GTSAM
4.0.2
C++ library for smoothing and mapping (SAM)
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Base class for smart factors. This base class has no internal point, but it has a measurement, noise model and an optional sensor pose. This class mainly computes the derivatives and returns them as a variety of factors. The methods take a CameraSet<CAMERA> argument and the value of a point, which is kept in the derived class. More...
#include <SmartFactorBase.h>
Public Types | |
typedef Eigen::Matrix< double, ZDim, Dim > | MatrixZD |
typedef std::vector< MatrixZD, Eigen::aligned_allocator< MatrixZD > > | FBlocks |
typedef CameraSet< CAMERA > | Cameras |
The CameraSet data structure is used to refer to a set of cameras. | |
typedef KeyVector::iterator | iterator |
Iterator over keys. | |
typedef KeyVector::const_iterator | const_iterator |
Const iterator over keys. | |
Public Member Functions | |
SmartFactorBase () | |
Default Constructor, for serialization. | |
SmartFactorBase (const SharedNoiseModel &sharedNoiseModel, std::optional< Pose3 > body_P_sensor={}, size_t expectedNumberCameras=10) | |
Construct with given noise model and optional arguments. | |
~SmartFactorBase () override | |
Virtual destructor, subclasses from NonlinearFactor. | |
void | add (const Z &measured, const Key &key) |
void | add (const ZVector &measurements, const KeyVector &cameraKeys) |
Add a bunch of measurements, together with the camera keys. | |
template<class SFM_TRACK > | |
void | add (const SFM_TRACK &trackToAdd) |
size_t | dim () const override |
Return the dimension (number of rows!) of the factor. | |
const ZVector & | measured () const |
Return the 2D measurements (ZDim, in general). | |
virtual Cameras | cameras (const Values &values) const |
Collect all cameras: important that in key order. | |
void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
bool | equals (const NonlinearFactor &p, double tol=1e-9) const override |
equals | |
template<class POINT > | |
Vector | unwhitenedError (const Cameras &cameras, const POINT &point, typename Cameras::FBlocks *Fs=nullptr, Matrix *E=nullptr) const |
template<class POINT , class ... OptArgs, typename = std::enable_if_t<sizeof...(OptArgs)!=0>> | |
Vector | unwhitenedError (const Cameras &cameras, const POINT &point, OptArgs &&... optArgs) const |
virtual void | correctForMissingMeasurements (const Cameras &cameras, Vector &ue, typename Cameras::FBlocks *Fs=nullptr, Matrix *E=nullptr) const |
template<class ... OptArgs> | |
void | correctForMissingMeasurements (const Cameras &cameras, Vector &ue, OptArgs &&... optArgs) const |
template<class POINT > | |
Vector | whitenedError (const Cameras &cameras, const POINT &point) const |
template<class POINT > | |
double | totalReprojectionError (const Cameras &cameras, const POINT &point) const |
template<class POINT > | |
void | computeJacobians (FBlocks &Fs, Matrix &E, Vector &b, const Cameras &cameras, const POINT &point) const |
template<class POINT > | |
void | computeJacobiansSVD (FBlocks &Fs, Matrix &Enull, Vector &b, const Cameras &cameras, const POINT &point) const |
std::shared_ptr< RegularHessianFactor< Dim > > | createHessianFactor (const Cameras &cameras, const Point3 &point, const double lambda=0.0, bool diagonalDamping=false) const |
Linearize to a Hessianfactor. | |
void | updateAugmentedHessian (const Cameras &cameras, const Point3 &point, const double lambda, bool diagonalDamping, SymmetricBlockMatrix &augmentedHessian, const KeyVector allKeys) const |
void | whitenJacobians (FBlocks &F, Matrix &E, Vector &b) const |
Whiten the Jacobians computed by computeJacobians using noiseModel_. | |
std::shared_ptr< RegularImplicitSchurFactor< CAMERA > > | createRegularImplicitSchurFactor (const Cameras &cameras, const Point3 &point, double lambda=0.0, bool diagonalDamping=false) const |
Return Jacobians as RegularImplicitSchurFactor with raw access. | |
std::shared_ptr< JacobianFactorQ< Dim, ZDim > > | createJacobianQFactor (const Cameras &cameras, const Point3 &point, double lambda=0.0, bool diagonalDamping=false) const |
