Detailed Description

template<class CAMERA>
class gtsam::CameraSet< CAMERA >

A set of cameras, all with their own calibration.

Inheritance diagram for gtsam::CameraSet< CAMERA >:

Public Member Functions
virtual	~CameraSet ()=default
	Destructor.
virtual void	print (const std::string &s="") const
	print
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
	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.
template<class POINT, class... OptArgs>
std::enable_if<(sizeof...(OptArgs)!=0), ZVector >::type	project2 (const POINT &point, OptArgs &... args) const
	An overload of the project2 function to accept full matrices and vectors and pass it to the pointer version of the function.
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
	An overload o the reprojectionError function to accept full matrices and vectors and pass it to the pointer version of the function.

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)
	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.
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)
	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.
template<int N>
static void	ComputePointCovariance (Eigen::Matrix< double, N, N > &P, const Matrix &E, double lambda, bool diagonalDamping=false)
	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.
static Matrix	PointCov (const Matrix &E, const double lambda=0.0, bool diagonalDamping=false)
	Computes Point Covariance P, with lambda parameter, dynamic version.
static SymmetricBlockMatrix	SchurComplement (const FBlocks &Fblocks, const Matrix &E, const Vector &b, const double lambda=0.0, bool diagonalDamping=false)
	Do Schur complement, given Jacobian as Fs,E,P, return SymmetricBlockMatrix 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)
	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.

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

Protected Types
using	Base = std::vector<CAMERA, typename Eigen::aligned_allocator<CAMERA>>
typedef CAMERA::Measurement	Z
	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.
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.

Member Function Documentation

◆ ComputePointCovariance()

template<class CAMERA>

template<int N>

void gtsam::CameraSet< CAMERA >::ComputePointCovariance	(	Eigen::Matrix< double, N, N > &	P,
		const Matrix &	E,
		double	lambda,
		bool	diagonalDamping = false )

inlinestatic

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.

Computes Point Covariance P, with lambda parameter

◆ print()

template<class CAMERA>

virtual void gtsam::CameraSet< CAMERA >::print ( const std::string & s = "" ) const

inlinevirtual

print

Parameters

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

Reimplemented in gtsam::PinholeSet< CAMERA >.

◆ project2() [1/2]

template<class CAMERA>

template<class POINT>

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

inline

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>

std::enable_if<(sizeof...(OptArgs)!=0), ZVector >::type gtsam::CameraSet< CAMERA >::project2	(	const POINT &	point,
		OptArgs &...	args ) const

inline

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

Use SFINAE to resolve overload ambiguity.

◆ SchurComplementAndRearrangeBlocks()

template<class CAMERA>

template<int N, int ND, int NDD>

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 )

inlinestatic

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

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

/tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/geometry/CameraSet.h

Detailed Description

Public Member Functions

Static Public Member Functions

Public Types

Protected Types

Static Protected Member Functions

Static Protected Attributes

Member Function Documentation

◆ ComputePointCovariance()

◆ print()

◆ project2() [1/2]

◆ project2() [2/2]

◆ SchurComplementAndRearrangeBlocks()