edge representing the observation of a world feature by a camera More...

Inheritance diagram for EdgeObservationBAL:

[legend]

Collaboration diagram for EdgeObservationBAL:

[legend]

Public Member Functions
	EdgeObservationBAL ()

virtual bool	read (std::istream &)
	read the vertex from a stream, i.e., the internal state of the vertex More...

virtual bool	write (std::ostream &) const
	write the vertex to a stream More...

template<typename T >
void	cross (const T x[3], const T y[3], T result[3]) const

template<typename T >
T	dot (const T x[3], const T y[3]) const

template<typename T >
T	squaredNorm (const T x[3]) const

template<typename T >
bool	operator() (const T camera, const T point, T *error) const

void	computeError ()

void	linearizeOplus ()

Public Member Functions inherited from g2o::BaseBinaryEdge< 2, Vector2d, VertexCameraBAL, VertexPointBAL >
	BaseBinaryEdge ()

virtual OptimizableGraph::Vertex *	createFrom ()

virtual OptimizableGraph::Vertex *	createTo ()

virtual OptimizableGraph::Vertex *	createVertex (int i)

virtual void	resize (size_t size)

virtual bool	allVerticesFixed () const

virtual void	linearizeOplus (JacobianWorkspace &jacobianWorkspace)

const JacobianXiOplusType &	jacobianOplusXi () const
	returns the result of the linearization in the manifold space for the node xi More...

const JacobianXjOplusType &	jacobianOplusXj () const
	returns the result of the linearization in the manifold space for the node xj More...

virtual void	constructQuadraticForm ()

virtual void	mapHessianMemory (double *d, int i, int j, bool rowMajor)

Public Member Functions inherited from g2o::BaseEdge< D, Vector2d >
	BaseEdge ()

virtual	~BaseEdge ()

virtual double	chi2 () const
	computes the chi2 based on the cached error value, only valid after computeError has been called. More...

virtual const double *	errorData () const
	returns the error vector cached after calling the computeError; More...

virtual double *	errorData ()

const ErrorVector &	error () const

ErrorVector &	error ()

EIGEN_STRONG_INLINE const InformationType &	information () const
	information matrix of the constraint More...

EIGEN_STRONG_INLINE InformationType &	information ()

EIGEN_STRONG_INLINE void	setInformation (const InformationType &information)

virtual const double *	informationData () const
	returns the memory of the information matrix, usable for example with a Eigen::Map<MatrixXD> More...

virtual double *	informationData ()

EIGEN_STRONG_INLINE const Measurement &	measurement () const
	accessor functions for the measurement represented by the edge More...

virtual void	setMeasurement (const Measurement &m)

virtual int	rank () const

virtual void	initialEstimate (const OptimizableGraph::VertexSet &, OptimizableGraph::Vertex *)

Public Member Functions inherited from g2o::OptimizableGraph::Edge
	Edge ()

virtual	~Edge ()

virtual Edge *	clone () const

virtual bool	setMeasurementData (const double *m)

virtual bool	getMeasurementData (double *m) const

virtual int	measurementDimension () const

virtual bool	setMeasurementFromState ()

RobustKernel *	robustKernel () const
	if NOT NULL, error of this edge will be robustifed with the kernel More...

void	setRobustKernel (RobustKernel *ptr)

virtual double	initialEstimatePossible (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to)

int	level () const
	returns the level of the edge More...

void	setLevel (int l)
	sets the level of the edge More...

int	dimension () const
	returns the dimensions of the error function More...

	G2O_ATTRIBUTE_DEPRECATED (virtual Vertex *createFrom())

	G2O_ATTRIBUTE_DEPRECATED (virtual Vertex *createTo())

long long	internalId () const
	the internal ID of the edge More...

