gtsam  4.1.0
gtsam
gtsam::SmartStereoProjectionFactor Class Reference

Detailed Description

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

This factor operates with StereoCamera. This factor requires that values contains the involved StereoCameras. Calibration is assumed to be fixed, as this is also assumed in StereoCamera. If you'd like to store poses in values instead of cameras, use SmartStereoProjectionPoseFactor instead

+ Inheritance diagram for gtsam::SmartStereoProjectionFactor:

Public Member Functions

 SmartStereoProjectionFactor (const SharedNoiseModel &sharedNoiseModel, const SmartStereoProjectionParams &params=SmartStereoProjectionParams(), const boost::optional< Pose3 > body_P_sensor=boost::none)
 Constructor. More...
 
virtual ~SmartStereoProjectionFactor ()
 Virtual destructor.
 
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
 
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< JacobianFactorcreateJacobianSVDFactor (const Cameras &cameras, double lambda) const
 different (faster) way to compute Jacobian factor
 
boost::shared_ptr< GaussianFactorlinearizeDamped (const Cameras &cameras, const double lambda=0.0) const
 Linearize to Gaussian Factor. More...
 
boost::shared_ptr< GaussianFactorlinearizeDamped (const Values &values, const double lambda=0.0) const
 Linearize to Gaussian Factor. More...
 
boost::shared_ptr< GaussianFactorlinearize (const Values &values) const override
 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 (FBlocks &Fs, 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 2m*3 or 2m*2, in case point is degenerate.
 
bool triangulateAndComputeJacobians (FBlocks &Fs, Matrix &E, Vector &b, const Values &values) const
 Version that takes values, and creates the point.
 
bool triangulateAndComputeJacobiansSVD (FBlocks &Fs, 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...
 
double error (const Values &values) const override
 Calculate total reprojection error.
 
void correctForMissingMeasurements (const Cameras &cameras, Vector &ue, boost::optional< typename Cameras::FBlocks & > Fs=boost::none, boost::optional< Matrix & > E=boost::none) const override
 This corrects the Jacobians and error vector for the case in which the right pixel in the monocular camera is missing (nan)
 
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< StereoCamera >
 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.
 
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
 
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.
 
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.
 
double totalReprojectionError (const Cameras &cameras, const POINT &point) const
 Calculate the error of the factor. More...
 
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...
 
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< StereoCamera > > 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 size_t dim () const =0
 get the dimension of the factor (number of rows on linearization)
 
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 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.
 

Public Types

typedef boost::shared_ptr< SmartStereoProjectionFactorshared_ptr
 shorthand for a smart pointer to a factor
 
typedef CameraSet< StereoCameraCameras
 Vector of cameras.
 
typedef PinholeCamera< Cal3_S2MonoCamera
 Vector of monocular cameras (stereo treated as 2 monocular)
 
typedef CameraSet< MonoCameraMonoCameras
 
typedef MonoCamera::MeasurementVector MonoMeasurements
 
- Public Types inherited from gtsam::SmartFactorBase< StereoCamera >
typedef Eigen::Matrix< double, ZDim, DimMatrixZD
 
typedef std::vector< MatrixZD, Eigen::aligned_allocator< MatrixZD > > FBlocks
 
typedef CameraSet< StereoCameraCameras
 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

Parameters
const SmartStereoProjectionParams params_
 
Caching triangulation
TriangulationResult result_
 result from triangulateSafe
 
std::vector< Pose3cameraPosesTriangulation_
 current triangulation poses
 
- Protected Attributes inherited from gtsam::SmartFactorBase< StereoCamera >
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

- Static Public Member Functions inherited from gtsam::SmartFactorBase< StereoCamera >
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< StereoCamera >
GTSAM_MAKE_ALIGNED_OPERATOR_NEW typedef boost::shared_ptr< Thisshared_ptr
 shorthand for a smart pointer to a factor
 
- Static Public Attributes inherited from gtsam::SmartFactorBase< StereoCamera >
static const int Dim
 Camera dimension.
 
static const int ZDim
 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

◆ SmartStereoProjectionFactor()

gtsam::SmartStereoProjectionFactor::SmartStereoProjectionFactor ( const SharedNoiseModel sharedNoiseModel,
const SmartStereoProjectionParams params = SmartStereoProjectionParams(),
const boost::optional< Pose3 body_P_sensor = boost::none 
)
inline

Constructor.

Parameters
paramsinternal parameters of the smart factors

Member Function Documentation

◆ linearizeDamped() [1/2]

boost::shared_ptr<GaussianFactor> gtsam::SmartStereoProjectionFactor::linearizeDamped ( const Cameras cameras,
const double  lambda = 0.0 
) const
inline

Linearize to Gaussian Factor.

Parameters
valuesValues structure which must contain camera poses for this factor
Returns
a Gaussian factor

◆ linearizeDamped() [2/2]

boost::shared_ptr<GaussianFactor> gtsam::SmartStereoProjectionFactor::linearizeDamped ( const Values values,
const double  lambda = 0.0 
) const
inline

Linearize to Gaussian Factor.

Parameters
valuesValues structure which must contain camera poses for this factor
Returns
a Gaussian factor

◆ print()

void gtsam::SmartStereoProjectionFactor::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::SmartStereoProjectionPoseFactor.

◆ totalReprojectionError()

double gtsam::SmartStereoProjectionFactor::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]

bool gtsam::SmartStereoProjectionFactor::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]

bool gtsam::SmartStereoProjectionFactor::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: