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gtsam::CameraSet< CAMERA > Class Template Reference
Detailed Description
template<class CAMERA>
class gtsam::CameraSet< 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 > > |
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 >
|
inlinevirtual |
- 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 >
|
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>
|
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
The documentation for this class was generated from the following file:
- /Users/dellaert/git/github/gtsam/geometry/CameraSet.h
