPP::Base::Cameras gtsam::SmartStereoProjectionFactorPP::cameras ( const Values & values ) const

overridevirtual

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< StereoCamera >.

Definition at line 114 of file SmartStereoProjectionFactorPP.cpp.

◆ computeJacobiansAndCorrectForMissingMeasurements()

void gtsam::SmartStereoProjectionFactorPP::computeJacobiansAndCorrectForMissingMeasurements	(	FBlocks &	Fs,
		Matrix &	E,
		Vector &	b,
		const Values &	values
	)		const

inline

Compute jacobian F, E and error vector at a given linearization point

Parameters

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

Returns: Return arguments are the camera jacobians Fs (including the jacobian with respect to both the body pose and extrinsic pose), the point Jacobian E, and the error vector b. Note that the jacobians are computed for a given point.

Definition at line 164 of file SmartStereoProjectionFactorPP.h.

◆ createHessianFactor()

std::shared_ptr<RegularHessianFactor<DimPose> > gtsam::SmartStereoProjectionFactorPP::createHessianFactor	(	const Values &	values,
		const double	lambda = `0.0`,
		bool	diagonalDamping = `false`
	)		const