Return Jacobians as JacobianFactorQ. | |
std::shared_ptr< JacobianFactor > | createJacobianSVDFactor (const Cameras &cameras, const Point3 &point, double lambda=0.0) const |
Pose3 | body_P_sensor () const |
Testable | |
bool | equals (const This &other, double tol=1e-9) const |
check equality | |
virtual void | printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const |
print only keys | |
Standard Interface | |
virtual double | error (const Values &c) const |
double | error (const HybridValues &c) const override |
virtual bool | active (const Values &) const |
virtual std::shared_ptr< GaussianFactor > | linearize (const Values &c) const =0 |
virtual shared_ptr | clone () 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 |
Standard Interface | |
bool | empty () const |
Whether the factor is empty (involves zero variables). | |
Key | front () const |
First key. | |
Key | back () const |
Last key. | |
const_iterator | find (Key key) const |
find | |
const KeyVector & | keys () const |
Access the factor's involved variable keys. | |
const_iterator | begin () const |
const_iterator | end () const |
size_t | size () const |
Advanced Interface | |
KeyVector & | keys () |
iterator | begin () |
iterator | end () |
Static Public Member Functions | |
static Matrix | PointCov (const Matrix &E) |
Computes Point Covariance P from the "point Jacobian" E. | |
static void | FillDiagonalF (const FBlocks &Fs, Matrix &F) |
Create BIG block-diagonal matrix F from Fblocks. | |
Public Attributes | |
GTSAM_MAKE_ALIGNED_OPERATOR_NEW typedef std::shared_ptr< This > | shared_ptr |
shorthand for a smart pointer to a factor. | |
Static Public Attributes | |
static const int | Dim = traits<CAMERA>::dimension |
Camera dimension. | |
static const int | ZDim = traits<Z>::dimension |
Measurement dimension. | |
Static Protected Member Functions | |
Standard Constructors | |
template<typename CONTAINER > | |
static Factor | FromKeys (const CONTAINER &keys) |
template<typename ITERATOR > | |
static Factor | FromIterators (ITERATOR first, ITERATOR last) |
Protected Attributes | |
SharedIsotropic | noiseModel_ |
ZVector | measured_ |
std::optional< Pose3 > | body_P_sensor_ |
Pose of the camera in the body frame. | |
FBlocks | Fs |
KeyVector | keys_ |
The keys involved in this factor. | |
Base class for smart factors. This base class has no internal point, but it has a measurement, noise model and an optional sensor pose. This class mainly computes the derivatives and returns them as a variety of factors. The methods take a CameraSet<CAMERA> argument and the value of a point, which is kept in the derived class.
CAMERA | should behave like a PinholeCamera. |
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inlinevirtualinherited |
Checks whether a factor should be used based on a set of values. This is primarily used to implement inequality constraints that require a variable active set. For all others, the default implementation returning true solves this problem.
In an inequality/bounding constraint, this active() returns true when the constraint is NOT fulfilled.
Reimplemented in gtsam::BoundingConstraint2< VALUE1, VALUE2 >, gtsam::AntiFactor, and gtsam::BoundingConstraint1< VALUE >.
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inline |
Add a new measurement and pose/camera key.
measured | is the 2m dimensional projection of a single landmark |
key | is the index corresponding to the camera observing the landmark |
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inline |
Add an entire SfM_track (collection of cameras observing a single point). The noise is assumed to be the same for all measurements.
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inlineinherited |
Iterator at beginning of involved variable keys
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inlineinherited |
Iterator at beginning of involved variable keys
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inlinevirtualinherited |
Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses
By default, throws exception if subclass does not implement the function.
