#include <edge_se3_lotsofxyz.h>

Inheritance diagram for g2o::EdgeSE3LotsOfXYZ:

[legend]

Collaboration diagram for g2o::EdgeSE3LotsOfXYZ:

[legend]

Public Member Functions
	EdgeSE3LotsOfXYZ ()

void	setSize (int vertices)

virtual void	computeError ()

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 bool	setMeasurementFromState ()

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

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

virtual void	linearizeOplus ()

Public Member Functions inherited from g2o::BaseVariableSizedEdge<-1, VectorX >
	BaseVariableSizedEdge ()

virtual void	linearizeOplus (JacobianWorkspace &jacobianWorkspace)

virtual void	resize (size_t size)

virtual bool	allVerticesFixed () const

virtual void	constructQuadraticForm ()

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

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

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

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

void	setRobustKernel (RobustKernel *ptr)

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)

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Attributes
unsigned int	_observedPoints

Protected Attributes inherited from g2o::BaseVariableSizedEdge<-1, VectorX >
std::vector< HessianHelper >	_hessian

std::vector< JacobianType >	_jacobianOplus
	jacobians of the edge (w.r.t. oplus)

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

Additional Inherited Members
Public Types inherited from g2o::BaseVariableSizedEdge<-1, VectorX >
typedef BaseEdge< D, VectorX >::Measurement	Measurement

typedef MatrixX::MapType	JacobianType

typedef BaseEdge< D, VectorX >::ErrorVector	ErrorVector

typedef BaseEdge< D, VectorX >::InformationType	InformationType

typedef Eigen::Map< MatrixX, MatrixX::Flags &Eigen::PacketAccessBit ? Eigen::Aligned :Eigen::Unaligned >	HessianBlockType

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 Attributes inherited from g2o::BaseVariableSizedEdge<-1, VectorX >
static constexpr int	Dimension

Static Public Attributes inherited from g2o::BaseEdge< D, E >
static constexpr int	Dimension = internal::BaseEdgeTraits<D>::Dimension

Protected Member Functions inherited from g2o::BaseVariableSizedEdge<-1, VectorX >
void	computeQuadraticForm (const InformationType &omega, const ErrorVector &weightedError)

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 ()

Detailed Description

Definition at line 38 of file edge_se3_lotsofxyz.h.

Constructor & Destructor Documentation

◆ EdgeSE3LotsOfXYZ()

g2o::EdgeSE3LotsOfXYZ::EdgeSE3LotsOfXYZ ( )

Definition at line 33 of file edge_se3_lotsofxyz.cpp.

    : BaseVariableSizedEdge<-1, VectorX>(), _observedPoints(0) {
  resize(0);
}

References g2o::BaseVariableSizedEdge<-1, VectorX >::resize().

Member Function Documentation

◆ computeError()

void g2o::EdgeSE3LotsOfXYZ::computeError ( )

virtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 56 of file edge_se3_lotsofxyz.cpp.

                                    {
  VertexSE3* pose = static_cast<VertexSE3*>(_vertices[0]);
 
  for (unsigned int i = 0; i < _observedPoints; i++) {
    VertexPointXYZ* xyz = static_cast<VertexPointXYZ*>(_vertices[1 + i]);
    Vector3 m = pose->estimate().inverse() * xyz->estimate();
 
    unsigned int index = 3 * i;
    _error[index] = m[0] - _measurement[index];
    _error[index + 1] = m[1] - _measurement[index + 1];
    _error[index + 2] = m[2] - _measurement[index + 2];
  }
}

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

◆ initialEstimate()

void g2o::EdgeSE3LotsOfXYZ::initialEstimate	(	const OptimizableGraph::VertexSet &	from,
		OptimizableGraph::Vertex *	to
	)

virtual

set the estimate of the to vertex, based on the estimate of the from vertices in the edge.

Reimplemented from g2o::BaseEdge< D, E >.

Definition at line 160 of file edge_se3_lotsofxyz.cpp.

                                                                           {
  (void)toEstimate;
 
  assert(initialEstimatePossible(fixed, toEstimate) &&
         "Bad vertices specified");
 
  VertexSE3* pose = static_cast<VertexSE3*>(_vertices[0]);
 
#ifdef _MSC_VER
  std::vector<bool> estimate_this(_observedPoints, true);
#else
  bool estimate_this[_observedPoints];
  for (unsigned int i = 0; i < _observedPoints; i++) {
    estimate_this[i] = true;
  }
#endif
 
  for (std::set<HyperGraph::Vertex*>::iterator it = fixed.begin();
       it != fixed.end(); ++it) {
    for (unsigned int i = 1; i < _vertices.size(); i++) {
      VertexPointXYZ* vert = static_cast<VertexPointXYZ*>(_vertices[i]);
      if (vert->id() == (*it)->id()) estimate_this[i - 1] = false;
    }
  }
 
  for (unsigned int i = 1; i < _vertices.size(); i++) {
    if (estimate_this[i - 1]) {
      unsigned int index = 3 * (i - 1);
      Vector3 submeas(_measurement[index], _measurement[index + 1],
                      _measurement[index + 2]);
      VertexPointXYZ* vert = static_cast<VertexPointXYZ*>(_vertices[i]);
      vert->setEstimate(pose->estimate() * submeas);
    }
  }
}

References g2o::BaseEdge< D, E >::_measurement, _observedPoints, g2o::HyperGraph::Edge::_vertices, g2o::BaseVertex< D, T >::estimate(), g2o::HyperGraph::Vertex::id(), initialEstimatePossible(), and g2o::BaseVertex< D, T >::setEstimate().

◆ initialEstimatePossible()

double g2o::EdgeSE3LotsOfXYZ::initialEstimatePossible	(	const OptimizableGraph::VertexSet &	from,
		OptimizableGraph::Vertex *	to
	)

virtual

override in your class if it's possible to initialize the vertices in certain combinations. The return value may correspond to the cost for initiliaizng the vertex but should be positive if the initialization is possible and negative if not possible.

Reimplemented from g2o::OptimizableGraph::Edge.

Definition at line 197 of file edge_se3_lotsofxyz.cpp.

                                        {
  (void)toEstimate;
 
  for (std::set<HyperGraph::Vertex*>::iterator it = fixed.begin();
       it != fixed.end(); ++it) {
    if (_vertices[0]->id() == (*it)->id()) {
      return 1.0;
    }
  }
 
  return -1.0;
}

References g2o::HyperGraph::Edge::_vertices.

Referenced by initialEstimate().

◆ linearizeOplus()

void g2o::EdgeSE3LotsOfXYZ::linearizeOplus ( )

virtual

Linearizes the oplus operator in the vertex, and stores the result in temporary variable vector _jacobianOplus

Reimplemented from g2o::BaseVariableSizedEdge<-1, VectorX >.

Definition at line 70 of file edge_se3_lotsofxyz.cpp.

                                      {
  g2o::VertexSE3* pose = (g2o::VertexSE3*)(_vertices[0]);
 
  // initialize Ji matrix
  MatrixX Ji;
  unsigned int rows = 3 * (_vertices.size() - 1);
  Ji.resize(rows, 6);
  Ji.fill(0);
 
  Matrix3 poseRot = pose->estimate().inverse().rotation();
 
  for (unsigned int i = 1; i < _vertices.size(); i++) {
    g2o::VertexPointXYZ* point = (g2o::VertexPointXYZ*)(_vertices[i]);
    Vector3 Zcam = pose->estimate().inverse() * point->estimate();
 
    unsigned int index = 3 * (i - 1);
 
    // Ji.block<3,3>(index,0) = -poseRot;
    Ji.block<3, 3>(index, 0) = -Matrix3::Identity();
 
    Ji(index, 3) = -0.0;
    Ji(index, 4) = -2 * Zcam(2);
    Ji(index, 5) = 2 * Zcam(1);
 
    Ji(index + 1, 3) = 2 * Zcam(2);
    Ji(index + 1, 4) = -0.0;
    Ji(index + 1, 5) = -2 * Zcam(0);
 
    Ji(index + 2, 3) = -2 * Zcam(1);
    Ji(index + 2, 4) = 2 * Zcam(0);
    Ji(index + 2, 5) = -0.0;
 
    MatrixX Jj;
    Jj.resize(rows, 3);
    Jj.fill(0);
    Jj.block<3, 3>(index, 0) = poseRot;
 
    _jacobianOplus[i] = Jj;
  }
 
  _jacobianOplus[0] = Ji;
}

References g2o::BaseVariableSizedEdge<-1, VectorX >::_jacobianOplus, g2o::HyperGraph::Edge::_vertices, and g2o::BaseVertex< D, T >::estimate().

