Inheritance diagram for gtsam::SmartStereoProjectionFactorPP:

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

	~SmartStereoProjectionFactorPP () override=default
	Virtual destructor.

void	add (const StereoPoint2 &measured, const Key &world_P_body_key, const Key &body_P_cam_key, const boost::shared_ptr< Cal3_S2Stereo > &K)
	add a new measurement, with a pose key, and an extrinsic pose key More...

void	add (const std::vector< StereoPoint2 > &measurements, const KeyVector &w_P_body_keys, const KeyVector &body_P_cam_keys, const std::vector< boost::shared_ptr< Cal3_S2Stereo > > &Ks)
	Variant of the previous one in which we include a set of measurements. More...

void	add (const std::vector< StereoPoint2 > &measurements, const KeyVector &w_P_body_keys, const KeyVector &body_P_cam_keys, const boost::shared_ptr< Cal3_S2Stereo > &K)
	Variant of the previous one in which we include a set of measurements with the same noise and calibration. More...

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

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

const KeyVector &	getExtrinsicPoseKeys () const
	equals

double	error (const Values &values) const override
	error calculates the error of the factor. More...

std::vector< boost::shared_ptr< Cal3_S2Stereo > >	calibration () const
	return the calibration object

Base::Cameras	cameras (const Values &values) const override
	Collect all cameras involved in this factor. More...

void	computeJacobiansAndCorrectForMissingMeasurements (FBlocks &Fs, Matrix &E, Vector &b, const Values &values) const
	Compute jacobian F, E and error vector at a given linearization point. More...

boost::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)

boost::shared_ptr< GaussianFactor >	linearizeDamped (const Values &values, const double lambda=0.0) const
	Linearize to Gaussian Factor (possibly adding a damping factor Lambda for LM) More...

boost::shared_ptr< GaussianFactor >	linearize (const Values &values) const override
	linearize More...

Public Member Functions inherited from gtsam::SmartStereoProjectionFactor
	SmartStereoProjectionFactor (const SharedNoiseModel &sharedNoiseModel, const SmartStereoProjectionParams &params=SmartStereoProjectionParams(), const boost::optional< Pose3 > body_P_sensor=boost::none)
	Constructor. More...

	~SmartStereoProjectionFactor () override
	Virtual destructor.

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

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

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

boost::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)

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

boost::shared_ptr< GaussianFactor >	linearizeDamped (const Cameras &cameras, const double lambda=0.0) const
	Linearize to Gaussian Factor. More...

boost::shared_ptr< GaussianFactor >	linearizeDamped (const Values &values, const double lambda=0.0) const
	Linearize to Gaussian Factor. More...

boost::shared_ptr< GaussianFactor >	linearize (const Values &values) const override
	linearize More...

bool	triangulateAndComputeE (Matrix &E, const Cameras &cameras) const
	Triangulate and compute derivative of error with respect to point. More...

bool	triangulateAndComputeE (Matrix &E, const Values &values) const
	Triangulate and compute derivative of error with respect to point. More...

void	computeJacobiansWithTriangulatedPoint (FBlocks &Fs, Matrix &E, Vector &b, const Cameras &cameras) const
	Compute F, E only (called below in both vanilla and SVD versions) Assumes the point has been computed Note E can be 2m3 or 2m2, in case point is degenerate.

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, boost::optional< Point3 > externalPoint=boost::none) const
	Calculate the error of the factor. More...

double	error (const Values &values) const override
	Calculate total reprojection error. More...

void	correctForMissingMeasurements (const Cameras &cameras, Vector &ue, boost::optional< typename Cameras::FBlocks & > Fs=boost::none, boost::optional< Matrix & > E=boost::none) const override
	This corrects the Jacobians and error vector for the case in which the right 2D measurement in the monocular camera is missing (nan). More...

TriangulationResult	point () const
	return the landmark

TriangulationResult	point (const Values &values) const
	COMPUTE the landmark.

bool	isValid () const
	Is result valid?

bool	isDegenerate () const
	return the degenerate state

bool	isPointBehindCamera () const
	return the cheirality status flag

bool	isOutlier () const
	return the outlier state

bool	isFarPoint () const
	return the farPoint state

Public Member Functions inherited from gtsam::SmartFactorBase< StereoCamera >
	SmartFactorBase ()
	Default Constructor, for serialization.