OptimizableGraph *	graph ()

const OptimizableGraph *	graph () const

bool	setParameterId (int argNum, int paramId)

const Parameter *	parameter (int argNo) const

size_t	numParameters () const

void	resizeParameters (size_t newSize)

Public Member Functions inherited from g2o::HyperGraph::Edge
	Edge (int id=InvalidId)
	creates and empty edge with no vertices More...

const VertexContainer &	vertices () const

VertexContainer &	vertices ()

const Vertex *	vertex (size_t i) const

Vertex *	vertex (size_t i)

void	setVertex (size_t i, Vertex *v)

int	id () const

void	setId (int id)

virtual HyperGraphElementType	elementType () const

int	numUndefinedVertices () const

Public Member Functions inherited from g2o::HyperGraph::HyperGraphElement
virtual	~HyperGraphElement ()

HyperGraphElement *	clone () const

Public Member Functions inherited from g2o::HyperGraph::DataContainer
	DataContainer ()

virtual	~DataContainer ()

const Data *	userData () const
	the user data associated with this vertex More...

Data *	userData ()

void	setUserData (Data *obs)

void	addUserData (Data *obs)

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Additional Inherited Members
Public Types inherited from g2o::BaseBinaryEdge< 2, Vector2d, VertexCameraBAL, VertexPointBAL >
typedef VertexCameraBAL	VertexXiType

typedef VertexPointBAL	VertexXjType

typedef BaseEdge< D, Vector2d >::Measurement	Measurement

typedef Eigen::Matrix< double, D, Di, D==1?Eigen::RowMajor:Eigen::ColMajor >::AlignedMapType	JacobianXiOplusType

typedef Eigen::Matrix< double, D, Dj, D==1?Eigen::RowMajor:Eigen::ColMajor >::AlignedMapType	JacobianXjOplusType

typedef BaseEdge< D, Vector2d >::ErrorVector	ErrorVector

typedef BaseEdge< D, Vector2d >::InformationType	InformationType

typedef Eigen::Map< Eigen::Matrix< double, Di, Dj, Di==1?Eigen::RowMajor:Eigen::ColMajor >, Eigen::Matrix< double, Di, Dj, Di==1?Eigen::RowMajor:Eigen::ColMajor >::Flags &Eigen::AlignedBit?Eigen::Aligned:Eigen::Unaligned >	HessianBlockType

typedef Eigen::Map< Eigen::Matrix< double, Dj, Di, Dj==1?Eigen::RowMajor:Eigen::ColMajor >, Eigen::Matrix< double, Dj, Di, Dj==1?Eigen::RowMajor:Eigen::ColMajor >::Flags &Eigen::AlignedBit?Eigen::Aligned:Eigen::Unaligned >	HessianBlockTransposedType

Public Types inherited from g2o::BaseEdge< D, Vector2d >
typedef Vector2d	Measurement

typedef Eigen::Matrix< double, D, 1, Eigen::ColMajor >	ErrorVector

typedef Eigen::Matrix< double, D, D, Eigen::ColMajor >	InformationType

Static Public Attributes inherited from g2o::BaseBinaryEdge< 2, Vector2d, VertexCameraBAL, VertexPointBAL >
static const int	Di

static const int	Dj

static const int	Dimension

Static Public Attributes inherited from g2o::BaseEdge< D, Vector2d >
static const int	Dimension

Protected Member Functions inherited from g2o::BaseEdge< D, Vector2d >
InformationType	robustInformation (const Vector3D &rho)

Protected Member Functions inherited from g2o::OptimizableGraph::Edge
template<typename ParameterType >
bool	installParameter (ParameterType *&p, size_t argNo, int paramId=-1)

template<typename CacheType >
void	resolveCache (CacheType &cache, OptimizableGraph::Vertex , const std::string &_type, const ParameterVector &parameters)

bool	resolveParameters ()

virtual bool	resolveCaches ()

Protected Attributes inherited from g2o::BaseBinaryEdge< 2, Vector2d, VertexCameraBAL, VertexPointBAL >
bool	_hessianRowMajor

HessianBlockType	_hessian

HessianBlockTransposedType	_hessianTransposed

JacobianXiOplusType	_jacobianOplusXi

JacobianXjOplusType	_jacobianOplusXj

Protected Attributes inherited from g2o::BaseEdge< D, Vector2d >
Measurement	_measurement

InformationType	_information

ErrorVector	_error

Protected Attributes inherited from g2o::OptimizableGraph::Edge
int	_dimension

int	_level

RobustKernel *	_robustKernel

long long	_internalId

std::vector< int >	_cacheIds

std::vector< std::string >	_parameterTypes

std::vector< Parameter ** >	_parameters

std::vector< int >	_parameterIds

Protected Attributes inherited from g2o::HyperGraph::Edge
VertexContainer	_vertices

int	_id
	unique id More...

