#include <SmartStereoProjectionFactorPP.h>

Inheritance diagram for gtsam::SmartStereoProjectionFactorPP:

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Collaboration diagram for gtsam::SmartStereoProjectionFactorPP:

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Public Types
typedef SmartStereoProjectionFactorPP	This
	shorthand for this class

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

typedef Eigen::Matrix< double, ZDim, DimBlock >	MatrixZD

typedef std::vector< MatrixZD, Eigen::aligned_allocator< MatrixZD > >	FBlocks

typedef CameraSet< StereoCamera >	Cameras
	Vector of cameras.

typedef PinholeCamera< Cal3_S2 >	MonoCamera
	Vector of monocular cameras (stereo treated as 2 monocular)

typedef CameraSet< MonoCamera >	MonoCameras

typedef MonoCamera::MeasurementVector	MonoMeasurements

typedef KeyVector::iterator	iterator
	Iterator over keys.

typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Public Member Functions
	SmartStereoProjectionFactorPP (const SharedNoiseModel &sharedNoiseModel, const SmartStereoProjectionParams &params=SmartStereoProjectionParams())

void	add (const StereoPoint2 &measured, const Key &world_P_body_key, const Key &body_P_cam_key, const std::shared_ptr< Cal3_S2Stereo > &K)

void	add (const std::vector< StereoPoint2 > &measurements, const KeyVector &w_P_body_keys, const KeyVector &body_P_cam_keys, const std::vector< std::shared_ptr< Cal3_S2Stereo >> &Ks)

void	add (const std::vector< StereoPoint2 > &measurements, const KeyVector &w_P_body_keys, const KeyVector &body_P_cam_keys, const std::shared_ptr< Cal3_S2Stereo > &K)

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

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

const KeyVector &	getExtrinsicPoseKeys () const
	equals

double	error (const Values &values) const override

std::vector< std::shared_ptr< Cal3_S2Stereo > >	calibration () const

Base::Cameras	cameras (const Values &values) const override

void	computeJacobiansAndCorrectForMissingMeasurements (FBlocks &Fs, Matrix &E, Vector &b, const Values &values) const

std::shared_ptr< RegularHessianFactor< DimPose > >	createHessianFactor (const Values &values, const double lambda=0.0, bool diagonalDamping=false) const
	linearize and return a Hessianfactor that is an approximation of error(p)

std::shared_ptr< GaussianFactor >	linearizeDamped (const Values &values, const double lambda=0.0) const

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

bool	decideIfTriangulate (const Cameras &cameras) const
	Check if the new linearization point_ is the same as the one used for previous triangulation.

TriangulationResult	triangulateSafe (const Cameras &cameras) const
	triangulateSafe

bool	triangulateForLinearize (const Cameras &cameras) const
	triangulate

std::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)

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.

std::shared_ptr< JacobianFactor >	createJacobianSVDFactor (const Cameras &cameras, double lambda) const
	different (faster) way to compute Jacobian factor

std::shared_ptr< JacobianFactor >	createJacobianSVDFactor (const Cameras &cameras, const Point3 &point, double lambda=0.0) const

std::shared_ptr< GaussianFactor >	linearizeDamped (const Cameras &cameras, const double lambda=0.0) const

bool	triangulateAndComputeE (Matrix &E, const Cameras &cameras) const

bool	triangulateAndComputeE (Matrix &E, const Values &values) const

void	computeJacobiansWithTriangulatedPoint (FBlocks &Fs, Matrix &E, Vector &b, const Cameras &cameras) const

bool	triangulateAndComputeJacobians (FBlocks &Fs, Matrix &E, Vector &b, const Values &values) const
	Version that takes values, and creates the point.

bool	triangulateAndComputeJacobiansSVD (FBlocks &Fs, Matrix &Enull, Vector &b, const Values &values) const
	takes values

Vector	reprojectionErrorAfterTriangulation (const Values &values) const
	Calculate vector of re-projection errors, before applying noise model.

double	totalReprojectionError (const Cameras &cameras, std::optional< Point3 > externalPoint={}) const

double	totalReprojectionError (const Cameras &cameras, const POINT &point) const

void	correctForMissingMeasurements (const Cameras &cameras, Vector &ue, typename Cameras::FBlocks Fs=nullptr, Matrix E=nullptr) const override

void	correctForMissingMeasurements (const Cameras &cameras, Vector &ue, OptArgs &&... optArgs) const

TriangulationResult	point () const

TriangulationResult	point (const Values &values) const

bool	isValid () const
	Is result valid?

bool	isDegenerate () const

bool	isPointBehindCamera () const

bool	isOutlier () const

bool	isFarPoint () const

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.

