gtsam::CameraSet< CAMERA > Class Template Reference

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 More...
bool	equals (const CameraSet &p, double tol=1e-9) const
	equals
template<class POINT >
ZVector	project2 (const POINT &point, boost::optional< FBlocks & > Fs=boost::none, boost::optional< Matrix & > E=boost::none) 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. More...
template<class POINT >
Vector	reprojectionError (const POINT &point, const ZVector &measured, boost::optional< FBlocks & > Fs=boost::none, boost::optional< Matrix & > E=boost::none) const
	Calculate vector [project2(point)-z] of re-projection errors.

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. More...
template<int N>
static SymmetricBlockMatrix	SchurComplement (const FBlocks &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>
static void	ComputePointCovariance (Eigen::Matrix< double, N, N > &P, const Matrix &E, double lambda, bool diagonalDamping=false)
	Computes Point Covariance P, with lambda parameter.
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
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.

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

Member Function Documentation

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()

template<class CAMERA >

template<class POINT >

ZVector gtsam::CameraSet< CAMERA >::project2 ( const POINT &  point, boost::optional< FBlocks & >  Fs = boost::none, boost::optional< Matrix & >  E = boost::none  ) 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

SchurComplementAndRearrangeBlocks()

template<class CAMERA >

template<int N, int ND, int NDD>

static 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

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

• /Users/dellaert/git/github/gtsam/geometry/CameraSet.h