Reimplemented in gtsam::EssentialMatrixFactor4< CALIBRATION >, gtsam::NonlinearEquality2< T >, gtsam::CombinedImuFactor, gtsam::ImuFactor2, gtsam::EssentialMatrixFactor3, gtsam::NonlinearEquality1< VALUE >, gtsam::GeneralSFMFactor2< CALIBRATION >, gtsam::ImuFactor, gtsam::LinearizedHessianFactor, gtsam::PendulumFactorPk1, gtsam::FunctorizedFactor2< R, T1, T2 >, gtsam::MagFactor3, gtsam::Pose3AttitudeFactor, gtsam::SmartRangeFactor, gtsam::NonlinearEquality< VALUE >, gtsam::AHRSFactor, gtsam::EssentialMatrixFactor2, gtsam::ExpressionFactor< T >, gtsam::ExpressionFactor< BearingRange< A1, A2 > >, gtsam::ExpressionFactor< double >, gtsam::MagFactor2, gtsam::PendulumFactorPk, gtsam::GPSFactor2, gtsam::ProjectionFactorRollingShutter, gtsam::RangeFactorWithTransform< A1, A2, T >, gtsam::LinearContainerFactor, gtsam::LinearizedJacobianFactor, gtsam::Rot3AttitudeFactor, gtsam::MagFactor1, gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::DiscreteEulerPoincareHelicopter, gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >, gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >, gtsam::GenericStereoFactor< POSE, LANDMARK >, gtsam::TriangulationFactor< CAMERA >, gtsam::RotateDirectionsFactor, gtsam::PendulumFactor2, gtsam::ReferenceFrameFactor< POINT, TRANSFORM >, gtsam::FunctorizedFactor< R, T >, gtsam::PartialPriorFactor< VALUE >, gtsam::FunctorizedFactor< Vector, ParameterMatrix< M > >, gtsam::FunctorizedFactor< double, BASIS::Parameters >, gtsam::FunctorizedFactor< double, Vector >, gtsam::FunctorizedFactor< T, ParameterMatrix< traits< T >::dimension > >, gtsam::FunctorizedFactor< double, ParameterMatrix< P > >, gtsam::PartialPriorFactor< PoseRTV >, gtsam::MagPoseFactor< POSE >, gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >, gtsam::TransformBtwRobotsUnaryFactor< VALUE >, gtsam::BetweenFactor< VALUE >, gtsam::EssentialMatrixFactor, gtsam::VelocityConstraint, gtsam::PriorFactor< VALUE >, gtsam::GPSFactor, gtsam::PoseToPointFactor< POSE, POINT >, gtsam::BarometricFactor, gtsam::EssentialMatrixConstraint, gtsam::DummyFactor, gtsam::PoseBetweenFactor< POSE >, gtsam::BearingRangeFactor< A1, A2, B, R >, gtsam::PosePriorFactor< POSE >, gtsam::MagFactor, gtsam::PoseTranslationPrior< POSE >, gtsam::PoseRotationPrior< POSE >, gtsam::FullIMUFactor< POSE >, gtsam::AntiFactor, gtsam::RangeFactor< A1, A2, T >, gtsam::IMUFactor< POSE >, gtsam::RelativeElevationFactor, gtsam::PendulumFactor1, gtsam::Reconstruction, gtsam::RotateFactor, and gtsam::VelocityConstraint3.
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inline |
Compute F, E, and b (called below in both vanilla and SVD versions), where F is a vector of derivatives wrpt the cameras, and E the stacked derivatives with respect to the point. The value of cameras/point are passed as parameters.
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inline |
SVD version that produces smaller Jacobian matrices by doing an SVD decomposition on E, and returning the left nulkl-space of E. See JacobianFactorSVD for more documentation.
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inlinevirtual |
This corrects the Jacobians for the case in which some 2D measurement is missing (nan). In practice, this does not do anything in the monocular case, but it is implemented in the stereo version.
Reimplemented in gtsam::SmartStereoProjectionFactor.
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inline |
An overload of correctForMissingMeasurements. This allows end users to provide optional arguments that are l-value references to the matrices and vectors that will be used to store the results instead of pointers.
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Return Jacobians as JacobianFactorSVD. TODO(dellaert): lambda is currently ignored
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inlineinherited |
Iterator at end of involved variable keys
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inlineinherited |
Iterator at end of involved variable keys
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overridevirtualinherited |
All factor types need to implement an error function. In factor graphs, this is the negative log-likelihood.