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).

Vector	unwhitenedError (const Cameras &cameras, const POINT &point, typename Cameras::FBlocks Fs=nullptr, Matrix E=nullptr) const

Vector	unwhitenedError (const Cameras &cameras, const POINT &point, OptArgs &&... optArgs) const

Vector	whitenedError (const Cameras &cameras, const POINT &point) 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

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< StereoCamera > >	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.

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
double	error (const HybridValues &c) const override

virtual bool	active (const Values &) const

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
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef SmartStereoProjectionFactor	Base
	shorthand for base class type

Static Public Attributes
static const int	DimBlock = 12
	Camera dimension: 6 for body pose, 6 for extrinsic pose.

static const int	DimPose = 6
	Pose3 dimension.

static const int	ZDim = 3
	Measurement dimension (for a StereoPoint2 measurement)

static const int	Dim
	Camera 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
std::vector< std::shared_ptr< Cal3_S2Stereo > >	K_all_
	shared pointer to calibration object (one for each camera)

KeyVector	world_P_body_keys_
	The keys corresponding to the pose of the body (with respect to an external world frame) for each view.

KeyVector	body_P_cam_keys_
	The keys corresponding to the extrinsic pose calibration for each view (pose that transform from camera to body)

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.

Parameters
const SmartStereoProjectionParams	params_

Caching triangulation
TriangulationResult	result_
	result from triangulateSafe

std::vector< Pose3 >	cameraPosesTriangulation_
	current triangulation poses

Detailed Description

If you are using the factor, please cite: L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors, Int. Conf. on Robotics and Automation (ICRA), 2014. This factor optimizes the pose of the body as well as the extrinsic camera calibration (pose of camera wrt body). Each camera may have its own extrinsic calibration or the same calibration can be shared by multiple cameras. This factor requires that values contain the involved poses and extrinsics (both are Pose3 variables).

Constructor & Destructor Documentation

◆ SmartStereoProjectionFactorPP()

gtsam::SmartStereoProjectionFactorPP::SmartStereoProjectionFactorPP	(	const SharedNoiseModel &	sharedNoiseModel,
		const SmartStereoProjectionParams &	params = `SmartStereoProjectionParams()`
	)

Constructor

Parameters

Isotropic	measurement noise
params	internal parameters of the smart factors

Member Function Documentation

◆ active()

virtual bool gtsam::NonlinearFactor::active ( const Values & ) const

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.

Returns: true if the constraint is active

Reimplemented in gtsam::BoundingConstraint2< VALUE1, VALUE2 >, gtsam::AntiFactor, and gtsam::BoundingConstraint1< VALUE >.

◆ add() [1/5]

void gtsam::SmartStereoProjectionFactorPP::add	(	const StereoPoint2 &	measured,
		const Key &	world_P_body_key,
		const Key &	body_P_cam_key,
		const std::shared_ptr< Cal3_S2Stereo > &	K
	)

add a new measurement, with a pose key, and an extrinsic pose key

Parameters

measured	is the 3-dimensional location of the projection of a single landmark in the a single (stereo) view (the measurement)
world_P_body_key	is the key corresponding to the body poses observing the same landmark
body_P_cam_key	is the key corresponding to the extrinsic camera-to-body pose calibration
K	is the (fixed) camera intrinsic calibration

◆ add() [2/5]

void gtsam::SmartStereoProjectionFactorPP::add	(	const std::vector< StereoPoint2 > &	measurements,
		const KeyVector &	w_P_body_keys,
		const KeyVector &	body_P_cam_keys,
		const std::vector< std::shared_ptr< Cal3_S2Stereo >> &	Ks
	)

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

Parameters

measurements	vector of the 3m dimensional location of the projection of a single landmark in the m (stereo) view (the measurements)
w_P_body_keys	are the ordered keys corresponding to the body poses observing the same landmark
body_P_cam_keys	are the ordered keys corresponding to the extrinsic camera-to-body poses calibration (note: elements of this vector do not need to be unique: 2 camera views can share the same calibration)
Ks	vector of intrinsic calibration objects

