Detailed Description

template<class CAMERA>
class gtsam::SmartProjectionFactor< CAMERA >

SmartProjectionFactor: triangulates point and keeps an estimate of it around.

This factor operates with monocular cameras, where a camera is expected to behave like PinholeCamera or PinholePose. This factor is intended to be used directly with PinholeCamera, which optimizes the camera pose and calibration. This also requires that values contains the involved cameras (instead of poses and calibrations separately). If the calibration is fixed use SmartProjectionPoseFactor instead!

Inheritance diagram for gtsam::SmartProjectionFactor< CAMERA >:

Public Member Functions
	SmartProjectionFactor ()
	Default constructor, only for serialization.

	SmartProjectionFactor (const SharedNoiseModel &sharedNoiseModel, const boost::optional< Pose3 > body_P_sensor=boost::none, const SmartProjectionParams &params=SmartProjectionParams())
	Constructor. More...

virtual	~SmartProjectionFactor ()
	Virtual destructor.

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

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< RegularImplicitSchurFactor< CAMERA > >	createRegularImplicitSchurFactor (const Cameras &cameras, double lambda) const

boost::shared_ptr< JacobianFactorQ< Base::Dim, 2 > >	createJacobianQFactor (const Cameras &cameras, double lambda) const
	create factor

boost::shared_ptr< JacobianFactorQ< Base::Dim, 2 > >	createJacobianQFactor (const Values &values, double lambda) const
	Create a factor, takes values.

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

virtual boost::shared_ptr< RegularHessianFactor< Base::Dim > >	linearizeToHessian (const Values &values, double lambda=0.0) const
	linearize to a Hessianfactor

virtual boost::shared_ptr< RegularImplicitSchurFactor< CAMERA > >	linearizeToImplicit (const Values &values, double lambda=0.0) const
	linearize to an Implicit Schur factor

virtual boost::shared_ptr< JacobianFactorQ< Base::Dim, 2 > >	linearizeToJacobian (const Values &values, double lambda=0.0) const
	linearize to a JacobianfactorQ

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...

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

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 (std::vector< typename Base::MatrixZD, Eigen::aligned_allocator< typename Base::MatrixZD > > &Fblocks, 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 (std::vector< typename Base::MatrixZD, Eigen::aligned_allocator< typename Base::MatrixZD > > &Fblocks, Matrix &E, Vector &b, const Values &values) const
	Version that takes values, and creates the point.

bool	triangulateAndComputeJacobiansSVD (std::vector< typename Base::MatrixZD, Eigen::aligned_allocator< typename Base::MatrixZD > > &Fblocks, 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...

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

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< CAMERA >
	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.

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 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...

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.

Public Types
typedef boost::shared_ptr< This >	shared_ptr
	shorthand for a smart pointer to a factor

typedef CameraSet< CAMERA >	Cameras
	shorthand for a set of cameras

Public Types inherited from gtsam::SmartFactorBase< CAMERA >
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
Parameters
SmartProjectionParams	params_

Caching triangulation
TriangulationResult	result_
	result from triangulateSafe

std::vector< Pose3, Eigen::aligned_allocator< Pose3 > >	cameraPosesTriangulation_
	current triangulation poses

Protected Attributes inherited from gtsam::SmartFactorBase< CAMERA >
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

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
Static Public Member Functions inherited from gtsam::SmartFactorBase< CAMERA >
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 inherited from gtsam::SmartFactorBase< CAMERA >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef boost::shared_ptr< This >	shared_ptr
	shorthand for a smart pointer to a factor

Static Public Attributes inherited from gtsam::SmartFactorBase< CAMERA >
static const int	Dim = traits<CAMERA>::dimension
	Camera dimension.

static const int	ZDim = traits<Z>::dimension
	Measurement dimension.

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

◆ SmartProjectionFactor()

template<class CAMERA>

gtsam::SmartProjectionFactor< CAMERA >::SmartProjectionFactor	(	const SharedNoiseModel &	sharedNoiseModel,
		const boost::optional< Pose3 >	body_P_sensor = `boost::none`,
		const SmartProjectionParams &	params = `SmartProjectionParams()`
	)

inline

Constructor.

Parameters

body_P_sensor	pose of the camera in the body frame
params	internal parameters of the smart factors

Member Function Documentation

◆ linearizeDamped() [1/2]

template<class CAMERA>

boost::shared_ptr<GaussianFactor> gtsam::SmartProjectionFactor< CAMERA >::linearizeDamped	(	const Cameras &	cameras,
		const double	lambda = `0.0`
	)		const

inline

Linearize to Gaussian Factor.

Parameters

values Values structure which must contain camera poses for this factor

Returns: a Gaussian factor

◆ linearizeDamped() [2/2]

template<class CAMERA>

boost::shared_ptr<GaussianFactor> gtsam::SmartProjectionFactor< CAMERA >::linearizeDamped	(	const Values &	values,
		const double	lambda = `0.0`
	)		const

inline

Linearize to Gaussian Factor.

Parameters

values Values structure which must contain camera poses for this factor

Returns: a Gaussian factor

◆ print()

template<class CAMERA>

void gtsam::SmartProjectionFactor< 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::SmartFactorBase< CAMERA >.

◆ totalReprojectionError()

template<class CAMERA>

double gtsam::SmartProjectionFactor< CAMERA >::totalReprojectionError	(	const Cameras &	cameras,
		boost::optional< Point3 >	externalPoint = `boost::none`
	)		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.

◆ triangulateAndComputeE() [1/2]

template<class CAMERA>

bool gtsam::SmartProjectionFactor< CAMERA >::triangulateAndComputeE	(	Matrix &	E,
		const Cameras &	cameras
	)		const

inline

Triangulate and compute derivative of error with respect to point.

Returns: whether triangulation worked

◆ triangulateAndComputeE() [2/2]

template<class CAMERA>

bool gtsam::SmartProjectionFactor< CAMERA >::triangulateAndComputeE	(	Matrix &	E,
		const Values &	values
	)		const

inline

Triangulate and compute derivative of error with respect to point.

Returns: whether triangulation worked

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

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

Detailed Description

template<class CAMERA> class gtsam::SmartProjectionFactor< CAMERA >

Public Member Functions

Public Types

Protected Attributes

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ SmartProjectionFactor()

Member Function Documentation

◆ linearizeDamped() [1/2]

◆ linearizeDamped() [2/2]

◆ print()

◆ totalReprojectionError()

◆ triangulateAndComputeE() [1/2]

◆ triangulateAndComputeE() [2/2]

template<class CAMERA>
class gtsam::SmartProjectionFactor< CAMERA >