	SmartFactorBase (const SharedNoiseModel &sharedNoiseModel, boost::optional< Pose3 > body_P_sensor=boost::none, 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)
	Add a new measurement and pose/camera key. More...

void	add (const ZVector &measurements, const KeyVector &cameraKeys)
	Add a bunch of measurements, together with the camera keys.

void	add (const SFM_TRACK &trackToAdd)
	Add an entire SfM_track (collection of cameras observing a single point). More...

size_t	dim () const override
	Return the dimension (number of rows!) of the factor. More...

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. More...

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

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

Vector	unwhitenedError (const Cameras &cameras, const POINT &point, boost::optional< typename Cameras::FBlocks & > Fs=boost::none, boost::optional< Matrix & > E=boost::none) const
	Compute reprojection errors [h(x)-z] = [cameras.project(p)-z] and derivatives. More...

virtual void	correctForMissingMeasurements (const Cameras &cameras, Vector &ue, boost::optional< typename Cameras::FBlocks & > Fs=boost::none, boost::optional< Matrix & > E=boost::none) const
	This corrects the Jacobians for the case in which some 2D measurement is missing (nan). More...

Vector	whitenedError (const Cameras &cameras, const POINT &point) const
	Calculate vector of re-projection errors [h(x)-z] = [cameras.project(p) - z], with the noise model applied.

double	totalReprojectionError (const Cameras &cameras, const POINT &point) const
	Calculate the error of the factor. More...

void	computeJacobians (FBlocks &Fs, Matrix &E, Vector &b, const Cameras &cameras, const POINT &point) const
	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. More...

void	computeJacobiansSVD (FBlocks &Fs, Matrix &Enull, Vector &b, const Cameras &cameras, const POINT &point) const
	SVD version that produces smaller Jacobian matrices by doing an SVD decomposition on E, and returning the left nulkl-space of E. More...

boost::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
	Add the contribution of the smart factor to a pre-allocated Hessian, using sparse linear algebra. More...

void	whitenJacobians (FBlocks &F, Matrix &E, Vector &b) const
	Whiten the Jacobians computed by computeJacobians using noiseModel_.

boost::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.

boost::shared_ptr< JacobianFactorQ< Dim, ZDim > >	createJacobianQFactor (const Cameras &cameras, const Point3 &point, double lambda=0.0, bool diagonalDamping=false) const
	Return Jacobians as JacobianFactorQ.

boost::shared_ptr< JacobianFactor >	createJacobianSVDFactor (const Cameras &cameras, const Point3 &point, double lambda=0.0) const
	Return Jacobians as JacobianFactorSVD. More...

Pose3	body_P_sensor () const

Public Member Functions inherited from gtsam::NonlinearFactor
	NonlinearFactor ()
	Default constructor for I/O only.

template<typename CONTAINER >
	NonlinearFactor (const CONTAINER &keys)
	Constructor from a collection of the keys involved in this factor.

virtual	~NonlinearFactor ()
	Destructor.

virtual bool	active (const Values &) const
	Checks whether a factor should be used based on a set of values. More...

virtual shared_ptr	clone () const
	Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses. More...

virtual shared_ptr	rekey (const std::map< Key, Key > &rekey_mapping) const
	Creates a shared_ptr clone of the factor with different keys using a map from old->new keys. More...

virtual shared_ptr	rekey (const KeyVector &new_keys) const
	Clones a factor and fully replaces its keys. More...

virtual bool	sendable () const
	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) More...

Public Member Functions inherited from gtsam::Factor
virtual	~Factor ()=default
	Default destructor.

KeyVector &	keys ()

iterator	begin ()
	Iterator at beginning of involved variable keys.

iterator	end ()
	Iterator at end of involved variable keys.

virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys More...

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
	Iterator at beginning of involved variable keys.

const_iterator	end () const
	Iterator at end of involved variable keys.

size_t	size () const

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef SmartStereoProjectionFactor	Base
	shorthand for base class type

Public Attributes inherited from gtsam::SmartFactorBase< StereoCamera >
GTSAM_MAKE_ALIGNED_OPERATOR_NEW typedef boost::shared_ptr< This >	shared_ptr
	shorthand for a smart pointer to a factor.

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 Public Attributes inherited from gtsam::SmartFactorBase< StereoCamera >
static const int	Dim
	Camera dimension.

static const int	ZDim
	Measurement dimension.

