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gtsam::SelfCalibrationFactor Class Reference
Detailed Description
Binary factor measuring how close a fundamental matrix is to admitting a valid essential matrix, as a function of the two cameras' focal lengths.
Implements the focal-length self-calibration residual of Fetzer et al. (WACV 2020). For an edge with fundamental matrix F and known principal points pp_i, pp_j, a valid essential matrix E = K_j^T F K_i (with full intrinsics) must have singular values (sigma, sigma, 0). The constructor folds the principal points into G = K_j^T F K_i (focals deferred) and performs a single SVD to precompute the coefficient vectors d_01, d_12; the per-iteration residual is then a cheap closed form in (f_i, f_j) with analytic Jacobians.
Variables are the two focal lengths, each a scalar double. Principal points are constant for the edge and live in the constructor, not in the optimized state.
Inheritance diagram for gtsam::SelfCalibrationFactor:
Public Member Functions | |
| SelfCalibrationFactor (Key fi_key, Key fj_key, const Matrix3 &F, const Vector2 &pp_i, const Vector2 &pp_j, const SharedNoiseModel &model=nullptr) | |
| Vector2 | evaluateError (const double &fi, const double &fj, OptionalMatrixType H1=nullptr, OptionalMatrixType H2=nullptr) const override |
| 2-vector essential-matrix deviation; Jacobians are 2x1 each. | |
| Public Member Functions inherited from gtsam::NoiseModelFactorT< Vector2, double, double > | |
| Key | key () const |
| Returns a key. | |
| Vector | unwhitenedError (const Values &x, std::vector< Matrix > &H) const |
| support taking in the actual vector instead of the pointer as well to get access to this version of the function from derived classes one will need to use the "using" keyword and specify that like this: public: using NoiseModelFactor::unwhitenedError; | |
| NoiseModelFactorT () | |
| Default Constructor for I/O. | |
| NoiseModelFactorT (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys) | |
| Constructor. | |
| NoiseModelFactorT (const SharedNoiseModel &noiseModel, CONTAINER keys) | |
| Constructor. | |
| virtual Vector2 | evaluateError (const ValueTypes &... x, OptionalMatrixTypeT< ValueTypes >... H) const=0 |
| Override evaluateError to finish implementing an n-way factor. | |
| Vector | evaluateError (const ValueTypes &... x, MatrixTypeT< ValueTypes > &... H) const |
| If all the optional arguments are matrices then redirect the call to the one which takes pointers. | |
| Vector | evaluateError (const ValueTypes &... x) const |
| No-Jacobians requested function overload. | |
| AreAllMatrixRefs< Vector, OptionalJacArgs... > | evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const |
| Some (but not all) optional Jacobians are omitted (function overload) and the jacobians are l-value references to matrices. | |
| AreAllMatrixPtrs< Vector, OptionalJacArgs... > | evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const |
| Some (but not all) optional Jacobians are omitted (function overload) and the jacobians are pointers to matrices. | |
| Key | key1 () const |
| Key | key2 () const |
| Key | key3 () const |
| Key | key4 () const |
| Key | key5 () const |
| Key | key6 () const |
| std::shared_ptr< GaussianFactor > | linearize (const Values &values) const override |
| Linearize factors whose error and argument dimensions are all fixed to an arbitrary-arity FixedJacobianFactor. | |
| Vector | unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override |
| This implements the unwhitenedError virtual function by calling the n-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class. | |
| Public Member Functions inherited from gtsam::NoiseModelFactor | |
| NoiseModelFactor () | |
| Default constructor for I/O only. | |
| ~NoiseModelFactor () override | |
| Destructor. | |
| template<typename CONTAINER> | |
| NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys) | |
| Constructor. | |
| void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| Print. | |
| bool | equals (const NonlinearFactor &f, double tol=1e-9) const override |
| Check if two factors are equal. | |
| size_t | dim () const override |
| get the dimension of the factor (number of rows on linearization) | |
| const SharedNoiseModel & | noiseModel () const |
| access to the noise model | |
| Vector | unwhitenedError (const Values &x, std::vector< Matrix > &H) const |
| support taking in the actual vector instead of the pointer as well to get access to this version of the function from derived classes one will need to use the "using" keyword and specify that like this: public: using NoiseModelFactor::unwhitenedError; | |
| Vector | whitenedError (const Values &c) const |
| Vector of errors, whitened This is the raw error, i.e., i.e. | |
| Vector | unweightedWhitenedError (const Values &c) const |
| Vector of errors, whitened, but unweighted by any loss function. | |
| double | weight (const Values &c) const |
| Compute the effective weight of the factor from the noise model. | |
| double | error (const Values &c) const override |
| Calculate the error of the factor. | |
