g2o::EdgeProjectP2MC Class Reference

#include <edge_project_p2mc.h>

Inheritance diagram for g2o::EdgeProjectP2MC:

Collaboration diagram for g2o::EdgeProjectP2MC:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	EdgeProjectP2MC ()
virtual bool	read (std::istream &is)
	read the vertex from a stream, i.e., the internal state of the vertex
virtual bool	write (std::ostream &os) const
	write the vertex to a stream
virtual void	computeError ()
	return the error estimate as a 2-vector
virtual void	linearizeOplus ()
	Jacobian for monocular projection.
Public Member Functions inherited from g2o::BaseBinaryEdge< 2, Vector2, VertexPointXYZ, VertexCam >
	BaseBinaryEdge ()
Public Member Functions inherited from g2o::BaseFixedSizedEdge< D, E, VertexTypes >
template<int VertexN>
constexpr std::enable_if< VertexXnType< VertexN >::Dimension!=-1, int >::type	vertexDimension () const
template<int VertexN>
std::enable_if< VertexXnType< VertexN >::Dimension==-1, int >::type	vertexDimension () const
template<int VertexN>
const VertexXnType< VertexN > *	vertexXn () const
template<int VertexN>
VertexXnType< VertexN > *	vertexXn ()
	BaseFixedSizedEdge ()
template<typename... CtorArgs>
OptimizableGraph::Vertex *	createVertex (int i, CtorArgs... args)
	create an instance of the Nth VertexType
virtual void	resize (size_t size)
template<std::size_t... Ints>
bool	allVerticesFixedNs (std::index_sequence< Ints... >) const
virtual bool	allVerticesFixed () const
virtual void	linearizeOplus (JacobianWorkspace &jacobianWorkspace)
template<std::size_t... Ints>
void	linearizeOplus_allocate (JacobianWorkspace &jacobianWorkspace, std::index_sequence< Ints... >)
template<std::size_t... Ints>
void	linearizeOplusNs (std::index_sequence< Ints... >)
template<int N>
void	linearizeOplusN ()
template<int N>
const std::tuple_element< N, std::tuple< JacobianType< D, VertexTypes::Dimension >... > >::type &	jacobianOplusXn () const
template<int N>
std::tuple_element< N, std::tuple< JacobianType< D, VertexTypes::Dimension >... > >::type &	jacobianOplusXn ()
virtual void	constructQuadraticForm ()
template<std::size_t... Ints>
void	constructQuadraticFormNs (const InformationType &omega, const ErrorVector &weightedError, std::index_sequence< Ints... >)
template<int N>
void	constructQuadraticFormN (const InformationType &omega, const ErrorVector &weightedError)
template<int N, typename AtOType >
void	constructOffDiagonalQuadraticFormMs (const AtOType &, std::index_sequence<>)
template<int N, std::size_t... Ints, typename AtOType >
void	constructOffDiagonalQuadraticFormMs (const AtOType &AtO, std::index_sequence< Ints... >)
template<int N, int M, typename AtOType >
void	constructOffDiagonalQuadraticFormM (const AtOType &AtO)
virtual void	mapHessianMemory (double *d, int i, int j, bool rowMajor)
template<std::size_t... Ints>
bool	allVerticesFixedNs (std::index_sequence< Ints... >) const
template<std::size_t... Ints>
void	constructQuadraticFormNs (const InformationType &omega, const ErrorVector &weightedError, std::index_sequence< Ints... >)
template<int N, typename AtOType >
void	constructOffDiagonalQuadraticFormMs (const AtOType &, std::index_sequence<>)
template<int N, std::size_t... Ints, typename AtOType >
void	constructOffDiagonalQuadraticFormMs (const AtOType &AtO, std::index_sequence< Ints... >)
template<int N, int M, typename AtOType >
void	constructOffDiagonalQuadraticFormM (const AtOType &AtO)
template<int N>
void	constructQuadraticFormN (const InformationType &omega, const ErrorVector &weightedError)
template<std::size_t... Ints>
void	linearizeOplus_allocate (JacobianWorkspace &jacobianWorkspace, std::index_sequence< Ints... >)
template<int N>
void	linearizeOplusN ()
template<std::size_t... Ints>
void	linearizeOplusNs (std::index_sequence< Ints... >)
Public Member Functions inherited from g2o::BaseEdge< D, E >
	BaseEdge ()
BaseEdge &	operator= (const BaseEdge &)=delete
	BaseEdge (const BaseEdge &)=delete
virtual	~BaseEdge ()
virtual double	chi2 () const
virtual const double *	errorData () const
	returns the error vector cached after calling the computeError;
virtual double *	errorData ()
const ErrorVector &	error () const
ErrorVector &	error ()
EIGEN_STRONG_INLINE const InformationType &	information () const
	information matrix of the constraint
EIGEN_STRONG_INLINE InformationType &	information ()
void	setInformation (const InformationType &information)
virtual const double *	informationData () const
virtual double *	informationData ()
EIGEN_STRONG_INLINE const Measurement &	measurement () const
	accessor functions for the measurement represented by the edge
virtual void	setMeasurement (const Measurement &m)
virtual int	rank () const
virtual void	initialEstimate (const OptimizableGraph::VertexSet &, OptimizableGraph::Vertex *)
template<int Dim = D>
std::enable_if< Dim==-1, void >::type	setDimension (int dim)
Public Member Functions inherited from g2o::OptimizableGraph::Edge
	Edge ()
virtual	~Edge ()
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
void	setRobustKernel (RobustKernel *ptr)
virtual double	initialEstimatePossible (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to)
int	level () const
	returns the level of the edge
void	setLevel (int l)
	sets the level of the edge
int	dimension () const
	returns the dimensions of the error function
	G2O_ATTRIBUTE_DEPRECATED (virtual Vertex *createFrom())
	G2O_ATTRIBUTE_DEPRECATED (virtual Vertex *createTo())
virtual Vertex *	createVertex (int)
long long	internalId () const
	the internal ID of the edge
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
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 ()
Public Member Functions inherited from g2o::HyperGraph::DataContainer
	DataContainer ()
virtual	~DataContainer ()
const Data *	userData () const
	the user data associated with this vertex
Data *	userData ()
void	setUserData (Data *obs)
void	addUserData (Data *obs)