◆ read()

bool g2o::EdgeSE3LotsOfXYZ::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 113 of file edge_se3_lotsofxyz.cpp.

                                          {
  is >> _observedPoints;
 
  setSize(_observedPoints + 1);
 
  // read the measurements
  for (unsigned int i = 0; i < _observedPoints; i++) {
    unsigned int index = 3 * i;
    is >> _measurement[index] >> _measurement[index + 1] >>
        _measurement[index + 2];
  }
 
  // read the information matrix
  for (unsigned int i = 0; i < _observedPoints * 3; i++) {
    // fill the "upper triangle" part of the matrix
    for (unsigned int j = i; j < _observedPoints * 3; j++) {
      is >> information()(i, j);
    }
 
    // fill the lower triangle part
    for (unsigned int j = 0; j < i; j++) {
      information()(i, j) = information()(j, i);
    }
  }
  return true;
}

References g2o::BaseEdge< D, E >::_measurement, _observedPoints, g2o::BaseEdge< D, E >::information(), and setSize().

◆ setMeasurementFromState()

bool g2o::EdgeSE3LotsOfXYZ::setMeasurementFromState ( )

virtual

sets the estimate to have a zero error, based on the current value of the state variables returns false if not supported.

Reimplemented from g2o::OptimizableGraph::Edge.

Definition at line 38 of file edge_se3_lotsofxyz.cpp.

                                               {
  VertexSE3* pose = static_cast<VertexSE3*>(_vertices[0]);
 
  Eigen::Transform<double, 3, 1> poseinv = pose->estimate().inverse();
 
  for (unsigned int i = 0; i < _observedPoints; i++) {
    VertexPointXYZ* xyz = static_cast<VertexPointXYZ*>(_vertices[1 + i]);
    //      const Vector3 &pt = xyz->estimate();
    Vector3 m = poseinv * xyz->estimate();
 
    unsigned int index = 3 * i;
    _measurement[index] = m[0];
    _measurement[index + 1] = m[1];
    _measurement[index + 2] = m[2];
  }
  return true;
}

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

◆ setSize()

void g2o::EdgeSE3LotsOfXYZ::setSize ( int vertices )

inline

Definition at line 47 of file edge_se3_lotsofxyz.h.

                             {
    resize(vertices);
    _observedPoints = vertices - 1;
    _measurement.resize(_observedPoints * 3, 1);
    setDimension(_observedPoints * 3);
  }

Referenced by read().

◆ write()

bool g2o::EdgeSE3LotsOfXYZ::write ( std::ostream & os ) const

virtual

write the vertex to a stream

Implements g2o::OptimizableGraph::Edge.

Definition at line 140 of file edge_se3_lotsofxyz.cpp.

                                                 {
  // write number of observed points
  os << "|| " << _observedPoints;
 
  // write measurements
  for (unsigned int i = 0; i < _observedPoints; i++) {
    unsigned int index = 3 * i;
    os << " " << _measurement[index] << " " << _measurement[index + 1] << " "
       << _measurement[index + 2];
  }
 
  // write information matrix
  for (unsigned int i = 0; i < _observedPoints * 3; i++) {
    for (unsigned int j = i; j < _observedPoints * 3; j++) {
      os << " " << information()(i, j);
    }
  }
  return os.good();
}

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

Member Data Documentation

◆ _observedPoints

unsigned int g2o::EdgeSE3LotsOfXYZ::_observedPoints

protected

Definition at line 41 of file edge_se3_lotsofxyz.h.

Referenced by computeError(), initialEstimate(), read(), setMeasurementFromState(), and write().

◆ EIGEN_MAKE_ALIGNED_OPERATOR_NEW

g2o::EdgeSE3LotsOfXYZ::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 44 of file edge_se3_lotsofxyz.h.

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

/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_lotsofxyz.h
/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_lotsofxyz.cpp

Public Member Functions

Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ EdgeSE3LotsOfXYZ()

Member Function Documentation

◆ computeError()

◆ initialEstimate()

◆ initialEstimatePossible()

◆ linearizeOplus()

◆ read()

◆ setMeasurementFromState()

◆ setSize()

◆ write()

Member Data Documentation

◆ _observedPoints

◆ EIGEN_MAKE_ALIGNED_OPERATOR_NEW