Protected Attributes inherited from g2o::HyperGraph::DataContainer
Data *	_userData

Detailed Description

edge representing the observation of a world feature by a camera

see: http://grail.cs.washington.edu/projects/bal/ We use a pinhole camera model; the parameters we estimate for each camera area rotation R, a translation t, a focal length f and two radial distortion parameters k1 and k2. The formula for projecting a 3D point X into a camera R,t,f,k1,k2 is: P = R * X + t (conversion from world to camera coordinates) p = -P / P.z (perspective division) p' = f * r(p) * p (conversion to pixel coordinates) where P.z is the third (z) coordinate of P.

In the last equation, r(p) is a function that computes a scaling factor to undo the radial distortion: r(p) = 1.0 + k1 * ||p||^2 + k2 * ||p||^4.

This gives a projection in pixels, where the origin of the image is the center of the image, the positive x-axis points right, and the positive y-axis points up (in addition, in the camera coordinate system, the positive z-axis points backwards, so the camera is looking down the negative z-axis, as in OpenGL).

Definition at line 156 of file bal_example.cpp.

Constructor & Destructor Documentation

EdgeObservationBAL::EdgeObservationBAL ( )

inline

Definition at line 160 of file bal_example.cpp.

161 {

162 }

Member Function Documentation

void EdgeObservationBAL::computeError ( )

inlinevirtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 246 of file bal_example.cpp.

References g2o::BaseVertex< D, T >::estimate().

     {
       const VertexCameraBAL* cam = static_cast<const VertexCameraBAL*>(vertex(0));
       const VertexPointBAL* point = static_cast<const VertexPointBAL*>(vertex(1));
 
       (*this)(cam->estimate().data(), point->estimate().data(), _error.data());
     }

template<typename T >

void EdgeObservationBAL::cross	(	const T	x[3],
		const T	y[3],
		T	result[3]
	)		const

inline

Definition at line 175 of file bal_example.cpp.

     {
       result[0] = x[1] * y[2] - x[2] * y[1];
       result[1] = x[2] * y[0] - x[0] * y[2];
       result[2] = x[0] * y[1] - x[1] * y[0];
     }

template<typename T >

T EdgeObservationBAL::dot	(	const T	x[3],
		const T	y[3]
	)		const

inline

Definition at line 183 of file bal_example.cpp.

183 { return (x[0] * y[0] + x[1] * y[1] + x[2] * y[2]);}

void EdgeObservationBAL::linearizeOplus ( )

inlinevirtual

Linearizes the oplus operator in the vertex, and stores the result in temporary variables _jacobianOplusXi and _jacobianOplusXj

Reimplemented from g2o::BaseBinaryEdge< 2, Vector2d, VertexCameraBAL, VertexPointBAL >.

Definition at line 254 of file bal_example.cpp.

References g2o::BaseVertex< D, T >::estimate().

     {
       // use numeric Jacobians
       //BaseBinaryEdge<2, Vector2d, VertexCameraBAL, VertexPointBAL>::linearizeOplus();
       //return;
 
       const VertexCameraBAL* cam = static_cast<const VertexCameraBAL*>(vertex(0));
       const VertexPointBAL* point = static_cast<const VertexPointBAL*>(vertex(1));
       typedef ceres::internal::AutoDiff<EdgeObservationBAL, double, VertexCameraBAL::Dimension, VertexPointBAL::Dimension> BalAutoDiff;
 