◆ add() [3/5]

void gtsam::SmartStereoProjectionFactorPP::add	(	const std::vector< StereoPoint2 > &	measurements,
		const KeyVector &	w_P_body_keys,
		const KeyVector &	body_P_cam_keys,
		const std::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

measurements	vector of the 3m dimensional location of the projection of a single landmark in the m (stereo) view (the measurements)
w_P_body_keys	are the ordered keys corresponding to the body poses observing the same landmark
body_P_cam_keys	are the ordered keys corresponding to the extrinsic camera-to-body poses calibration (note: elements of this vector do not need to be unique: 2 camera views can share the same calibration)
K	the (known) camera calibration (same for all measurements)

◆ add() [4/5]

void gtsam::SmartFactorBase< StereoCamera >::add	(	const Z &	measured,
		const Key &	key
	)

inlineinherited

Add a new measurement and pose/camera key.

Parameters

measured	is the 2m dimensional projection of a single landmark
key	is the index corresponding to the camera observing the landmark

◆ add() [5/5]

void gtsam::SmartFactorBase< StereoCamera >::add ( const SFM_TRACK & trackToAdd )

inlineinherited

Add an entire SfM_track (collection of cameras observing a single point). The noise is assumed to be the same for all measurements.

◆ begin() [1/2]

const_iterator gtsam::Factor::begin ( ) const

inlineinherited

Iterator at beginning of involved variable keys

◆ begin() [2/2]

iterator gtsam::Factor::begin ( )

inlineinherited

Iterator at beginning of involved variable keys

◆ calibration()

std::vector<std::shared_ptr<Cal3_S2Stereo> > gtsam::SmartStereoProjectionFactorPP::calibration ( ) const

inline

return the calibration object

◆ cameras()

Base::Cameras gtsam::SmartStereoProjectionFactorPP::cameras ( const Values & values ) const

overridevirtual

Collect all cameras involved in this factor

Parameters

values Values structure which must contain camera poses corresponding to keys involved in this factor

Returns: vector of Values

Reimplemented from gtsam::SmartFactorBase< StereoCamera >.

◆ clone()

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

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.

◆ computeJacobians()

void gtsam::SmartFactorBase< StereoCamera >::computeJacobians	(	FBlocks &	Fs,
		Matrix &	E,
		Vector &	b,
		const Cameras &	cameras,
		const POINT &	point
	)		const

inlineinherited

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.

◆ computeJacobiansAndCorrectForMissingMeasurements()

void gtsam::SmartStereoProjectionFactorPP::computeJacobiansAndCorrectForMissingMeasurements	(	FBlocks &	Fs,
		Matrix &	E,
		Vector &	b,
		const Values &	values
	)		const

inline

Compute jacobian F, E and error vector at a given linearization point

Parameters

values Values structure which must contain camera poses corresponding to keys involved in this factor

Returns: Return arguments are the camera jacobians Fs (including the jacobian with respect to both the body pose and extrinsic pose), the point Jacobian E, and the error vector b. Note that the jacobians are computed for a given point.

◆ computeJacobiansSVD()

void gtsam::SmartFactorBase< StereoCamera >::computeJacobiansSVD	(	FBlocks &	Fs,
		Matrix &	Enull,
		Vector &	b,
		const Cameras &	cameras,
		const POINT &	point
	)		const

inlineinherited

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.

◆ computeJacobiansWithTriangulatedPoint()

void gtsam::SmartStereoProjectionFactor::computeJacobiansWithTriangulatedPoint	(	FBlocks &	Fs,
		Matrix &	E,
		Vector &	b,
		const Cameras &	cameras
	)		const

inlineinherited

Compute F, E only (called below in both vanilla and SVD versions) Assumes the point has been computed Note E can be 2m*3 or 2m*2, in case point is degenerate

◆ correctForMissingMeasurements() [1/2]

void gtsam::SmartFactorBase< StereoCamera >::correctForMissingMeasurements	(	const Cameras &	cameras,
		Vector &	ue,
		OptArgs &&...	optArgs
	)		const

inlineinherited

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.

◆ correctForMissingMeasurements() [2/2]

void gtsam::SmartStereoProjectionFactor::correctForMissingMeasurements	(	const Cameras &	cameras,
		Vector &	ue,
		typename Cameras::FBlocks *	Fs = `nullptr`,
		Matrix *	E = `nullptr`
	)		const

inlineoverridevirtualinherited

This corrects the Jacobians and error vector for the case in which the right 2D measurement in the monocular camera is missing (nan).

