Detailed Description

template<class CAMERA>
class gtsam::SmartFactorBase< CAMERA >

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 Cameras argument, which should behave like PinholeCamera, and the value of a point, which is kept in the base class.

Inheritance diagram for gtsam::SmartFactorBase< CAMERA >:

Public Member Functions
	SmartFactorBase ()
	Default Constructor, for serialization.

	SmartFactorBase (const SharedNoiseModel &sharedNoiseModel, boost::optional< Pose3 > body_P_sensor=boost::none, size_t expectedNumberCameras=10)
	Constructor.

virtual	~SmartFactorBase ()
	Virtual destructor, subclasses from NonlinearFactor.

void	add (const Z &measured_i, const Key &cameraKey_i)
	Add a new measurement and pose key. More...

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

template<class SFM_TRACK >
void	add (const SFM_TRACK &trackToAdd)
	Adds an entire SfM_track (collection of cameras observing a single point). More...

virtual size_t	dim () const
	get the dimension (number of rows!) of the factor

const ZVector &	measured () const
	return the measurements

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
	print More...

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

template<class POINT >
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.

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 pixel measurement is missing (nan) In practice, this does not do anything in the monocular case, but it is implemented in the stereo version.

template<class POINT >
Vector	whitenedError (const Cameras &cameras, const POINT &point) const
	Calculate vector of re-projection errors [h(x)-z] = [cameras.project(p) - z] Noise model applied.

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

template<class POINT >
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...

template<class POINT >
void	computeJacobiansSVD (FBlocks &Fs, Matrix &Enull, Vector &b, const Cameras &cameras, const POINT &point) const
	SVD version.

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< CAMERA > >	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 TODO lambda is currently ignored.

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 double	error (const Values &c) const =0
	Calculate the error of the factor This is typically equal to log-likelihood, e.g. More...

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

virtual boost::shared_ptr< GaussianFactor >	linearize (const Values &c) const =0
	linearize to a GaussianFactor

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

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.

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

Public Member Functions inherited from gtsam::Factor
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

void	print (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print

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

KeyVector &	keys ()

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

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

Static Public Member Functions
static Matrix	PointCov (Matrix &E)
	Computes Point Covariance P from 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 boost::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.

Public Types
typedef Eigen::Matrix< double, ZDim, Dim >	MatrixZD

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

typedef CameraSet< CAMERA >	Cameras
	We use the new CameraSte data structure 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
SharedIsotropic	noiseModel_
	As of Feb 22, 2015, the noise model is the same for all measurements and is isotropic. More...

ZVector	measured_
	2D measurement and noise model for each of the m views We keep a copy of measurements for I/O and computing the error. More...

FBlocks	Fs

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

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

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

Additional Inherited Members
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...

Member Function Documentation

◆ add() [1/2]

template<class CAMERA>

void gtsam::SmartFactorBase< CAMERA >::add	(	const Z &	measured_i,
		const Key &	cameraKey_i
	)

inline

Add a new measurement and pose key.

Parameters

measured_i	is the 2m dimensional projection of a single landmark
poseKey	is the index corresponding to the camera observing the landmark
sharedNoiseModel	is the measurement noise

◆ add() [2/2]

template<class CAMERA>

template<class SFM_TRACK >

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

inline

Adds an entire SfM_track (collection of cameras observing a single point).

The noise is assumed to be the same for all measurements

◆ computeJacobians()

template<class CAMERA>

template<class POINT >

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

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. TODO: Kill this obsolete method

◆ print()

template<class CAMERA>

void gtsam::SmartFactorBase< CAMERA >::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlinevirtual

print

Parameters

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

Reimplemented from gtsam::NonlinearFactor.

Reimplemented in gtsam::SmartProjectionFactor< CAMERA >, and gtsam::SmartProjectionFactor< PinholePose< CALIBRATION > >.

◆ totalReprojectionError()

template<class CAMERA>

template<class POINT >

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

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

◆ updateAugmentedHessian()

template<class CAMERA>

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

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

Member Data Documentation

◆ measured_

template<class CAMERA>

ZVector gtsam::SmartFactorBase< CAMERA >::measured_

protected

2D measurement and noise model for each of the m views We keep a copy of 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_

template<class CAMERA>

SharedIsotropic gtsam::SmartFactorBase< CAMERA >::noiseModel_

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 moved to CameraSet very easily, and also agrees pragmatically with what is normally done.

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

/Users/dellaert/git/gtsam/gtsam/slam/SmartFactorBase.h

Detailed Description

template<class CAMERA> class gtsam::SmartFactorBase< CAMERA >

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Public Types

Protected Attributes

Friends

Additional Inherited Members

Member Function Documentation

◆ add() [1/2]

◆ add() [2/2]

◆ computeJacobians()

◆ print()

◆ totalReprojectionError()

◆ updateAugmentedHessian()

Member Data Documentation

◆ measured_

◆ noiseModel_

template<class CAMERA>
class gtsam::SmartFactorBase< CAMERA >