#include <ProjectionFactorRollingShutter.h>

Inheritance diagram for gtsam::ProjectionFactorRollingShutter:

[legend]

Public Types
typedef NoiseModelFactor3< Pose3, Pose3, Point3 >	Base
	shorthand for base class type More...

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

typedef ProjectionFactorRollingShutter	This
	shorthand for this class More...

Public Types inherited from gtsam::NoiseModelFactorN< Pose3, Pose3, Point3 >
using	ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type

Public Types inherited from gtsam::NoiseModelFactor
typedef std::shared_ptr< This >	shared_ptr

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
double	alpha () const

const std::shared_ptr< Cal3_S2 >	calibration () const

gtsam::NonlinearFactor::shared_ptr	clone () const override

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

Vector	evaluateError (const Pose3 &pose_a, const Pose3 &pose_b, const Point3 &point, OptionalMatrixType H1, OptionalMatrixType H2, OptionalMatrixType H3) const override
	Evaluate error h(x)-z and optionally derivatives. More...

const Point2 &	measured () const

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

	ProjectionFactorRollingShutter ()
	Default constructor. More...

	ProjectionFactorRollingShutter (const Point2 &measured, double alpha, const SharedNoiseModel &model, Key poseKey_a, Key poseKey_b, Key pointKey, const std::shared_ptr< Cal3_S2 > &K, bool throwCheirality, bool verboseCheirality, std::optional< Pose3 > body_P_sensor={})

	ProjectionFactorRollingShutter (const Point2 &measured, double alpha, const SharedNoiseModel &model, Key poseKey_a, Key poseKey_b, Key pointKey, const std::shared_ptr< Cal3_S2 > &K, std::optional< Pose3 > body_P_sensor={})

bool	throwCheirality () const

bool	verboseCheirality () const

virtual	~ProjectionFactorRollingShutter ()

Public Member Functions inherited from gtsam::NoiseModelFactorN< Pose3, Pose3, Point3 >
Key	key () const

virtual Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const =0

Vector	unwhitenedError (const Values &x, std::vector< Matrix > &H) const

	~NoiseModelFactorN () override

	NoiseModelFactorN ()
	Default Constructor for I/O. More...

	NoiseModelFactorN (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys)

	NoiseModelFactorN (const SharedNoiseModel &noiseModel, CONTAINER keys)

Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override

virtual Vector	evaluateError (const ValueTypes &... x, OptionalMatrixTypeT< ValueTypes >... H) const=0

Vector	evaluateError (const ValueTypes &... x, MatrixTypeT< ValueTypes > &... H) const

Vector	evaluateError (const ValueTypes &... x) const

AreAllMatrixRefs< Vector, OptionalJacArgs... >	evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const

AreAllMatrixPtrs< Vector, OptionalJacArgs... >	evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const

Key	key1 () const

Key	key2 () const

Key	key3 () const

Key	key4 () const

Key	key5 () const

Key	key6 () const

Public Member Functions inherited from gtsam::NoiseModelFactor
shared_ptr	cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const

size_t	dim () const override

double	error (const Values &c) const override

std::shared_ptr< GaussianFactor >	linearize (const Values &x) const override

const SharedNoiseModel &	noiseModel () const
	access to the noise model More...

	NoiseModelFactor ()

template<typename CONTAINER >
	NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)

Vector	unweightedWhitenedError (const Values &c) const

Vector	unwhitenedError (const Values &x, std::vector< Matrix > &H) const

double	weight (const Values &c) const

Vector	whitenedError (const Values &c) const

	~NoiseModelFactor () override

Public Member Functions inherited from gtsam::NonlinearFactor
	NonlinearFactor ()

template<typename CONTAINER >
	NonlinearFactor (const CONTAINER &keys)

double	error (const HybridValues &c) const override

virtual bool	active (const Values &) 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
double	alpha_

std::optional< Pose3 >	body_P_sensor_
	The pose of the sensor in the body frame. More...

std::shared_ptr< Cal3_S2 >	K_
	shared pointer to calibration object More...

Point2	measured_
	2D measurement More...

bool	throwCheirality_

bool	verboseCheirality_

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Additional Inherited Members
Static Public Attributes inherited from gtsam::NoiseModelFactorN< Pose3, Pose3, Point3 >
constexpr static auto	N
	N is the number of variables (N-way factor) More...

Protected Types inherited from gtsam::NoiseModelFactorN< Pose3, Pose3, Point3 >
using	Base = NoiseModelFactor

using	KeyType = Key

using	MatrixTypeT = Matrix

using	OptionalMatrixTypeT = Matrix *

using	This = NoiseModelFactorN< ValueTypes... >

using	IsConvertible = typename std::enable_if< std::is_convertible< From, To >::value, void >::type

using	IndexIsValid = typename std::enable_if<(I >=1) &&(I<=N), void >::type

using	ContainerElementType = typename std::decay< decltype(*std::declval< Container >().begin())>::type

using	IsContainerOfKeys = IsConvertible< ContainerElementType< Container >, Key >

using	AreAllMatrixRefs = std::enable_if_t<(... &&std::is_convertible< Args, Matrix & >::value), Ret >

using	IsMatrixPointer = std::is_same< typename std::decay_t< Arg >, Matrix * >

using	IsNullpointer = std::is_same< typename std::decay_t< Arg >, std::nullptr_t >

using	AreAllMatrixPtrs = std::enable_if_t<(... &&(IsMatrixPointer< Args >::value\|\|IsNullpointer< Args >::value)), Ret >

Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor	Base

typedef NoiseModelFactor	This

Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base

typedef NonlinearFactor	This

Protected Member Functions inherited from gtsam::NoiseModelFactor
	NoiseModelFactor (const SharedNoiseModel &noiseModel)

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

Non-linear factor for 2D projection measurement obtained using a rolling shutter camera. The calibration is known here. This version takes rolling shutter information into account as follows: consider two consecutive poses A and B, and a Point2 measurement taken starting at time A using a rolling shutter camera. Pose A has timestamp t_A, and Pose B has timestamp t_B. The Point2 measurement has timestamp t_p (with t_A <= t_p <= t_B) corresponding to the time of exposure of the row of the image the pixel belongs to. Let us define the alpha = (t_p - t_A) / (t_B - t_A), we will use the pose interpolated between A and B by the alpha to project the corresponding landmark to Point2.

Definition at line 43 of file ProjectionFactorRollingShutter.h.

Member Typedef Documentation

◆ Base

typedef NoiseModelFactor3<Pose3, Pose3, Point3> gtsam::ProjectionFactorRollingShutter::Base

shorthand for base class type

Definition at line 62 of file ProjectionFactorRollingShutter.h.

◆ shared_ptr

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

shorthand for a smart pointer to a factor

Definition at line 72 of file ProjectionFactorRollingShutter.h.

◆ This

typedef ProjectionFactorRollingShutter gtsam::ProjectionFactorRollingShutter::This

shorthand for this class

Definition at line 69 of file ProjectionFactorRollingShutter.h.

Constructor & Destructor Documentation

◆ ProjectionFactorRollingShutter() [1/3]

gtsam::ProjectionFactorRollingShutter::ProjectionFactorRollingShutter ( )

inline

Default constructor.

Definition at line 75 of file ProjectionFactorRollingShutter.h.

◆ ProjectionFactorRollingShutter() [2/3]

gtsam::ProjectionFactorRollingShutter::ProjectionFactorRollingShutter	(	const Point2 &	measured,
		double	alpha,
		const SharedNoiseModel &	model,
		Key	poseKey_a,
		Key	poseKey_b,
		Key	pointKey,
		const std::shared_ptr< Cal3_S2 > &	K,
		std::optional< Pose3 >	body_P_sensor = `{}`
	)

inline

Constructor

Parameters

measured	is the 2-dimensional pixel location of point in the image (the measurement)
alpha	in [0,1] is the rolling shutter parameter for the measurement
model	is the noise model
poseKey_a	is the key of the first camera
poseKey_b	is the key of the second camera
pointKey	is the key of the landmark
K	shared pointer to the constant calibration
body_P_sensor	is the transform from body to sensor frame (default identity)

Definition at line 94 of file ProjectionFactorRollingShutter.h.

◆ ProjectionFactorRollingShutter() [3/3]

gtsam::ProjectionFactorRollingShutter::ProjectionFactorRollingShutter	(	const Point2 &	measured,
		double	alpha,
		const SharedNoiseModel &	model,
		Key	poseKey_a,
		Key	poseKey_b,
		Key	pointKey,
		const std::shared_ptr< Cal3_S2 > &	K,
		bool	throwCheirality,
		bool	verboseCheirality,
		std::optional< Pose3 >	body_P_sensor = `{}`
	)

inline

Constructor with exception-handling flags

Parameters

measured	is the 2-dimensional pixel location of point in the image (the measurement)
alpha	in [0,1] is the rolling shutter parameter for the measurement
model	is the noise model
poseKey_a	is the key of the first camera
poseKey_b	is the key of the second camera
pointKey	is the key of the landmark
K	shared pointer to the constant calibration
throwCheirality	determines whether Cheirality exceptions are rethrown
verboseCheirality	determines whether exceptions are printed for Cheirality
body_P_sensor	is the transform from body to sensor frame (default identity)

Definition at line 124 of file ProjectionFactorRollingShutter.h.