Additional Inherited Members
Public Types inherited from g2o::BaseBinaryEdge< 2, Vector2, VertexPointXYZ, VertexCam >
using	VertexXiType = VertexPointXYZ
using	VertexXjType = VertexCam
Public Types inherited from g2o::BaseFixedSizedEdge< D, E, VertexTypes >
template<int N, typename... Types>
using	NthType = typename std::tuple_element< N, std::tuple< Types... > >::type
template<int VertexN>
using	VertexXnType = NthType< VertexN, VertexTypes... >
	The type of the N-th vertex.
typedef BaseEdge< D, E >::Measurement	Measurement
typedef BaseEdge< D, E >::ErrorVector	ErrorVector
typedef BaseEdge< D, E >::InformationType	InformationType
template<int EdgeDimension, int VertexDimension>
using	JacobianType = typename Eigen::Matrix< double, EdgeDimension, VertexDimension, EdgeDimension==1 ? Eigen::RowMajor :Eigen::ColMajor >::AlignedMapType
template<int DN, int DM>
using	HessianBlockType = Eigen::Map< Eigen::Matrix< double, DN, DM, DN==1 ? Eigen::RowMajor :Eigen::ColMajor >, Eigen::Matrix< double, DN, DM, DN==1 ? Eigen::RowMajor :Eigen::ColMajor >::Flags &Eigen::PacketAccessBit ? Eigen::Aligned :Eigen::Unaligned >
	it requires quite some ugly code to get the type of hessians...
template<int K>
using	HessianBlockTypeK = HessianBlockType< VertexXnType< internal::index_to_pair(K).first >::Dimension, VertexXnType< internal::index_to_pair(K).second >::Dimension >
template<int K>
using	HessianBlockTypeKTransposed = HessianBlockType< VertexXnType< internal::index_to_pair(K).second >::Dimension, VertexXnType< internal::index_to_pair(K).first >::Dimension >
using	HessianTuple = typename HessianTupleType< std::make_index_sequence< _nr_of_vertex_pairs > >::type
using	HessianTupleTransposed = typename HessianTupleType< std::make_index_sequence< _nr_of_vertex_pairs > >::typeTransposed
using	HessianRowMajorStorage = std::array< bool, _nr_of_vertex_pairs >
Public Types inherited from g2o::BaseEdge< D, E >
typedef E	Measurement
typedef internal::BaseEdgeTraits< D >::ErrorVector	ErrorVector
typedef internal::BaseEdgeTraits< D >::InformationType	InformationType
Static Public Member Functions inherited from g2o::BaseFixedSizedEdge< D, E, VertexTypes >
template<int VertexN>
static constexpr int	VertexDimension ()
	Size of the N-th vertex at compile time.
Static Public Attributes inherited from g2o::BaseFixedSizedEdge< D, E, VertexTypes >
static const int	Dimension = BaseEdge<D, E>::Dimension
static const std::size_t	_nr_of_vertices = sizeof...(VertexTypes)
static const std::size_t	_nr_of_vertex_pairs
Static Public Attributes inherited from g2o::BaseEdge< D, E >
static constexpr int	Dimension = internal::BaseEdgeTraits<D>::Dimension
Protected Member Functions inherited from g2o::BaseEdge< D, E >
InformationType	robustInformation (const Vector3 &rho) const
bool	writeInformationMatrix (std::ostream &os) const
	write the upper trinagular part of the information matrix into the stream
bool	readInformationMatrix (std::istream &is)
bool	writeParamIds (std::ostream &os) const
	write the param IDs that are potentially used by the edge
bool	readParamIds (std::istream &is)
	reads the param IDs from the stream
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, Vector2, VertexPointXYZ, VertexCam >
BaseFixedSizedEdge< D, Vector2, VertexPointXYZ, VertexCam >::template JacobianType< D, VertexXi::Dimension > &	_jacobianOplusXi
BaseFixedSizedEdge< D, Vector2, VertexPointXYZ, VertexCam >::template JacobianType< D, VertexXj::Dimension > &	_jacobianOplusXj
Protected Attributes inherited from g2o::BaseFixedSizedEdge< D, E, VertexTypes >
HessianRowMajorStorage	_hessianRowMajor
HessianTuple	_hessianTuple
HessianTupleTransposed	_hessianTupleTransposed
std::tuple< JacobianType< D, VertexTypes::Dimension >... >	_jacobianOplus
Protected Attributes inherited from g2o::BaseEdge< D, E >
Measurement	_measurement
	the measurement of the edge
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
Protected Attributes inherited from g2o::HyperGraph::DataContainer
Data *	_userData