       Matrix<double, Dimension, VertexCameraBAL::Dimension, Eigen::RowMajor> dError_dCamera;
       Matrix<double, Dimension, VertexPointBAL::Dimension, Eigen::RowMajor> dError_dPoint;
       double *parameters[] = { const_cast<double*>(cam->estimate().data()), const_cast<double*>(point->estimate().data()) };
       double *jacobians[] = { dError_dCamera.data(), dError_dPoint.data() };
       double value[Dimension];
       bool diffState = BalAutoDiff::Differentiate(*this, parameters, Dimension, value, jacobians);
 
       // copy over the Jacobians (convert row-major -> column-major)
       if (diffState) {
         _jacobianOplusXi = dError_dCamera;
         _jacobianOplusXj = dError_dPoint;
       } else {
         assert(0 && "Error while differentiating");
         _jacobianOplusXi.setZero();
         _jacobianOplusXi.setZero();
       }
     }

template<typename T >

bool EdgeObservationBAL::operator()	(	const T *	camera,
		const T *	point,
		T *	error
	)		const

inline

templatized function to compute the error as described in the comment above

Definition at line 192 of file bal_example.cpp.

     {
       // Rodrigues' formula for the rotation
       T p[3];
       T theta = sqrt(squaredNorm(camera));
       if (theta > T(0)) {
         T v[3];
         v[0] = camera[0] / theta;
         v[1] = camera[1] / theta;
         v[2] = camera[2] / theta;
         T cth = cos(theta);
         T sth = sin(theta);
 
         T vXp[3];
         cross(v, point, vXp);
         T vDotp = dot(v, point);
         T oneMinusCth = T(1) - cth;
 
         for (int i = 0; i < 3; ++i)
           p[i] = point[i] * cth + vXp[i] * sth + v[i] * vDotp * oneMinusCth;
       } else {
         // taylor expansion for theta close to zero
         T aux[3];
         cross(camera, point, aux);
         for (int i = 0; i < 3; ++i)
           p[i] = point[i] + aux[i];
       }
 
       // translation of the camera
       p[0] += camera[3];
       p[1] += camera[4];
       p[2] += camera[5];
 
       // perspective division
       T projectedPoint[2];
       projectedPoint[0] = - p[0] / p[2];
       projectedPoint[1] = - p[1] / p[2];
 
       // conversion to pixel coordinates
       T radiusSqr = projectedPoint[0]*projectedPoint[0] + projectedPoint[1]*projectedPoint[1];
       T f         = T(camera[6]);
       T k1        = T(camera[7]);
       T k2        = T(camera[8]);
       T r_p       = T(1) + k1 * radiusSqr + k2 * radiusSqr * radiusSqr;
       T prediction[2];
       prediction[0] = f * r_p * projectedPoint[0];
       prediction[1] = f * r_p * projectedPoint[1];
 
       error[0] = prediction[0] - T(measurement()(0));
       error[1] = prediction[1] - T(measurement()(1));
 
       return true;
     }

virtual bool EdgeObservationBAL::read ( std::istream & is )

inlinevirtual

read the vertex from a stream, i.e., the internal state of the vertex

Implements g2o::OptimizableGraph::Edge.

Definition at line 163 of file bal_example.cpp.

References __PRETTY_FUNCTION__.

     {
       cerr << __PRETTY_FUNCTION__ << " not implemented yet" << endl;
       return false;
     }

template<typename T >

T EdgeObservationBAL::squaredNorm ( const T x[3] ) const

inline

Definition at line 186 of file bal_example.cpp.

186 { return dot<T>(x, x);}

virtual bool EdgeObservationBAL::write ( std::ostream & os ) const

inlinevirtual

write the vertex to a stream

Implements g2o::OptimizableGraph::Edge.

Definition at line 168 of file bal_example.cpp.

References __PRETTY_FUNCTION__.

     {
       cerr << __PRETTY_FUNCTION__ << " not implemented yet" << endl;
       return false;
     }

Member Data Documentation

EdgeObservationBAL::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 159 of file bal_example.cpp.

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

/home/xuezhisd/CLionProjects/g2o/g2o/examples/bal/bal_example.cpp

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation