Detailed Description

Factor to measure a planar landmark from a given pose, with a given local linearization point.

This factor is based on the relative plane factor formulation proposed in: Equation 25, M. Kaess, "Simultaneous Localization and Mapping with Infinite Planes", IEEE International Conference on Robotics and Automation, 2015.

The main purpose of this factor is to improve the numerical stability of the optimization, especially compared to gtsam::OrientedPlane3Factor. This is especially relevant when the sensor is far from the origin (and thus the derivatives associated to transforming the plane are large).

x0 is the current sensor pose, and x1 is the local "anchor pose" - i.e. a local linearisation point for the plane. The plane is representated and optimized in x1 frame in the optimization.

Inheritance diagram for gtsam::LocalOrientedPlane3Factor:

Public Member Functions
	LocalOrientedPlane3Factor ()
	Constructor.

	LocalOrientedPlane3Factor (const Vector4 &z, const SharedGaussian &noiseModel, Key poseKey, Key anchorPoseKey, Key landmarkKey)
	Constructor with measured plane (a,b,c,d) coefficients. More...

	LocalOrientedPlane3Factor (const OrientedPlane3 &z, const SharedGaussian &noiseModel, Key poseKey, Key anchorPoseKey, Key landmarkKey)

void	print (const std::string &s="LocalOrientedPlane3Factor", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print More...

Vector	evaluateError (const Pose3 &wTwi, const Pose3 &wTwa, const OrientedPlane3 &a_plane, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none) const override
	Override this method to finish implementing a trinary factor. More...

Public Member Functions inherited from gtsam::NoiseModelFactor3< Pose3, Pose3, OrientedPlane3 >
	NoiseModelFactor3 ()
	Default Constructor for I/O.

	NoiseModelFactor3 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3)
	Constructor. More...

Key	key1 () const
	methods to retrieve keys

Key	key2 () const

Key	key3 () const

Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override
	Calls the 3-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 &, const X3 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none) const=0
	Override this method to finish implementing a trinary 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	clone () const
	Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses. 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

Protected Types
typedef NoiseModelFactor3< Pose3, Pose3, OrientedPlane3 >	Base

Protected Types inherited from gtsam::NoiseModelFactor3< Pose3, Pose3, OrientedPlane3 >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor3< Pose3, Pose3, OrientedPlane3 >	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 Attributes
OrientedPlane3	measured_p_

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

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

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactor3< Pose3, Pose3, OrientedPlane3 >
typedef Pose3	X1

typedef Pose3	X2

typedef OrientedPlane3	X3

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 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...

Constructor & Destructor Documentation

◆ LocalOrientedPlane3Factor()

gtsam::LocalOrientedPlane3Factor::LocalOrientedPlane3Factor	(	const Vector4 &	z,
		const SharedGaussian &	noiseModel,
		Key	poseKey,
		Key	anchorPoseKey,
		Key	landmarkKey
	)

inline

Constructor with measured plane (a,b,c,d) coefficients.

Parameters

z	measured plane (a,b,c,d) coefficients as 4D vector
noiseModel	noiseModel Gaussian noise model
poseKey	Key or symbol for unknown pose
anchorPoseKey	Key or symbol for the plane's linearization point, (called the "anchor pose").
landmarkKey	Key or symbol for unknown planar landmark

Note: The anchorPoseKey can simply be chosen as the first pose a plane is observed.

Member Function Documentation

◆ evaluateError()

Vector gtsam::LocalOrientedPlane3Factor::evaluateError	(	const Pose3 &	,
		const Pose3 &	,
		const OrientedPlane3 &	,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`,
		boost::optional< Matrix & >	H3 = `boost::none`
	)		const

overridevirtual

Override this method to finish implementing a trinary factor.

If any of the optional Matrix reference arguments are specified, it should compute both the function evaluation and its derivative(s) in X1 (and/or X2, X3).

Implements gtsam::NoiseModelFactor3< Pose3, Pose3, OrientedPlane3 >.

◆ print()

void gtsam::LocalOrientedPlane3Factor::print	(	const std::string &	s = `"LocalOrientedPlane3Factor"`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

overridevirtual

print

Reimplemented from gtsam::NoiseModelFactor.

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

/Users/dellaert/git/github/gtsam_unstable/slam/LocalOrientedPlane3Factor.h
/Users/dellaert/git/github/gtsam_unstable/slam/LocalOrientedPlane3Factor.cpp

Detailed Description

Public Member Functions

Protected Types

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ LocalOrientedPlane3Factor()

Member Function Documentation

◆ evaluateError()

◆ print()