gtsam  4.1.0
gtsam
gtsam::SmartFactorBase< CAMERA > Class Template Reference

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, const Key &key)
 Add a new measurement and pose/camera 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...
 
size_t dim () const override
 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 override
 print More...
 
bool equals (const NonlinearFactor &p, double tol=1e-9) const override
 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< JacobianFactorcreateJacobianSVDFactor (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< GaussianFactorlinearize (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 KeyVectorkeys () 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
 
KeyVectorkeys ()
 
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

GTSAM_MAKE_ALIGNED_OPERATOR_NEW typedef boost::shared_ptr< Thisshared_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, DimMatrixZD
 
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< Thisshared_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...
 
boost::optional< Pose3body_P_sensor_
 Pose of the camera in the body frame.
 
FBlocks Fs
 
- 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 >
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

◆ add() [2/2]

template<class CAMERA >
void gtsam::SmartFactorBase< CAMERA >::add ( const Z &  measured,
const Key key 
)
inline

Add a new measurement and pose/camera key.

Parameters
measuredis the 2m dimensional projection of a single landmark
keyis the index corresponding to the camera observing the landmark

◆ 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
inlineoverridevirtual

print

Parameters
soptional string naming the factor
keyFormatteroptional 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: