A set of cameras, all with their own calibration. More...

#include <CameraSet.h>

Inheritance diagram for gtsam::CameraSet< CAMERA >:

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

typedef Eigen::Matrix< double, ZDim, D >	MatrixZD
	Definitions for blocks of F. More...

Public Member Functions
bool	equals (const CameraSet &p, double tol=1e-9) const
	equals More...

virtual void	print (const std::string &s="") const

template<class POINT >
ZVector	project2 (const POINT &point, boost::optional< FBlocks & > Fs=boost::none, boost::optional< Matrix & > E=boost::none) const

template<class POINT >
Vector	reprojectionError (const POINT &point, const ZVector &measured, boost::optional< FBlocks & > Fs=boost::none, boost::optional< Matrix & > E=boost::none) const
	Calculate vector [project2(point)-z] of re-projection errors. More...

Static Public Member Functions
template<int N>
static void	ComputePointCovariance (Eigen::Matrix< double, N, N > &P, const Matrix &E, double lambda, bool diagonalDamping=false)
	Computes Point Covariance P, with lambda parameter. More...

static Matrix	PointCov (const Matrix &E, const double lambda=0.0, bool diagonalDamping=false)
	Computes Point Covariance P, with lambda parameter, dynamic version. More...

template<int N>
static SymmetricBlockMatrix	SchurComplement (const FBlocks &Fs, const Matrix &E, const Eigen::Matrix< double, N, N > &P, const Vector &b)

static SymmetricBlockMatrix	SchurComplement (const FBlocks &Fblocks, const Matrix &E, const Vector &b, const double lambda=0.0, bool diagonalDamping=false)

template<int N>
static void	UpdateSchurComplement (const FBlocks &Fs, const Matrix &E, const Eigen::Matrix< double, N, N > &P, const Vector &b, const KeyVector &allKeys, const KeyVector &keys, SymmetricBlockMatrix &augmentedHessian)

Protected Types
typedef CAMERA::Measurement	Z

typedef CAMERA::MeasurementVector	ZVector

Static Protected Member Functions
static Vector	ErrorVector (const ZVector &predicted, const ZVector &measured)
	Make a vector of re-projection errors. More...

Static Protected Attributes
static const int	D = traits<CAMERA>::dimension
	Camera dimension. More...

static const int	ZDim = traits<Z>::dimension
	Measurement dimension. More...

Private Member Functions
template<class ARCHIVE >
void	serialize (ARCHIVE &ar, const unsigned int)

Friends
class	boost::serialization::access
	Serialization function. More...

Detailed Description

template<class CAMERA>
class gtsam::CameraSet< CAMERA >

A set of cameras, all with their own calibration.

Definition at line 35 of file CameraSet.h.

Member Typedef Documentation

template<class CAMERA>

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

Definition at line 74 of file CameraSet.h.

template<class CAMERA>

typedef Eigen::Matrix<double, ZDim, D> gtsam::CameraSet< CAMERA >::MatrixZD

Definitions for blocks of F.

Definition at line 73 of file CameraSet.h.

template<class CAMERA>

typedef CAMERA::Measurement gtsam::CameraSet< CAMERA >::Z

protected

2D measurement and noise model for each of the m views The order is kept the same as the keys that we use to create the factor.

Definition at line 43 of file CameraSet.h.

template<class CAMERA>

typedef CAMERA::MeasurementVector gtsam::CameraSet< CAMERA >::ZVector

protected

Definition at line 44 of file CameraSet.h.

Member Function Documentation

template<class CAMERA>

template<int N>

static void gtsam::CameraSet< CAMERA >::ComputePointCovariance	(	Eigen::Matrix< double, N, N > &	P,
		const Matrix &	E,
		double	lambda,
		bool	diagonalDamping = `false`
	)

inlinestatic

Computes Point Covariance P, with lambda parameter.

Definition at line 194 of file CameraSet.h.

template<class CAMERA>

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

inline

equals

Definition at line 88 of file CameraSet.h.

template<class CAMERA>

static Vector gtsam::CameraSet< CAMERA >::ErrorVector	(	const ZVector &	predicted,
		const ZVector &	measured
	)

inlinestaticprotected

Make a vector of re-projection errors.

