#include <types_sba.h>

Inheritance diagram for g2o::EdgeProjectP2SC:

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Collaboration diagram for g2o::EdgeProjectP2SC:

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Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	EdgeProjectP2SC ()

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

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

void	computeError ()

virtual void	linearizeOplus ()
	Jacobian for stereo projection. More...

Public Member Functions inherited from g2o::BaseBinaryEdge< 3, Vector3D, VertexSBAPointXYZ, VertexCam >
	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, Vector3D >
	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)

Additional Inherited Members
Public Types inherited from g2o::BaseBinaryEdge< 3, Vector3D, VertexSBAPointXYZ, VertexCam >
typedef VertexSBAPointXYZ	VertexXiType

typedef VertexCam	VertexXjType

typedef BaseEdge< D, Vector3D >::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, Vector3D >::ErrorVector	ErrorVector

typedef BaseEdge< D, Vector3D >::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, Vector3D >
typedef Vector3D	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< 3, Vector3D, VertexSBAPointXYZ, VertexCam >
static const int	Di

static const int	Dj

static const int	Dimension

Static Public Attributes inherited from g2o::BaseEdge< D, Vector3D >
static const int	Dimension

Protected Member Functions inherited from g2o::BaseEdge< D, Vector3D >
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< 3, Vector3D, VertexSBAPointXYZ, VertexCam >
bool	_hessianRowMajor

HessianBlockType	_hessian

HessianBlockTransposedType	_hessianTransposed

JacobianXiOplusType	_jacobianOplusXi

JacobianXjOplusType	_jacobianOplusXj

Protected Attributes inherited from g2o::BaseEdge< D, Vector3D >
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

Definition at line 198 of file types_sba.h.

Constructor & Destructor Documentation

g2o::EdgeProjectP2SC::EdgeProjectP2SC ( )

Definition at line 224 of file types_sba.cpp.

                                    :
     BaseBinaryEdge<3, Vector3D, VertexSBAPointXYZ, VertexCam>()
   {
   }

Member Function Documentation

void g2o::EdgeProjectP2SC::computeError ( )

inlinevirtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 207 of file types_sba.h.

References g2o::SBACam::baseline, g2o::BaseVertex< D, T >::estimate(), g2o::SBACam::Kcam, g2o::SBACam::w2i, and g2o::SBACam::w2n.

     {
       // from <Point> to <Cam>
       const VertexSBAPointXYZ *point = static_cast<const VertexSBAPointXYZ*>(_vertices[0]);
       VertexCam *cam = static_cast<VertexCam*>(_vertices[1]);
 
       // calculate the projection
       Vector3D kp;
       Vector4D pt;
       pt.head<3>() = point->estimate();
       pt(3) = 1.0;
       const SBACam& nd = cam->estimate();
       // these should be already ok
       /* nd.setTransform(); */
       /* nd.setProjection(); */
       /* nd.setDr(); */
 
       Vector3D p1 = nd.w2i * pt; 
       Vector3D p2 = nd.w2n * pt; 
       Vector3D pb(nd.baseline,0,0);
 
       double invp1 = 1.0/p1(2);
       kp.head<2>() = p1.head<2>()*invp1;
 
       // right camera px
       p2 = nd.Kcam*(p2-pb);
       kp(2) = p2(0)/p2(2);
 
       // std::cout << std::endl << "CAM   " << cam->estimate() << std::endl; 
       // std::cout << "POINT " << pt.transpose() << std::endl; 
       // std::cout << "PROJ  " << p1.transpose() << std::endl; 
       // std::cout << "PROJ  " << p2.transpose() << std::endl; 
       // std::cout << "CPROJ " << kp.transpose() << std::endl; 
       // std::cout << "MEAS  " << _measurement.transpose() << std::endl; 
 
       // error, which is backwards from the normal observed - calculated
       // _measurement is the measured projection
       _error = kp - _measurement;
     }

void g2o::EdgeProjectP2SC::linearizeOplus ( )

virtual

Jacobian for stereo projection.

Reimplemented from g2o::BaseBinaryEdge< 3, Vector3D, VertexSBAPointXYZ, VertexCam >.

Definition at line 250 of file types_sba.cpp.

References g2o::BaseBinaryEdge< 3, Vector3D, VertexSBAPointXYZ, VertexCam >::_jacobianOplusXi, g2o::BaseBinaryEdge< 3, Vector3D, VertexSBAPointXYZ, VertexCam >::_jacobianOplusXj, g2o::HyperGraph::Edge::_vertices, g2o::SBACam::baseline, g2o::SBACam::dRdx, g2o::SBACam::dRdy, g2o::SBACam::dRdz, g2o::BaseVertex< D, T >::estimate(), g2o_isnan, g2o::SBACam::Kcam, g2o::SE3Quat::translation(), and g2o::SBACam::w2n.

   {
     VertexCam *vc = static_cast<VertexCam *>(_vertices[1]);
     const SBACam &cam = vc->estimate();
 
     VertexSBAPointXYZ *vp = static_cast<VertexSBAPointXYZ *>(_vertices[0]);
     Vector4D pt, trans;
     pt.head<3>() = vp->estimate();
     pt(3) = 1.0;
     trans.head<3>() = cam.translation();
     trans(3) = 1.0;
 
     // first get the world point in camera coords
     Eigen::Matrix<double,3,1,Eigen::ColMajor> pc = cam.w2n * pt;
 