Detailed Description

Definition at line 39 of file edge_project_p2mc.h.

Constructor & Destructor Documentation

EdgeProjectP2MC()

g2o::EdgeProjectP2MC::EdgeProjectP2MC

(

)

Definition at line 32 of file edge_project_p2mc.cpp.

    : BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexCam>() {
  information().setIdentity();
}

References g2o::BaseEdge< D, E >::information().

Member Function Documentation

computeError()

void g2o::EdgeProjectP2MC::computeError ( )

virtual

return the error estimate as a 2-vector

Implements g2o::OptimizableGraph::Edge.

Definition at line 49 of file edge_project_p2mc.cpp.

                                   {
  // from <Point> to <Cam>
  const VertexPointXYZ* point =
      static_cast<const VertexPointXYZ*>(_vertices[0]);
  const VertexCam* cam = static_cast<const VertexCam*>(_vertices[1]);
 
  // calculate the projection
  const Vector3& pt = point->estimate();
  Vector4 ppt(pt(0), pt(1), pt(2), 1);
  Vector3 p = cam->estimate().w2i * ppt;
  Vector2 perr;
  perr = p.head<2>() / p(2);
 
  // error, which is backwards from the normal observed - calculated
  // _measurement is the measured projection
  _error = perr - _measurement;
}

References g2o::BaseEdge< D, E >::_error, g2o::BaseEdge< D, E >::_measurement, g2o::HyperGraph::Edge::_vertices, g2o::BaseVertex< D, T >::estimate(), and g2o::SBACam::w2i.

linearizeOplus()

void g2o::EdgeProjectP2MC::linearizeOplus ( )

virtual

Jacobian for monocular projection.

Reimplemented from g2o::BaseFixedSizedEdge< D, E, VertexTypes >.

Definition at line 67 of file edge_project_p2mc.cpp.

                                     {
  VertexCam* vc = static_cast<VertexCam*>(_vertices[1]);
  const SBACam& cam = vc->estimate();
 
  VertexPointXYZ* vp = static_cast<VertexPointXYZ*>(_vertices[0]);
  Vector4 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
  Vector3 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
 
  // check for local vars
  Vector3 pwt =
      (pt - trans)
          .head<3>();  // transform translations, use differential rotation
 
  // dx
  Vector3 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;
  // 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;
  // 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;
 
  // 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;
  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;
  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;
 
  // 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;
  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;
  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;
}

References g2o::BaseBinaryEdge< 2, Vector2, VertexPointXYZ, VertexCam >::_jacobianOplusXi, g2o::BaseBinaryEdge< 2, Vector2, VertexPointXYZ, VertexCam >::_jacobianOplusXj, g2o::HyperGraph::Edge::_vertices, 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.

read()

bool g2o::EdgeProjectP2MC::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 37 of file edge_project_p2mc.cpp.

                                         {
  // measured keypoint
  internal::readVector(is, _measurement);
  return readInformationMatrix(is);
}

References g2o::BaseEdge< D, E >::_measurement, g2o::BaseEdge< D, E >::readInformationMatrix(), and g2o::internal::readVector().

write()

bool g2o::EdgeProjectP2MC::write ( std::ostream &  os ) const

virtual

write the vertex to a stream

Implements g2o::OptimizableGraph::Edge.

Definition at line 43 of file edge_project_p2mc.cpp.

                                                {
  internal::writeVector(os, measurement());
  writeInformationMatrix(os);
  return os.good();
}

References g2o::BaseEdge< D, E >::measurement(), g2o::BaseEdge< D, E >::writeInformationMatrix(), and g2o::internal::writeVector().

---

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

• /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2mc.h
• /build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2mc.cpp