Reimplemented from gtsam::SmartFactorBase< StereoCamera >.

◆ createJacobianSVDFactor()

std::shared_ptr<JacobianFactor> gtsam::SmartFactorBase< StereoCamera >::createJacobianSVDFactor	(	const Cameras &	cameras,
		const Point3 &	point,
		double	lambda = `0.0`
	)		const

inlineinherited

Return Jacobians as JacobianFactorSVD. TODO(dellaert): lambda is currently ignored

◆ end() [1/2]

const_iterator gtsam::Factor::end ( ) const

inlineinherited

Iterator at end of involved variable keys

◆ end() [2/2]

iterator gtsam::Factor::end ( )

inlineinherited

Iterator at end of involved variable keys

◆ error() [1/2]

double gtsam::NonlinearFactor::error ( const HybridValues & c ) const

overridevirtualinherited

All factor types need to implement an error function. In factor graphs, this is the negative log-likelihood.

Reimplemented from gtsam::Factor.

◆ error() [2/2]

double gtsam::SmartStereoProjectionFactorPP::error ( const Values & values ) const

overridevirtual

error calculates the error of the factor.

Reimplemented from gtsam::SmartStereoProjectionFactor.

◆ FromIterators()

template<typename ITERATOR >

static Factor gtsam::Factor::FromIterators	(	ITERATOR	first,
		ITERATOR	last
	)

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.

◆ FromKeys()

template<typename CONTAINER >

static Factor gtsam::Factor::FromKeys ( const CONTAINER & keys )

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.

◆ isDegenerate()

bool gtsam::SmartStereoProjectionFactor::isDegenerate ( ) const

inlineinherited

return the degenerate state

◆ isFarPoint()

bool gtsam::SmartStereoProjectionFactor::isFarPoint ( ) const

inlineinherited

return the farPoint state

◆ isOutlier()

bool gtsam::SmartStereoProjectionFactor::isOutlier ( ) const

inlineinherited

return the outlier state

◆ isPointBehindCamera()

bool gtsam::SmartStereoProjectionFactor::isPointBehindCamera ( ) const

inlineinherited

return the cheirality status flag

◆ keys()

KeyVector& gtsam::Factor::keys ( )

inlineinherited

Returns: keys involved in this factor

◆ linearizeDamped() [1/2]

std::shared_ptr<GaussianFactor> gtsam::SmartStereoProjectionFactorPP::linearizeDamped	(	const Values &	values,
		const double	lambda = `0.0`
	)		const

inline

Linearize to Gaussian Factor (possibly adding a damping factor Lambda for LM)

Parameters

values Values structure which must contain camera poses and extrinsic pose for this factor

Returns: a Gaussian factor

◆ linearizeDamped() [2/2]

std::shared_ptr<GaussianFactor> gtsam::SmartStereoProjectionFactor::linearizeDamped	(	const Cameras &	cameras,
		const double	lambda = `0.0`
	)		const

inlineinherited

Linearize to Gaussian Factor

Parameters

values Values structure which must contain camera poses for this factor

Returns: a Gaussian factor

◆ point() [1/2]

TriangulationResult gtsam::SmartStereoProjectionFactor::point ( ) const

inlineinherited

return the landmark

◆ point() [2/2]

TriangulationResult gtsam::SmartStereoProjectionFactor::point ( const Values & values ) const

inlineinherited

COMPUTE the landmark

◆ print()

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

overridevirtual

print

Parameters

s	optional string naming the factor
keyFormatter	optional formatter useful for printing Symbols

Reimplemented from gtsam::SmartStereoProjectionFactor.

◆ rekey() [1/2]

virtual shared_ptr gtsam::NonlinearFactor::rekey ( const std::map< Key, Key > & rekey_mapping ) const

virtualinherited

Creates a shared_ptr clone of the factor with different keys using a map from old->new keys

Reimplemented in gtsam::LinearContainerFactor.

◆ rekey() [2/2]

virtual shared_ptr gtsam::NonlinearFactor::rekey ( const KeyVector & new_keys ) const

virtualinherited

Clones a factor and fully replaces its keys

Parameters

new_keys is the full replacement set of keys

Reimplemented in gtsam::LinearContainerFactor.

◆ sendable()

virtual bool gtsam::NonlinearFactor::sendable ( ) const

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.

