Detailed Description

template<class CALIBRATION>
class gtsam::EssentialMatrixFactor4< CALIBRATION >

Binary factor that optimizes for E and calibration K using the algebraic epipolar error (K^-1 pA)'E (K^-1 pB).

The calibration is shared between two images.

Note: As correspondences between 2d coordinates can only recover 7 DoF, this factor should always be used with a prior factor on calibration. Even with a prior, we can only optimize 2 DoF in the calibration. So the prior should have a noise model with very low sigma in the remaining dimensions. This has been tested to work on Cal3_S2. With Cal3Bundler, it works only with a strong prior (low sigma noisemodel) on all degrees of freedom.

Inheritance diagram for gtsam::EssentialMatrixFactor4< CALIBRATION >:

Public Member Functions
	EssentialMatrixFactor4 (Key keyE, Key keyK, const Point2 &pA, const Point2 &pB, const SharedNoiseModel &model)
	Constructor. More...

gtsam::NonlinearFactor::shared_ptr	clone () const override

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print More...

Vector	evaluateError (const EssentialMatrix &E, const CALIBRATION &K, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const override
	Calculate the algebraic epipolar error pA' (K^-1)' E K pB. More...

Public Member Functions inherited from gtsam::NoiseModelFactor2< EssentialMatrix, CALIBRATION >
	NoiseModelFactor2 ()
	Default Constructor for I/O.

	NoiseModelFactor2 (const SharedNoiseModel &noiseModel, Key j1, Key j2)
	Constructor. More...

Key	key1 () const
	methods to retrieve both keys

Key	key2 () const

Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override
	Calls the 2-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class. More...

virtual Vector	evaluateError (const X1 &, const X2 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const=0
	Override this method to finish implementing a binary factor. More...

Public Member Functions inherited from gtsam::NoiseModelFactor
	NoiseModelFactor ()
	Default constructor for I/O only.

	~NoiseModelFactor () override
	Destructor.

template<typename CONTAINER >
	NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)
	Constructor.

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	Print. More...

bool	equals (const NonlinearFactor &f, double tol=1e-9) const override
	Check if two factors are equal. More...

size_t	dim () const override
	get the dimension of the factor (number of rows on linearization) More...

const SharedNoiseModel &	noiseModel () const
	access to the noise model

virtual Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const =0
	Error function without the NoiseModel, \( z-h(x) \). More...

Vector	whitenedError (const Values &c) const
	Vector of errors, whitened This is the raw error, i.e., i.e. More...

Vector	unweightedWhitenedError (const Values &c) const
	Vector of errors, whitened, but unweighted by any loss function.

double	weight (const Values &c) const
	Compute the effective weight of the factor from the noise model.

double	error (const Values &c) const override
	Calculate the error of the factor. More...

boost::shared_ptr< GaussianFactor >	linearize (const Values &x) const override
	Linearize a non-linearFactorN to get a GaussianFactor, \( Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z \) Hence \( b = z - h(x) = - \mathtt{error\_vector}(x) \). More...

shared_ptr	cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const
	Creates a shared_ptr clone of the factor with a new noise model.

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	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. More...

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

virtual bool	sendable () const
	Should the factor be evaluated in the same thread as the caller This is to enable factors that has shared states (like the Python GIL lock) More...

Public Member Functions inherited from gtsam::Factor
virtual	~Factor ()=default
	Default destructor.

KeyVector &	keys ()

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

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

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

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

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactor2< EssentialMatrix, CALIBRATION >
typedef EssentialMatrix	X1

typedef CALIBRATION	X2

Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< This >	shared_ptr
	Noise model.

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 Types inherited from gtsam::NoiseModelFactor2< EssentialMatrix, CALIBRATION >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor2< EssentialMatrix, CALIBRATION >	This

Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor	Base

typedef NoiseModelFactor	This

Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base

typedef NonlinearFactor	This

Protected Member Functions inherited from gtsam::NoiseModelFactor
	NoiseModelFactor (const SharedNoiseModel &noiseModel)
	Constructor - only for subclasses, as this does not set keys.

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...

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

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

Constructor & Destructor Documentation

◆ EssentialMatrixFactor4()

template<class CALIBRATION >

gtsam::EssentialMatrixFactor4< CALIBRATION >::EssentialMatrixFactor4	(	Key	keyE,
		Key	keyK,
		const Point2 &	pA,
		const Point2 &	pB,
		const SharedNoiseModel &	model
	)

inline

Constructor.

Parameters

keyE	Essential Matrix (from camera B to A) variable key
keyK	Calibration variable key (common for both cameras)
pA	point in first camera, in pixel coordinates
pB	point in second camera, in pixel coordinates
model	noise model is about dot product in ideal, homogeneous coordinates

Member Function Documentation

◆ clone()

template<class CALIBRATION >

gtsam::NonlinearFactor::shared_ptr gtsam::EssentialMatrixFactor4< CALIBRATION >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

◆ evaluateError()

template<class CALIBRATION >

Vector gtsam::EssentialMatrixFactor4< CALIBRATION >::evaluateError	(	const EssentialMatrix &	E,
		const CALIBRATION &	K,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`
	)		const

inlineoverridevirtual

Calculate the algebraic epipolar error pA' (K^-1)' E K pB.

Parameters

E	essential matrix for key keyE
K	calibration (common for both images) for key keyK
H1	optional jacobian of error w.r.t E
H2	optional jacobian of error w.r.t K

Returns: * Vector 1D vector of algebraic error

Implements gtsam::NoiseModelFactor2< EssentialMatrix, CALIBRATION >.

◆ print()

template<class CALIBRATION >

void gtsam::EssentialMatrixFactor4< CALIBRATION >::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

print

Reimplemented from gtsam::NoiseModelFactor.

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

/Users/dellaert/git/github/gtsam/slam/EssentialMatrixFactor.h

Detailed Description

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ EssentialMatrixFactor4()

Member Function Documentation

◆ clone()

◆ evaluateError()

◆ print()