◆ ~ProjectionFactorRollingShutter()

virtual gtsam::ProjectionFactorRollingShutter::~ProjectionFactorRollingShutter ( )

inlinevirtual

Virtual destructor

Definition at line 139 of file ProjectionFactorRollingShutter.h.

Member Function Documentation

◆ alpha()

double gtsam::ProjectionFactorRollingShutter::alpha ( ) const

inline

returns the rolling shutter interp param

Definition at line 188 of file ProjectionFactorRollingShutter.h.

◆ calibration()

const std::shared_ptr<Cal3_S2> gtsam::ProjectionFactorRollingShutter::calibration ( ) const

inline

return the calibration object

Definition at line 185 of file ProjectionFactorRollingShutter.h.

◆ clone()

gtsam::NonlinearFactor::shared_ptr gtsam::ProjectionFactorRollingShutter::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 142 of file ProjectionFactorRollingShutter.h.

◆ equals()

bool gtsam::ProjectionFactorRollingShutter::equals	(	const NonlinearFactor &	p,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 164 of file ProjectionFactorRollingShutter.h.

◆ evaluateError()

Vector gtsam::ProjectionFactorRollingShutter::evaluateError	(	const Pose3 &	pose_a,
		const Pose3 &	pose_b,
		const Point3 &	point,
		OptionalMatrixType	H1,
		OptionalMatrixType	H2,
		OptionalMatrixType	H3
	)		const

override

Evaluate error h(x)-z and optionally derivatives.

Definition at line 22 of file ProjectionFactorRollingShutter.cpp.

◆ measured()

const Point2& gtsam::ProjectionFactorRollingShutter::measured ( ) const

inline

return the measurement

Definition at line 182 of file ProjectionFactorRollingShutter.h.

◆ print()

void gtsam::ProjectionFactorRollingShutter::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::NoiseModelFactor.

Definition at line 152 of file ProjectionFactorRollingShutter.h.

◆ throwCheirality()

bool gtsam::ProjectionFactorRollingShutter::throwCheirality ( ) const

inline

return flag for throwing cheirality exceptions

Definition at line 194 of file ProjectionFactorRollingShutter.h.

◆ verboseCheirality()

bool gtsam::ProjectionFactorRollingShutter::verboseCheirality ( ) const

inline

return verbosity

Definition at line 191 of file ProjectionFactorRollingShutter.h.

Member Data Documentation

◆ alpha_

double gtsam::ProjectionFactorRollingShutter::alpha_

protected

interpolation parameter in [0,1] corresponding to the point2 measurement

Definition at line 48 of file ProjectionFactorRollingShutter.h.

◆ body_P_sensor_

std::optional<Pose3> gtsam::ProjectionFactorRollingShutter::body_P_sensor_

protected

The pose of the sensor in the body frame.

Definition at line 52 of file ProjectionFactorRollingShutter.h.

◆ K_

std::shared_ptr<Cal3_S2> gtsam::ProjectionFactorRollingShutter::K_

protected

shared pointer to calibration object

Definition at line 50 of file ProjectionFactorRollingShutter.h.

◆ measured_

Point2 gtsam::ProjectionFactorRollingShutter::measured_

protected

2D measurement

Definition at line 47 of file ProjectionFactorRollingShutter.h.

◆ throwCheirality_

bool gtsam::ProjectionFactorRollingShutter::throwCheirality_

protected

If true, rethrows Cheirality exceptions (default: false)

Definition at line 55 of file ProjectionFactorRollingShutter.h.

◆ verboseCheirality_

bool gtsam::ProjectionFactorRollingShutter::verboseCheirality_

protected

If true, prints text for Cheirality exceptions (default: false)

Definition at line 57 of file ProjectionFactorRollingShutter.h.

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

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ ProjectionFactorRollingShutter() [1/3]

◆ ProjectionFactorRollingShutter() [2/3]

◆ ProjectionFactorRollingShutter() [3/3]

◆ ~ProjectionFactorRollingShutter()

Member Function Documentation

◆ alpha()

◆ calibration()

◆ clone()

◆ equals()

◆ evaluateError()

◆ measured()

◆ print()

◆ throwCheirality()

◆ verboseCheirality()

Member Data Documentation

◆ alpha_

◆ body_P_sensor_

◆ K_

◆ measured_

◆ throwCheirality_

◆ verboseCheirality_