Definition at line 50 of file CameraSet.h.

template<class CAMERA>

static Matrix gtsam::CameraSet< CAMERA >::PointCov	(	const Matrix &	E,
		const double	lambda = `0.0`,
		bool	diagonalDamping = `false`
	)

inlinestatic

Computes Point Covariance P, with lambda parameter, dynamic version.

Definition at line 210 of file CameraSet.h.

template<class CAMERA>

virtual void gtsam::CameraSet< CAMERA >::print ( const std::string & s = "" ) const

inlinevirtual

print

Parameters

s	optional string naming the factor
keyFormatter	optional formatter useful for printing Symbols

Reimplemented in gtsam::PinholeSet< CAMERA >.

Definition at line 81 of file CameraSet.h.

template<class CAMERA>

template<class POINT >

ZVector gtsam::CameraSet< CAMERA >::project2	(	const POINT &	point,
		boost::optional< FBlocks & >	Fs = `boost::none`,
		boost::optional< Matrix & >	E = `boost::none`
	)		const

inline

Project a point (possibly Unit3 at infinity), with derivatives Note that F is a sparse block-diagonal matrix, so instead of a large dense matrix this function returns the diagonal blocks. throws CheiralityException

Definition at line 107 of file CameraSet.h.

template<class CAMERA>

template<class POINT >

Vector gtsam::CameraSet< CAMERA >::reprojectionError	(	const POINT &	point,
		const ZVector &	measured,
		boost::optional< FBlocks & >	Fs = `boost::none`,
		boost::optional< Matrix & >	E = `boost::none`
	)		const

inline

Calculate vector [project2(point)-z] of re-projection errors.

Definition at line 136 of file CameraSet.h.

template<class CAMERA>

template<int N>

static SymmetricBlockMatrix gtsam::CameraSet< CAMERA >::SchurComplement	(	const FBlocks &	Fs,
		const Matrix &	E,
		const Eigen::Matrix< double, N, N > &	P,
		const Vector &	b
	)

inlinestatic

Do Schur complement, given Jacobian as Fs,E,P, return SymmetricBlockMatrix G = F' * F - F' * E * P * E' * F g = F' * (b - E * P * E' * b) Fixed size version

Definition at line 149 of file CameraSet.h.

template<class CAMERA>

static SymmetricBlockMatrix gtsam::CameraSet< CAMERA >::SchurComplement	(	const FBlocks &	Fblocks,
		const Matrix &	E,
		const Vector &	b,
		const double	lambda = `0.0`,
		bool	diagonalDamping = `false`
	)

inlinestatic

Do Schur complement, given Jacobian as Fs,E,P, return SymmetricBlockMatrix Dynamic version

Definition at line 227 of file CameraSet.h.

template<class CAMERA>

template<class ARCHIVE >

void gtsam::CameraSet< CAMERA >::serialize	(	ARCHIVE &	ar,
		const unsigned int
	)

inlineprivate

Definition at line 317 of file CameraSet.h.

template<class CAMERA>

template<int N>

static void gtsam::CameraSet< CAMERA >::UpdateSchurComplement	(	const FBlocks &	Fs,
		const Matrix &	E,
		const Eigen::Matrix< double, N, N > &	P,
		const Vector &	b,
		const KeyVector &	allKeys,
		const KeyVector &	keys,
		SymmetricBlockMatrix &	augmentedHessian
	)

inlinestatic

Applies Schur complement (exploiting block structure) to get a smart factor on cameras, and adds the contribution of the smart factor to a pre-allocated augmented Hessian.

Definition at line 246 of file CameraSet.h.

Friends And Related Function Documentation

template<class CAMERA>

friend class boost::serialization::access

friend

Serialization function.

Definition at line 315 of file CameraSet.h.

Member Data Documentation

template<class CAMERA>

const int gtsam::CameraSet< CAMERA >::D = traits<CAMERA>::dimension

staticprotected

Camera dimension.

Definition at line 46 of file CameraSet.h.

template<class CAMERA>

const int gtsam::CameraSet< CAMERA >::ZDim = traits<Z>::dimension

staticprotected

Measurement dimension.

Definition at line 47 of file CameraSet.h.

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

CameraSet.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Types

Static Protected Member Functions

Static Protected Attributes

Private Member Functions

Friends

Detailed Description

template<class CAMERA> class gtsam::CameraSet< CAMERA >

Member Typedef Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<class CAMERA>
class gtsam::CameraSet< CAMERA >