#include <PinholeSet.h>

Inheritance diagram for gtsam::PinholeSet< CAMERA >:

Collaboration diagram for gtsam::PinholeSet< CAMERA >:

Public Types
using	MatrixZD = Eigen::Matrix< double, ZDim, D >
	Definitions for blocks of F.

using	FBlocks = std::vector< MatrixZD, Eigen::aligned_allocator< MatrixZD > >

Public Member Functions
virtual	~PinholeSet ()

TriangulationResult	triangulateSafe (const typename CAMERA::MeasurementVector &measured, const TriangulationParameters &params) const
	triangulateSafe

bool	equals (const CameraSet &p, double tol=1e-9) const
	equals

template<class POINT >
ZVector	project2 (const POINT &point, FBlocks Fs=nullptr, Matrix E=nullptr) const

template<class POINT , class... OptArgs>
ZVector	project2 (const POINT &point, OptArgs &... args) const

template<class POINT >
Vector	reprojectionError (const POINT &point, const ZVector &measured, FBlocks Fs=nullptr, Matrix E=nullptr) const
	Calculate vector [project2(point)-z] of re-projection errors.

template<class POINT , class... OptArgs, typename = std::enable_if_t<sizeof...(OptArgs)!=0>>
Vector	reprojectionError (const POINT &point, const ZVector &measured, OptArgs &... args) const

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

bool	equals (const PinholeSet &p, double tol=1e-9) const
	equals

Static Public Member Functions
template<int N, int ND>
static SymmetricBlockMatrix	SchurComplement (const std::vector< Eigen::Matrix< double, ZDim, ND >, Eigen::aligned_allocator< Eigen::Matrix< double, ZDim, ND >>> &Fs, const Matrix &E, const Eigen::Matrix< double, N, N > &P, const Vector &b)

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, int ND, int NDD>
static SymmetricBlockMatrix	SchurComplementAndRearrangeBlocks (const std::vector< Eigen::Matrix< double, ZDim, ND >, Eigen::aligned_allocator< Eigen::Matrix< double, ZDim, ND >>> &Fs, const Matrix &E, const Eigen::Matrix< double, N, N > &P, const Vector &b, const KeyVector &jacobianKeys, const KeyVector &hessianKeys)

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.

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

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.

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

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

Detailed Description

template<class CAMERA>
class gtsam::PinholeSet< CAMERA >

PinholeSet: triangulates point and keeps an estimate of it around.

Member Typedef Documentation

◆ Z

template<class CAMERA>

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

protectedinherited

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.

Constructor & Destructor Documentation

◆ ~PinholeSet()

template<class CAMERA >

virtual gtsam::PinholeSet< CAMERA >::~PinholeSet ( )

inlinevirtual

Virtual destructor

Member Function Documentation

◆ project2() [1/2]

template<class CAMERA>

template<class POINT >

ZVector gtsam::CameraSet< CAMERA >::project2	(	const POINT &	point,
		FBlocks *	Fs = `nullptr`,
		Matrix *	E = `nullptr`
	)		const

inlineinherited

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

◆ project2() [2/2]

template<class CAMERA>

template<class POINT , class... OptArgs>

ZVector gtsam::CameraSet< CAMERA >::project2	(	const POINT &	point,
		OptArgs &...	args
	)		const

inlineinherited

An overload o the project2 function to accept full matrices and vectors and pass it to the pointer version of the function

◆ reprojectionError()

template<class CAMERA>

template<class POINT , class... OptArgs, typename = std::enable_if_t<sizeof...(OptArgs)!=0>>

Vector gtsam::CameraSet< CAMERA >::reprojectionError	(	const POINT &	point,
		const ZVector &	measured,
		OptArgs &...	args
	)		const

inlineinherited

An overload o the reprojectionError function to accept full matrices and vectors and pass it to the pointer version of the function

◆ SchurComplement() [1/3]

template<class CAMERA>

template<int N, int ND>

static SymmetricBlockMatrix gtsam::CameraSet< CAMERA >::SchurComplement	(	const std::vector< Eigen::Matrix< double, ZDim, ND >, Eigen::aligned_allocator< Eigen::Matrix< double, ZDim, ND >>> &	Fs,
		const Matrix &	E,
		const Eigen::Matrix< double, N, N > &	P,
		const Vector &	b
	)

inlinestaticinherited

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

◆ SchurComplement() [2/3]

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
	)

inlinestaticinherited

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

◆ SchurComplement() [3/3]

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`
	)

inlinestaticinherited

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

◆ SchurComplementAndRearrangeBlocks()

template<class CAMERA>

template<int N, int ND, int NDD>

static SymmetricBlockMatrix gtsam::CameraSet< CAMERA >::SchurComplementAndRearrangeBlocks	(	const std::vector< Eigen::Matrix< double, ZDim, ND >, Eigen::aligned_allocator< Eigen::Matrix< double, ZDim, ND >>> &	Fs,
		const Matrix &	E,
		const Eigen::Matrix< double, N, N > &	P,
		const Vector &	b,
		const KeyVector &	jacobianKeys,
		const KeyVector &	hessianKeys
	)

inlinestaticinherited

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) In this version, we allow for the case where the keys in the Jacobian are organized differently from the keys in the output SymmetricBlockMatrix In particular: each diagonal block of the Jacobian F captures 2 poses (useful for rolling shutter and extrinsic calibration) such that F keeps the block structure that makes the Schur complement trick fast.

N = 2 or 3 (point dimension), ND is the Jacobian block dimension, NDD is the Hessian block dimension

◆ UpdateSchurComplement()

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
	)

inlinestaticinherited

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.

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

/home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/geometry/PinholeSet.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Types

Static Protected Member Functions

Static Protected Attributes

Detailed Description

template<class CAMERA> class gtsam::PinholeSet< CAMERA >

Member Typedef Documentation

◆ Z

Constructor & Destructor Documentation

◆ ~PinholeSet()

Member Function Documentation

◆ project2() [1/2]

◆ project2() [2/2]

◆ reprojectionError()

◆ SchurComplement() [1/3]

◆ SchurComplement() [2/3]

◆ SchurComplement() [3/3]

◆ SchurComplementAndRearrangeBlocks()

◆ UpdateSchurComplement()

template<class CAMERA>
class gtsam::PinholeSet< CAMERA >