Reimplemented from gtsam::Factor.
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inlinestaticprotectedinherited |
Construct factor from iterator keys. This is called internally from derived factor static factor methods, as a workaround for not being able to call the protected constructors above.
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inlinestaticprotectedinherited |
Construct factor from container of keys. This is called internally from derived factor static factor methods, as a workaround for not being able to call the protected constructors above.
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inlineinherited |
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pure virtualinherited |
linearize to a GaussianFactor
Implemented in gtsam::SmartProjectionPoseFactorRollingShutter< CAMERA >, gtsam::SmartProjectionRigFactor< CAMERA >, gtsam::SmartStereoProjectionFactor, gtsam::SmartProjectionFactor< CAMERA >, gtsam::SmartProjectionFactor< PinholePose< CALIBRATION > >, gtsam::NoiseModelFactor, gtsam::SmartStereoProjectionFactorPP, gtsam::LinearizedHessianFactor, gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >, gtsam::NonlinearEquality< VALUE >, gtsam::WhiteNoiseFactor, gtsam::TriangulationFactor< CAMERA >, gtsam::LinearizedJacobianFactor, gtsam::TransformBtwRobotsUnaryFactor< VALUE >, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::BetweenFactorEM< VALUE >, gtsam::ExpressionFactor< T >, gtsam::ExpressionFactor< BearingRange< A1, A2 > >, gtsam::ExpressionFactor< double >, gtsam::LinearContainerFactor, gtsam::ShonanGaugeFactor, gtsam::AntiFactor, gtsam::KarcherMeanFactor< T >, gtsam::DummyFactor, and gtsam::PinholeFactor.
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inlineoverridevirtual |
s | optional string naming the factor |
keyFormatter | optional formatter useful for printing Symbols |
Reimplemented from gtsam::NonlinearFactor.
Reimplemented in gtsam::SmartProjectionPoseFactorRollingShutter< CAMERA >, gtsam::SmartProjectionRigFactor< CAMERA >, gtsam::SmartProjectionFactor< CAMERA >, and gtsam::SmartProjectionFactor< PinholePose< CALIBRATION > >.
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virtualinherited |
Creates a shared_ptr clone of the factor with different keys using a map from old->new keys
Reimplemented in gtsam::LinearContainerFactor.
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virtualinherited |
Clones a factor and fully replaces its keys
new_keys | is the full replacement set of keys |
Reimplemented in gtsam::LinearContainerFactor.
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inlinevirtualinherited |
Should the factor be evaluated in the same thread as the caller This is to enable factors that has shared states (like the Python GIL lock)
Reimplemented in gtsam::CustomFactor.
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inlineinherited |
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inline |
Calculate the error of the factor. This is the log-likelihood, e.g. \( 0.5(h(x)-z)^2/\sigma^2 \) in case of Gaussian. In this class, we take the raw prediction error \( h(x)-z \), ask the noise model to transform it to \( (h(x)-z)^2/\sigma^2 \), and then multiply by 0.5. Will be used in "error(Values)" function required by NonlinearFactor base class
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inline |
Compute reprojection errors [h(x)-z] = [cameras.project(p)-z] and derivatives. This is the error before the noise model is applied. The templated version described above must finally get resolved to this function.
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inline |
An overload of unwhitenedError. This allows end users to provide optional arguments that are l-value references to the matrices and vectors that will be used to store the results instead of pointers.
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inline |
Add the contribution of the smart factor to a pre-allocated Hessian, using sparse linear algebra. More efficient than the creation of the Hessian without preallocation of the SymmetricBlockMatrix
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Calculate vector of re-projection errors [h(x)-z] = [cameras.project(p) - z], with the noise model applied.
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protected |
Measurements for each of the m views. We keep a copy of the measurements for I/O and computing the error. The order is kept the same as the keys that we use to create the factor.
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protected |
As of Feb 22, 2015, the noise model is the same for all measurements and is isotropic. This allows for moving most calculations of Schur complement etc. to be easily moved to CameraSet, and also agrees pragmatically with what is normally done.