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gtsam::SmartStereoProjectionPoseFactor Class Reference

#include <SmartStereoProjectionPoseFactor.h>

Inheritance diagram for gtsam::SmartStereoProjectionPoseFactor:
Inheritance graph
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Public Types

typedef boost::shared_ptr< Thisshared_ptr
 shorthand for a smart pointer to a factor More...
 
typedef SmartStereoProjectionPoseFactor This
 shorthand for this class More...
 
- Public Types inherited from gtsam::SmartStereoProjectionFactor
typedef CameraSet< StereoCameraCameras
 Vector of cameras. More...
 
typedef PinholeCamera< Cal3_S2MonoCamera
 Vector of monocular cameras (stereo treated as 2 monocular) More...
 
typedef CameraSet< MonoCameraMonoCameras
 
typedef MonoCamera::MeasurementVector MonoMeasurements
 
typedef boost::shared_ptr< SmartStereoProjectionFactorshared_ptr
 shorthand for a smart pointer to a factor More...
 
- Public Types inherited from gtsam::SmartFactorBase< StereoCamera >
typedef CameraSet< StereoCameraCameras
 We use the new CameraSte data structure to refer to a set of cameras. More...
 
typedef std::vector< MatrixZD, Eigen::aligned_allocator< MatrixZD > > FBlocks
 
typedef Eigen::Matrix< double, ZDim, DimMatrixZD
 
- 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...
 

Public Member Functions

void add (const StereoPoint2 &measured, const Key &poseKey, const boost::shared_ptr< Cal3_S2Stereo > &K)
 
void add (const std::vector< StereoPoint2 > &measurements, const KeyVector &poseKeys, const std::vector< boost::shared_ptr< Cal3_S2Stereo >> &Ks)
 
void add (const std::vector< StereoPoint2 > &measurements, const KeyVector &poseKeys, const boost::shared_ptr< Cal3_S2Stereo > &K)
 
std::vector< boost::shared_ptr< Cal3_S2Stereo > > 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
 
 SmartStereoProjectionPoseFactor (const SharedNoiseModel &sharedNoiseModel, const SmartStereoProjectionParams &params=SmartStereoProjectionParams(), const boost::optional< Pose3 > &body_P_sensor=boost::none)
 
 ~SmartStereoProjectionPoseFactor () override=default
 
- 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, boost::optional< typename Cameras::FBlocks & > Fs=boost::none, boost::optional< Matrix & > E=boost::none) const override
 
boost::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...
 
boost::shared_ptr< JacobianFactorcreateJacobianSVDFactor (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...
 
boost::shared_ptr< GaussianFactorlinearize (const Values &values) const override
 linearize More...
 
boost::shared_ptr< GaussianFactorlinearizeDamped (const Cameras &cameras, const double lambda=0.0) const
 
boost::shared_ptr< GaussianFactorlinearizeDamped (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 boost::optional< Pose3 > body_P_sensor=boost::none)
 
double totalReprojectionError (const Cameras &cameras, boost::optional< Point3 > externalPoint=boost::none) 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 Z &measured, const Key &key)
 
void add (const ZVector &measurements, const KeyVector &cameraKeys)
 
void add (const SFM_TRACK &trackToAdd)
 
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
 SVD version. More...
 
boost::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...
 
boost::shared_ptr< JacobianFactorQ< Dim, ZDim > > createJacobianQFactor (const Cameras &cameras, const Point3 &point, double lambda=0.0, bool diagonalDamping=false) const
 
boost::shared_ptr< JacobianFactorcreateJacobianSVDFactor (const Cameras &cameras, const Point3 &point, double lambda=0.0) const
 
boost::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
 get the dimension (number of rows!) of the factor More...
 
bool equals (const NonlinearFactor &p, double tol=1e-9) const override
 equals More...
 
const ZVectormeasured () const
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 
 SmartFactorBase ()
 Default Constructor, for serialization. More...
 
 SmartFactorBase (const SharedNoiseModel &sharedNoiseModel, boost::optional< Pose3 > body_P_sensor=boost::none, size_t expectedNumberCameras=10)
 Constructor. More...
 
double totalReprojectionError (const Cameras &cameras, const POINT &point) const
 
Vector unwhitenedError (const Cameras &cameras, const POINT &point, boost::optional< typename Cameras::FBlocks & > Fs=boost::none, boost::optional< Matrix & > E=boost::none) 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)
 
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 ()
 

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 boost::shared_ptr< Thisshared_ptr
 shorthand for a smart pointer to a factor More...
 

Protected Attributes

std::vector< boost::shared_ptr< Cal3_S2Stereo > > K_all_
 shared pointer to calibration object (one for each camera) More...
 
- Protected Attributes inherited from gtsam::SmartStereoProjectionFactor
const SmartStereoProjectionParams params_
 
TriangulationResult result_
 result from triangulateSafe More...
 
std::vector< Pose3cameraPosesTriangulation_
 
- Protected Attributes inherited from gtsam::SmartFactorBase< StereoCamera >
boost::optional< Pose3body_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 Member Functions

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

Friends

class boost::serialization::access
 Serialization function. 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 (Matrix &E)
 Computes Point Covariance P from E. More...
 
