gtsam 4.2.0
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SmartProjectionPoseFactor.h
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1/* ----------------------------------------------------------------------------
2
3 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4 * Atlanta, Georgia 30332-0415
5 * All Rights Reserved
6 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7
8 * See LICENSE for the license information
9
10 * -------------------------------------------------------------------------- */
11
20#pragma once
21
23
24namespace gtsam {
44template <class CALIBRATION>
46 : public SmartProjectionFactor<PinholePose<CALIBRATION> > {
47 private:
48 typedef PinholePose<CALIBRATION> Camera;
51
52protected:
53
54 boost::shared_ptr<CALIBRATION> K_;
55
56public:
57
59 typedef boost::shared_ptr<This> shared_ptr;
60
65
73 const SharedNoiseModel& sharedNoiseModel,
74 const boost::shared_ptr<CALIBRATION> K,
76 : Base(sharedNoiseModel, params), K_(K) {
77 }
78
87 const SharedNoiseModel& sharedNoiseModel,
88 const boost::shared_ptr<CALIBRATION> K,
89 const boost::optional<Pose3> body_P_sensor,
91 : SmartProjectionPoseFactor(sharedNoiseModel, K, params) {
92 this->body_P_sensor_ = body_P_sensor;
93 }
94
97 }
98
104 void print(const std::string& s = "", const KeyFormatter& keyFormatter =
105 DefaultKeyFormatter) const override {
106 std::cout << s << "SmartProjectionPoseFactor, z = \n ";
107 Base::print("", keyFormatter);
108 }
109
111 bool equals(const NonlinearFactor& p, double tol = 1e-9) const override {
112 const This *e = dynamic_cast<const This*>(&p);
113 return e && Base::equals(p, tol);
114 }
115
119 double error(const Values& values) const override {
120 if (this->active(values)) {
121 return this->totalReprojectionError(cameras(values));
122 } else { // else of active flag
123 return 0.0;
124 }
125 }
126
128 inline const boost::shared_ptr<CALIBRATION> calibration() const {
129 return K_;
130 }
131
138 typename Base::Cameras cameras(const Values& values) const override {
139 typename Base::Cameras cameras;
140 for (const Key& k : this->keys_) {
141 const Pose3 world_P_sensor_k =
142 Base::body_P_sensor_ ? values.at<Pose3>(k) * *Base::body_P_sensor_
143 : values.at<Pose3>(k);
144 cameras.emplace_back(world_P_sensor_k, K_);
145 }
146 return cameras;
147 }
148
149 private:
150
153 template<class ARCHIVE>
154 void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
155 ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
156 ar & BOOST_SERIALIZATION_NVP(K_);
157 }
158};
159// end of class declaration
160
162template<class CALIBRATION>
163struct traits<SmartProjectionPoseFactor<CALIBRATION> > : public Testable<
164 SmartProjectionPoseFactor<CALIBRATION> > {
165};
166
167} // \ namespace gtsam
Smart factor on cameras (pose + calibration)
Global functions in a separate testing namespace.
Definition chartTesting.h:28
noiseModel::Base::shared_ptr SharedNoiseModel
Aliases.
Definition NoiseModel.h:724
std::uint64_t Key
Integer nonlinear key type.
Definition types.h:100
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Definition Key.h:35
A manifold defines a space in which there is a notion of a linear tangent space that can be centered ...
Definition concepts.h:30
A helper that implements the traits interface for GTSAM types.
Definition Testable.h:151
A pinhole camera class that has a Pose3 and a fixed Calibration.
Definition PinholePose.h:243
A 3D pose (R,t) : (Rot3,Point3)
Definition Pose3.h:37
KeyVector keys_
The keys involved in this factor.
Definition Factor.h:85
Nonlinear factor base class.
Definition NonlinearFactor.h:42
virtual bool active(const Values &) const
Checks whether a factor should be used based on a set of values.
Definition NonlinearFactor.h:118
A non-templated config holding any types of Manifold-group elements.
Definition Values.h:65
const ValueType at(Key j) const
Retrieve a variable by key j.
Definition Values-inl.h:361
boost::optional< Pose3 > body_P_sensor_
Pose of the camera in the body frame.
Definition SmartFactorBase.h:82
Definition SmartFactorParams.h:42
SmartProjectionFactor: triangulates point and keeps an estimate of it around.
Definition SmartProjectionFactor.h:45
double totalReprojectionError(const Cameras &cameras, boost::optional< Point3 > externalPoint=boost::none) const
Calculate the error of the factor.
Definition SmartProjectionFactor.h:411
If you are using the factor, please cite: L.
Definition SmartProjectionPoseFactor.h:46
bool equals(const NonlinearFactor &p, double tol=1e-9) const override
equals
Definition SmartProjectionPoseFactor.h:111
SmartProjectionPoseFactor(const SharedNoiseModel &sharedNoiseModel, const boost::shared_ptr< CALIBRATION > K, const SmartProjectionParams &params=SmartProjectionParams())
Constructor.
Definition SmartProjectionPoseFactor.h:72
Base::Cameras cameras(const Values &values) const override
Collect all cameras involved in this factor.
Definition SmartProjectionPoseFactor.h:138
double error(const Values &values) const override
error calculates the error of the factor.
Definition SmartProjectionPoseFactor.h:119
boost::shared_ptr< This > shared_ptr
shorthand for a smart pointer to a factor
Definition SmartProjectionPoseFactor.h:59
boost::shared_ptr< CALIBRATION > K_
calibration object (one for all cameras)
Definition SmartProjectionPoseFactor.h:54
~SmartProjectionPoseFactor() override
Virtual destructor.
Definition SmartProjectionPoseFactor.h:96
void print(const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
print
Definition SmartProjectionPoseFactor.h:104
const boost::shared_ptr< CALIBRATION > calibration() const
return calibration shared pointers
Definition SmartProjectionPoseFactor.h:128
SmartProjectionPoseFactor(const SharedNoiseModel &sharedNoiseModel, const boost::shared_ptr< CALIBRATION > K, const boost::optional< Pose3 > body_P_sensor, const SmartProjectionParams &params=SmartProjectionParams())
Constructor.
Definition SmartProjectionPoseFactor.h:86
friend class boost::serialization::access
Serialization function.
Definition SmartProjectionPoseFactor.h:152
SmartProjectionPoseFactor()
Default constructor, only for serialization.
Definition SmartProjectionPoseFactor.h:64