◆ size()

size_t gtsam::Factor::size ( ) const

inlineinherited

Returns: the number of variables involved in this factor

◆ totalReprojectionError() [1/2]

double gtsam::SmartFactorBase< StereoCamera >::totalReprojectionError	(	const Cameras &	cameras,
		const POINT &	point
	)		const

inlineinherited

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

◆ totalReprojectionError() [2/2]

double gtsam::SmartStereoProjectionFactor::totalReprojectionError	(	const Cameras &	cameras,
		std::optional< Point3 >	externalPoint = `{}`
	)		const

inlineinherited

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.

◆ triangulateAndComputeE() [1/2]

bool gtsam::SmartStereoProjectionFactor::triangulateAndComputeE	(	Matrix &	E,
		const Cameras &	cameras
	)		const

inlineinherited

Triangulate and compute derivative of error with respect to point

Returns: whether triangulation worked

◆ triangulateAndComputeE() [2/2]

bool gtsam::SmartStereoProjectionFactor::triangulateAndComputeE	(	Matrix &	E,
		const Values &	values
	)		const

inlineinherited

Triangulate and compute derivative of error with respect to point

Returns: whether triangulation worked

◆ unwhitenedError() [1/2]

Vector gtsam::SmartFactorBase< StereoCamera >::unwhitenedError	(	const Cameras &	cameras,
		const POINT &	point,
		typename Cameras::FBlocks *	Fs = `nullptr`,
		Matrix *	E = `nullptr`
	)		const

inlineinherited

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.

◆ unwhitenedError() [2/2]

Vector gtsam::SmartFactorBase< StereoCamera >::unwhitenedError	(	const Cameras &	cameras,
		const POINT &	point,
		OptArgs &&...	optArgs
	)		const

inlineinherited

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.

◆ updateAugmentedHessian()

void gtsam::SmartFactorBase< StereoCamera >::updateAugmentedHessian	(	const Cameras &	cameras,
		const Point3 &	point,
		const double	lambda,
		bool	diagonalDamping,
		SymmetricBlockMatrix &	augmentedHessian,
		const KeyVector	allKeys
	)		const

inlineinherited

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

◆ whitenedError()

Vector gtsam::SmartFactorBase< StereoCamera >::whitenedError	(	const Cameras &	cameras,
		const POINT &	point
	)		const

inlineinherited

Calculate vector of re-projection errors [h(x)-z] = [cameras.project(p) - z], with the noise model applied.

Member Data Documentation

◆ measured_

ZVector gtsam::SmartFactorBase< StereoCamera >::measured_

protectedinherited

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.

◆ noiseModel_

SharedIsotropic gtsam::SmartFactorBase< StereoCamera >::noiseModel_

protectedinherited

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.

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

/home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SmartStereoProjectionFactorPP()

Member Function Documentation

◆ active()

◆ add() [1/5]

◆ add() [2/5]

◆ add() [3/5]

◆ add() [4/5]

◆ add() [5/5]

◆ begin() [1/2]

◆ begin() [2/2]

◆ calibration()

◆ cameras()

◆ clone()

◆ computeJacobians()

◆ computeJacobiansAndCorrectForMissingMeasurements()

◆ computeJacobiansSVD()

◆ computeJacobiansWithTriangulatedPoint()

◆ correctForMissingMeasurements() [1/2]

◆ correctForMissingMeasurements() [2/2]

◆ createJacobianSVDFactor()

◆ end() [1/2]

◆ end() [2/2]

◆ error() [1/2]

◆ error() [2/2]

◆ FromIterators()

◆ FromKeys()

◆ isDegenerate()

◆ isFarPoint()

◆ isOutlier()

◆ isPointBehindCamera()

◆ keys()

◆ linearizeDamped() [1/2]

◆ linearizeDamped() [2/2]

◆ point() [1/2]

◆ point() [2/2]

◆ print()

◆ rekey() [1/2]

◆ rekey() [2/2]

◆ sendable()

◆ size()

◆ totalReprojectionError() [1/2]

◆ totalReprojectionError() [2/2]

◆ triangulateAndComputeE() [1/2]

◆ triangulateAndComputeE() [2/2]

◆ unwhitenedError() [1/2]

◆ unwhitenedError() [2/2]

◆ updateAugmentedHessian()

◆ whitenedError()

Member Data Documentation

◆ measured_

◆ noiseModel_