- Static Public Attributes inherited from gtsam::SmartFactorBase< StereoCamera >
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)
 
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)
 

Detailed Description

Definition at line 46 of file SmartStereoProjectionPoseFactor.h.

Member Typedef Documentation

shorthand for a smart pointer to a factor

Definition at line 61 of file SmartStereoProjectionPoseFactor.h.

shorthand for this class

Definition at line 58 of file SmartStereoProjectionPoseFactor.h.

Constructor & Destructor Documentation

gtsam::SmartStereoProjectionPoseFactor::SmartStereoProjectionPoseFactor ( const SharedNoiseModel sharedNoiseModel,
const SmartStereoProjectionParams params = SmartStereoProjectionParams(),
const boost::optional< Pose3 > &  body_P_sensor = boost::none 
)

Constructor

Parameters
Isotropicmeasurement noise
paramsinternal parameters of the smart factors

Definition at line 26 of file SmartStereoProjectionPoseFactor.cpp.

gtsam::SmartStereoProjectionPoseFactor::~SmartStereoProjectionPoseFactor ( )
overridedefault

Virtual destructor

Member Function Documentation

void gtsam::SmartStereoProjectionPoseFactor::add ( const StereoPoint2 measured,
const Key poseKey,
const boost::shared_ptr< Cal3_S2Stereo > &  K 
)

add a new measurement and pose key

Parameters
measuredis the 2m dimensional location of the projection of a single landmark in the m view (the measurement)
poseKeyis key corresponding to the camera observing the same landmark
Kis the (fixed) camera calibration

Definition at line 32 of file SmartStereoProjectionPoseFactor.cpp.

void gtsam::SmartStereoProjectionPoseFactor::add ( const std::vector< StereoPoint2 > &  measurements,
const KeyVector poseKeys,
const std::vector< boost::shared_ptr< Cal3_S2Stereo >> &  Ks 
)

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

Parameters
measurementsvector of the 2m dimensional location of the projection of a single landmark in the m view (the measurement)
poseKeysvector of keys corresponding to the camera observing the same landmark
Ksvector of calibration objects

Definition at line 39 of file SmartStereoProjectionPoseFactor.cpp.

void gtsam::SmartStereoProjectionPoseFactor::add ( const std::vector< StereoPoint2 > &  measurements,
const KeyVector poseKeys,
const boost::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
measurementsvector of the 2m dimensional location of the projection of a single landmark in the m view (the measurement)
poseKeysvector of keys corresponding to the camera observing the same landmark
Kthe (known) camera calibration (same for all measurements)

Definition at line 48 of file SmartStereoProjectionPoseFactor.cpp.

std::vector<boost::shared_ptr<Cal3_S2Stereo> > gtsam::SmartStereoProjectionPoseFactor::calibration ( ) const
inline

return the calibration object

Definition at line 129 of file SmartStereoProjectionPoseFactor.h.

SmartStereoProjectionPoseFactor::Base::Cameras gtsam::SmartStereoProjectionPoseFactor::cameras ( const Values values) const
overridevirtual

Collect all cameras involved in this factor

Parameters
valuesValues 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 84 of file SmartStereoProjectionPoseFactor.cpp.

bool gtsam::SmartStereoProjectionPoseFactor::equals ( const NonlinearFactor p,
double  tol = 1e-9 
) const
overridevirtual

equals

Reimplemented from gtsam::SmartStereoProjectionFactor.

Definition at line 67 of file SmartStereoProjectionPoseFactor.cpp.

double gtsam::SmartStereoProjectionPoseFactor::error ( const Values values) const
overridevirtual

error calculates the error of the factor.

Reimplemented from gtsam::SmartStereoProjectionFactor.

Definition at line 75 of file SmartStereoProjectionPoseFactor.cpp.

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

print

Parameters
soptional string naming the factor
keyFormatteroptional formatter useful for printing Symbols

Reimplemented from gtsam::SmartStereoProjectionFactor.

Definition at line 58 of file SmartStereoProjectionPoseFactor.cpp.

template<class ARCHIVE >
void gtsam::SmartStereoProjectionPoseFactor::serialize ( ARCHIVE &  ar,
const unsigned  int 
)
inlineprivate

Definition at line 146 of file SmartStereoProjectionPoseFactor.h.

Friends And Related Function Documentation

friend class boost::serialization::access
friend

Serialization function.

Definition at line 144 of file SmartStereoProjectionPoseFactor.h.

Member Data Documentation

shorthand for base class type

Definition at line 55 of file SmartStereoProjectionPoseFactor.h.

std::vector<boost::shared_ptr<Cal3_S2Stereo> > gtsam::SmartStereoProjectionPoseFactor::K_all_
protected

shared pointer to calibration object (one for each camera)

Definition at line 49 of file SmartStereoProjectionPoseFactor.h.


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


gtsam
Author(s):
autogenerated on Sat May 8 2021 02:58:30