#include <edge_project_p2sc.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

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

void	computeError ()
	return the error estimate as a 2-vector

virtual void	linearizeOplus ()
	Jacobian for stereo projection.

Public Member Functions inherited from g2o::BaseBinaryEdge< 3, Vector3, 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< 3, Vector3, 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< 3, Vector3, VertexPointXYZ, VertexCam >
BaseFixedSizedEdge< D, Vector3, VertexPointXYZ, VertexCam >::template JacobianType< D, VertexXi::Dimension > &	_jacobianOplusXi

BaseFixedSizedEdge< D, Vector3, 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_p2sc.h.

Constructor & Destructor Documentation

◆ EdgeProjectP2SC()

g2o::EdgeProjectP2SC::EdgeProjectP2SC ( )

Definition at line 32 of file edge_project_p2sc.cpp.

33 : BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexCam>() {}

Member Function Documentation

◆ computeError()

void g2o::EdgeProjectP2SC::computeError ( )

virtual

return the error estimate as a 2-vector

Implements g2o::OptimizableGraph::Edge.

Definition at line 47 of file edge_project_p2sc.cpp.

                                   {
  // from <Point> to <Cam>
  const VertexPointXYZ* point =
      static_cast<const VertexPointXYZ*>(_vertices[0]);
  VertexCam* cam = static_cast<VertexCam*>(_vertices[1]);
 
  // calculate the projection
  Vector3 kp;
  Vector4 pt;
  pt.head<3>() = point->estimate();
  pt(3) = 1;
  const SBACam& nd = cam->estimate();
  // these should be already ok
  /* nd.setTransform(); */
  /* nd.setProjection(); */
  /* nd.setDr(); */
 
  Vector3 p1 = nd.w2i * pt;
  Vector3 p2 = nd.w2n * pt;
  Vector3 pb(nd.baseline, 0, 0);
 
  double invp1 = cst(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;
}

References g2o::BaseEdge< D, E >::_error, g2o::BaseEdge< D, E >::_measurement, g2o::HyperGraph::Edge::_vertices, g2o::SBACam::baseline, g2o::cst(), g2o::BaseVertex< D, T >::estimate(), g2o::SBACam::Kcam, g2o::SBACam::w2i, and g2o::SBACam::w2n.

◆ linearizeOplus()

void g2o::EdgeProjectP2SC::linearizeOplus ( )

virtual

Jacobian for stereo projection.

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

Definition at line 87 of file edge_project_p2sc.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
  double b = cam.baseline;                // stereo baseline
 
  // 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;
  _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
}

References g2o::BaseBinaryEdge< 3, Vector3, VertexPointXYZ, VertexCam >::_jacobianOplusXi, g2o::BaseBinaryEdge< 3, Vector3, VertexPointXYZ, 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.

◆ read()

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 35 of file edge_project_p2sc.cpp.

                                         {
  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::EdgeProjectP2SC::write ( std::ostream & os ) const

virtual

write the vertex to a stream

Implements g2o::OptimizableGraph::Edge.

Definition at line 40 of file edge_project_p2sc.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_p2sc.h
/build/reproducible-path/g2o-0~20230806/g2o/types/sba/edge_project_p2sc.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ EdgeProjectP2SC()

Member Function Documentation

◆ computeError()

◆ linearizeOplus()

◆ read()

◆ write()