Public Types
typedef SmartStereoProjectionFactorPP	This
	shorthand for this class

typedef boost::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

Public Types inherited from gtsam::SmartStereoProjectionFactor
typedef boost::shared_ptr< SmartStereoProjectionFactor >	shared_ptr
	shorthand for a smart pointer to a factor

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

Public Types inherited from gtsam::SmartFactorBase< StereoCamera >
typedef Eigen::Matrix< double, ZDim, Dim >	MatrixZD

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

typedef CameraSet< StereoCamera >	Cameras
	The CameraSet data structure is used to refer to a set of cameras.

Public Types inherited from gtsam::NonlinearFactor
typedef boost::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::Factor
typedef KeyVector::iterator	iterator
	Iterator over keys.

typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Protected Attributes
std::vector< boost::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)

Protected Attributes inherited from gtsam::SmartStereoProjectionFactor
const SmartStereoProjectionParams	params_

TriangulationResult	result_
	result from triangulateSafe

std::vector< Pose3 >	cameraPosesTriangulation_
	current triangulation poses

Protected Attributes inherited from gtsam::SmartFactorBase< StereoCamera >
SharedIsotropic	noiseModel_
	As of Feb 22, 2015, the noise model is the same for all measurements and is isotropic. More...

ZVector	measured_
	Measurements for each of the m views. More...

boost::optional< Pose3 >	body_P_sensor_
	Pose of the camera in the body frame.

FBlocks	Fs

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

Friends
class	boost::serialization::access
	Serialization function.

Additional Inherited Members
Static Public Member Functions inherited from gtsam::SmartFactorBase< StereoCamera >
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.

Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base

typedef NonlinearFactor	This

Protected Member Functions inherited from gtsam::Factor
	Factor ()
	Default constructor for I/O.

template<typename CONTAINER >
	Factor (const CONTAINER &keys)
	Construct factor from container of keys. More...

template<typename ITERATOR >
	Factor (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys. More...

bool	equals (const This &other, double tol=1e-9) const
	check equality

Static Protected Member Functions inherited from gtsam::Factor
template<typename CONTAINER >
static Factor	FromKeys (const CONTAINER &keys)
	Construct factor from container of keys. More...

template<typename ITERATOR >
static Factor	FromIterators (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys. More...

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

◆ add() [1/3]

void gtsam::SmartStereoProjectionFactorPP::add	(	const std::vector< StereoPoint2 > &	measurements,
		const KeyVector &	w_P_body_keys,
		const KeyVector &	body_P_cam_keys,
		const boost::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() [2/3]

void gtsam::SmartStereoProjectionFactorPP::add	(	const std::vector< StereoPoint2 > &	measurements,
		const KeyVector &	w_P_body_keys,
		const KeyVector &	body_P_cam_keys,
		const std::vector< boost::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() [3/3]

void gtsam::SmartStereoProjectionFactorPP::add	(	const StereoPoint2 &	measured,
		const Key &	world_P_body_key,
		const Key &	body_P_cam_key,
		const boost::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

◆ cameras()

SmartStereoProjectionFactorPP::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 >.

◆ 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.

◆ equals()

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

overridevirtual

equals

Reimplemented from gtsam::SmartStereoProjectionFactor.

◆ error()

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

overridevirtual

error calculates the error of the factor.

Reimplemented from gtsam::SmartStereoProjectionFactor.

◆ linearize()

boost::shared_ptr< GaussianFactor > gtsam::SmartStereoProjectionFactorPP::linearize ( const Values & values ) const

inlineoverridevirtual

linearize

Reimplemented from gtsam::SmartStereoProjectionFactor.

◆ linearizeDamped()

boost::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

◆ 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.

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

/Users/dellaert/git/github/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
/Users/dellaert/git/github/gtsam_unstable/slam/SmartStereoProjectionFactorPP.cpp

Public Member Functions

Public Attributes

Static Public Attributes

Public Types

Protected Attributes

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ SmartStereoProjectionFactorPP()

Member Function Documentation

◆ add() [1/3]

◆ add() [2/3]

◆ add() [3/3]

◆ cameras()

◆ computeJacobiansAndCorrectForMissingMeasurements()

◆ equals()

◆ error()

◆ linearize()

◆ linearizeDamped()

◆ print()