Public Member Functions | Private Attributes | List of all members
gtsam::ShonanGaugeFactor Class Reference

#include <ShonanGaugeFactor.h>

Inheritance diagram for gtsam::ShonanGaugeFactor:
Inheritance graph
[legend]

Public Member Functions

size_t dim () const override
 get the dimension of the factor (number of rows on linearization) More...
 
double error (const Values &c) const override
 Calculate the error of the factor: always zero. More...
 
boost::shared_ptr< GaussianFactorlinearize (const Values &c) const override
 linearize to a GaussianFactor More...
 
 ShonanGaugeFactor (Key key, size_t p, size_t d=3, boost::optional< double > gamma=boost::none)
 
 ~ShonanGaugeFactor () override
 Destructor. More...
 
- Public Member Functions inherited from gtsam::NonlinearFactor
 NonlinearFactor ()
 
template<typename CONTAINER >
 NonlinearFactor (const CONTAINER &keys)
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 
virtual bool equals (const NonlinearFactor &f, double tol=1e-9) const
 
virtual ~NonlinearFactor ()
 
virtual bool active (const Values &) const
 
virtual shared_ptr clone () const
 
shared_ptr rekey (const std::map< Key, Key > &rekey_mapping) const
 
shared_ptr rekey (const KeyVector &new_keys) const
 
- Public Member Functions inherited from gtsam::Factor
virtual ~Factor ()=default
 Default destructor. More...
 
Key front () const
 First key. More...
 
Key back () const
 Last key. More...
 
const_iterator find (Key key) const
 find More...
 
const KeyVectorkeys () 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...
 
KeyVectorkeys ()
 
iterator begin ()
 
iterator end ()
 

Private Attributes

size_t rows_
 
boost::shared_ptr< JacobianFactorwhitenedJacobian_
 Constant Jacobian. More...
 

Additional Inherited Members

- Public Types inherited from gtsam::NonlinearFactor
typedef boost::shared_ptr< Thisshared_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...
 
- 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)
 
bool equals (const This &other, double tol=1e-9) const
 check equality More...
 
- 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::Factor
KeyVector keys_
 The keys involved in this factor. More...
 

Detailed Description

The ShonanGaugeFactor creates a constraint on a single SO(n) to avoid moving in the stabilizer.

Details: SO(p) contains the p*3 Stiefel matrices of orthogonal frames: we take those to be the 3 columns on the left. The P*P skew-symmetric matrices associated with so(p) can be partitioned as (Appendix B in the ECCV paper): | [w] -K' | | K [g] | where w is the SO(3) space, K are the extra Stiefel diemnsions (wormhole!) and (g)amma are extra dimensions in SO(p) that do not modify the cost function. The latter corresponds to rotations SO(p-d), and so the first few values of p-d for d==3 with their corresponding dimensionality are {0:0, 1:0, 2:1, 3:3, ...}

The ShonanGaugeFactor adds a unit Jacobian to these extra dimensions, essentially restricting the optimization to the Stiefel manifold.

Definition at line 47 of file ShonanGaugeFactor.h.

Constructor & Destructor Documentation

gtsam::ShonanGaugeFactor::ShonanGaugeFactor ( Key  key,
size_t  p,
size_t  d = 3,
boost::optional< double >  gamma = boost::none 
)
inline

Construct from key for an SO(p) matrix, for base dimension d (2 or 3) If parameter gamma is given, it acts as a precision = 1/sigma^2, and the Jacobian will be multiplied with 1/sigma = sqrt(gamma).

Definition at line 60 of file ShonanGaugeFactor.h.

gtsam::ShonanGaugeFactor::~ShonanGaugeFactor ( )
inlineoverride

Destructor.

Definition at line 93 of file ShonanGaugeFactor.h.

Member Function Documentation

size_t gtsam::ShonanGaugeFactor::dim ( ) const
inlineoverridevirtual

get the dimension of the factor (number of rows on linearization)

Implements gtsam::NonlinearFactor.

Definition at line 99 of file ShonanGaugeFactor.h.

double gtsam::ShonanGaugeFactor::error ( const Values c) const
inlineoverridevirtual

Calculate the error of the factor: always zero.

Implements gtsam::NonlinearFactor.

Definition at line 96 of file ShonanGaugeFactor.h.

boost::shared_ptr<GaussianFactor> gtsam::ShonanGaugeFactor::linearize ( const Values c) const
inlineoverridevirtual

linearize to a GaussianFactor

Implements gtsam::NonlinearFactor.

Definition at line 102 of file ShonanGaugeFactor.h.

Member Data Documentation

size_t gtsam::ShonanGaugeFactor::rows_
private

Definition at line 49 of file ShonanGaugeFactor.h.

boost::shared_ptr<JacobianFactor> gtsam::ShonanGaugeFactor::whitenedJacobian_
private

Constant Jacobian.

Definition at line 52 of file ShonanGaugeFactor.h.


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


gtsam
Author(s):
autogenerated on Sat May 8 2021 02:58:29