     // Jacobians wrt camera parameters
     // set d(quat-x) values [ pz*dpx/dx - px*dpz/dx ] / pz^2
     double px = pc(0);
     double py = pc(1);
     double pz = pc(2);
     double ipz2 = 1.0/(pz*pz);
     if (g2o_isnan(ipz2) ) {
       std::cout << "[SetJac] infinite jac" << std::endl;
       abort();
     }
 
     double ipz2fx = ipz2*cam.Kcam(0,0); // Fx
     double ipz2fy = ipz2*cam.Kcam(1,1); // Fy
     double b      = cam.baseline; // stereo baseline
 
     Eigen::Matrix<double,3,1,Eigen::ColMajor> pwt;
 
     // check for local vars
     pwt = (pt-trans).head<3>(); // transform translations, use differential rotation
 
     // dx
     Eigen::Matrix<double,3,1,Eigen::ColMajor> dp = cam.dRdx * pwt; // dR'/dq * [pw - t]
     _jacobianOplusXj(0,3) = (pz*dp(0) - px*dp(2))*ipz2fx;
     _jacobianOplusXj(1,3) = (pz*dp(1) - py*dp(2))*ipz2fy;
     _jacobianOplusXj(2,3) = (pz*dp(0) - (px-b)*dp(2))*ipz2fx; // right image px
     // dy
     dp = cam.dRdy * pwt; // dR'/dq * [pw - t]
     _jacobianOplusXj(0,4) = (pz*dp(0) - px*dp(2))*ipz2fx;
     _jacobianOplusXj(1,4) = (pz*dp(1) - py*dp(2))*ipz2fy;
     _jacobianOplusXj(2,4) = (pz*dp(0) - (px-b)*dp(2))*ipz2fx; // right image px
     // dz
     dp = cam.dRdz * pwt; // dR'/dq * [pw - t]
     _jacobianOplusXj(0,5) = (pz*dp(0) - px*dp(2))*ipz2fx;
     _jacobianOplusXj(1,5) = (pz*dp(1) - py*dp(2))*ipz2fy;
     _jacobianOplusXj(2,5) = (pz*dp(0) - (px-b)*dp(2))*ipz2fx; // right image px
 
     // set d(t) values [ pz*dpx/dx - px*dpz/dx ] / pz^2
     dp = -cam.w2n.col(0);        // dpc / dx
     _jacobianOplusXj(0,0) = (pz*dp(0) - px*dp(2))*ipz2fx;
     _jacobianOplusXj(1,0) = (pz*dp(1) - py*dp(2))*ipz2fy;
     _jacobianOplusXj(2,0) = (pz*dp(0) - (px-b)*dp(2))*ipz2fx; // right image px
     dp = -cam.w2n.col(1);        // dpc / dy
     _jacobianOplusXj(0,1) = (pz*dp(0) - px*dp(2))*ipz2fx;
     _jacobianOplusXj(1,1) = (pz*dp(1) - py*dp(2))*ipz2fy;
     _jacobianOplusXj(2,1) = (pz*dp(0) - (px-b)*dp(2))*ipz2fx; // right image px
     dp = -cam.w2n.col(2);        // dpc / dz
     _jacobianOplusXj(0,2) = (pz*dp(0) - px*dp(2))*ipz2fx;
     _jacobianOplusXj(1,2) = (pz*dp(1) - py*dp(2))*ipz2fy;
     _jacobianOplusXj(2,2) = (pz*dp(0) - (px-b)*dp(2))*ipz2fx; // right image px
 
     // Jacobians wrt point parameters
     // set d(t) values [ pz*dpx/dx - px*dpz/dx ] / pz^2
     dp = cam.w2n.col(0); // dpc / dx
     _jacobianOplusXi(0,0) = (pz*dp(0) - px*dp(2))*ipz2fx;
     _jacobianOplusXi(1,0) = (pz*dp(1) - py*dp(2))*ipz2fy;
     _jacobianOplusXi(2,0) = (pz*dp(0) - (px-b)*dp(2))*ipz2fx; // right image px
     dp = cam.w2n.col(1); // dpc / dy
     _jacobianOplusXi(0,1) = (pz*dp(0) - px*dp(2))*ipz2fx;
     _jacobianOplusXi(1,1) = (pz*dp(1) - py*dp(2))*ipz2fy;
     _jacobianOplusXi(2,1) = (pz*dp(0) - (px-b)*dp(2))*ipz2fx; // right image px
     dp = cam.w2n.col(2); // dpc / dz
     _jacobianOplusXi(0,2) = (pz*dp(0) - px*dp(2))*ipz2fx;
     _jacobianOplusXi(1,2) = (pz*dp(1) - py*dp(2))*ipz2fy;
     _jacobianOplusXi(2,2) = (pz*dp(0) - (px-b)*dp(2))*ipz2fx; // right image px
   }

bool g2o::EdgeProjectP2SC::read ( std::istream & is )

virtual

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

Implements g2o::OptimizableGraph::Edge.

Definition at line 229 of file types_sba.cpp.

References g2o::BaseEdge< D, Vector3D >::information(), and g2o::BaseEdge< D, Vector3D >::setMeasurement().

   {
     Vector3D meas;
     for (int i=0; i<3; i++)
       is >> meas[i];
     setMeasurement(meas);
     // information matrix is the identity for features, could be changed to allow arbitrary covariances
     information().setIdentity();
     return true;
   }

bool g2o::EdgeProjectP2SC::write ( std::ostream & os ) const

virtual

write the vertex to a stream

Implements g2o::OptimizableGraph::Edge.

Definition at line 240 of file types_sba.cpp.

References g2o::BaseEdge< D, Vector3D >::measurement().

   {
     for (int i=0; i<3; i++)
       os  << measurement()[i] << " ";
     return os.good();
   }

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

/home/xuezhisd/CLionProjects/g2o/g2o/types/sba/types_sba.h
/home/xuezhisd/CLionProjects/g2o/g2o/types/sba/types_sba.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation