gtsam 4.1.1 gtsam
gtsam::LocalOrientedPlane3Factor Class Reference

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 SharedNoiseModelnoiseModel () const

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< GaussianFactorlinearize (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.

KeyVectorkeys ()

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 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

Protected Types

typedef NoiseModelFactor3< Pose3, Pose3, OrientedPlane3Base

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

typedef NoiseModelFactor3< Pose3, Pose3, OrientedPlane3This

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.

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< Thisshared_ptr
Noise model.

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 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...

◆ 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.

◆ 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).

◆ 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