| shared_ptr | cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const |
| Creates a shared_ptr clone of the factor with a new noise model. | |
| double | error (const HybridValues &c) const override |
| All factor types need to implement an error function. | |
| 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. | |
| void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| print | |
| double | error (const HybridValues &c) const override |
| All factor types need to implement an error function. | |
| virtual bool | active (const Values &c) const |
| Checks whether a factor should be used based on a set of values. | |
| virtual void | qcqpFactors (NonlinearFactorGraph *costs, NonlinearEqualityConstraints *constraints, size_t columnDimension=1) const |
| Add this factor's QCQP cost and constraints over matrix-valued QCQP variables with the given column dimension. | |
| virtual shared_ptr | clone () const |
| Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses. | |
| 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. | |
| virtual shared_ptr | rekey (const KeyVector &new_keys) const |
| Clones a factor and fully replaces its keys. | |
| 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). | |
| Public Member Functions inherited from gtsam::Factor | |
| virtual | ~Factor ()=default |
| Default destructor. | |
| 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 |
| Iterator at beginning of involved variable keys. | |
| const_iterator | end () const |
| Iterator at end of involved variable keys. | |
| size_t | size () const |
| virtual void | printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const |
| print only keys | |
| bool | equals (const This &other, double tol=1e-9) const |
| check equality | |
| KeyVector & | keys () |
| iterator | begin () |
| Iterator at beginning of involved variable keys. | |
| iterator | end () |
| Iterator at end of involved variable keys. | |
Public Types | |
| using | Base = NoiseModelFactorT<Vector2, double, double> |
| using | This = SelfCalibrationFactor |
| Public Types inherited from gtsam::NoiseModelFactorT< Vector2, double, double > | |
| using | ValueType |
| The type of the I'th template param can be obtained as ValueType. | |
| Public Types inherited from gtsam::NoiseModelFactor | |
| typedef std::shared_ptr< This > | shared_ptr |
| Noise model. | |
| Public Types inherited from gtsam::NonlinearFactor | |
| typedef std::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. | |
Additional Inherited Members | |
| Static Public Attributes inherited from gtsam::NoiseModelFactorT< Vector2, double, double > | |
| static constexpr auto | N |
| N is the number of variables (N-way factor). | |
| Protected Types inherited from gtsam::NoiseModelFactorT< Vector2, double, double > | |
| using | Base |
| using | This |
| using | OptionalMatrixTypeT |
| using | KeyType |
| using | MatrixTypeT |
| using | IsConvertible |
| using | IndexIsValid |
| using | ContainerElementType |
| using | IsContainerOfKeys |
| using | AreAllMatrixRefs |
| A helper alias to check if a list of args are all references to a matrix or not. | |
| using | IsMatrixPointer |
| using | IsNullpointer |
| using | AreAllMatrixPtrs |
| A helper alias to check if a list of args are all pointers to a matrix or not. | |
| Protected Types inherited from gtsam::NoiseModelFactor | |
| typedef NonlinearFactor | Base |
| typedef NoiseModelFactor | This |
| Protected Types inherited from gtsam::NonlinearFactor | |
| typedef Factor | Base |
| typedef NonlinearFactor | This |
| Protected Member Functions inherited from gtsam::NoiseModelFactor | |
| NoiseModelFactor (const SharedNoiseModel &noiseModel) | |
| Constructor - only for subclasses, as this does not set keys. | |
| Factor () | |
| Default constructor for I/O. | |
| template<typename CONTAINER> | |
| Factor (const CONTAINER &keys) | |
| Construct factor from container of keys. | |
| template<typename ITERATOR> | |
| Factor (ITERATOR first, ITERATOR last) | |
| Construct factor from iterator keys. | |
| template<typename CONTAINER> | |
| static Factor | FromKeys (const CONTAINER &keys) |
| Construct factor from container of keys. | |
| template<typename ITERATOR> | |
| static Factor | FromIterators (ITERATOR first, ITERATOR last) |
| Construct factor from iterator keys. | |
| Protected Attributes inherited from gtsam::NoiseModelFactor | |
| SharedNoiseModel | noiseModel_ |
| Protected Attributes inherited from gtsam::Factor | |
| KeyVector | keys_ |
| The keys involved in this factor. | |
Constructor & Destructor Documentation
◆ SelfCalibrationFactor()
|
inline |
- Parameters
-
fi_key Key of the focal length of camera i (F's right index). fj_key Key of the focal length of camera j (F's left index). F 3x3 fundamental matrix with convention x_j^T F x_i = 0. pp_i Principal point of camera i. pp_j Principal point of camera j. model Optional 2-dimensional noise model (e.g. robust Cauchy); defaults to unit noise when null.
The documentation for this class was generated from the following file:
- /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/sfm/SelfCalibrationFactor.h
