#include <edge_se3_lotsofxyz.h>

Inheritance diagram for g2o::EdgeSE3LotsOfXYZ:

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Collaboration diagram for g2o::EdgeSE3LotsOfXYZ:

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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, VectorX >
	BaseEdge ()
BaseEdge &	operator= (const BaseEdge &)=delete
virtual	~BaseEdge ()
virtual double	chi2 () const
virtual const double *	errorData () const
	returns the error vector cached after calling the computeError;
const ErrorVector &	error () const
EIGEN_STRONG_INLINE const InformationType &	information () const
	information matrix of the constraint
void	setInformation (const InformationType &information)
virtual const double *	informationData () const
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
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)
virtual double *	errorData ()=0
virtual double *	informationData ()=0
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, VectorX >
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, VectorX >
typedef VectorX	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, VectorX >
static constexpr int	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, VectorX >
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 _observedPoints, g2o::BaseVariableSizedEdge<-1, VectorX >::BaseVariableSizedEdge(), and 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, VectorX >::_error, g2o::BaseEdge< D, VectorX >::_measurement, _observedPoints, g2o::HyperGraph::Edge::_vertices, and g2o::BaseVertex< D, T >::estimate().

◆ initialEstimate()

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

virtual

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

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

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, VectorX >::_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

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, VectorX >::_measurement, _observedPoints, g2o::BaseEdge< D, VectorX >::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, VectorX >::_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);
  }

References g2o::BaseEdge< D, VectorX >::_measurement, _observedPoints, g2o::BaseVariableSizedEdge<-1, VectorX >::resize(), g2o::BaseEdge< D, VectorX >::setDimension(), and g2o::HyperGraph::Edge::vertices().

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

Member Data Documentation

◆ _observedPoints

unsigned int g2o::EdgeSE3LotsOfXYZ::_observedPoints

protected

Definition at line 41 of file edge_se3_lotsofxyz.h.

Referenced by computeError(), EdgeSE3LotsOfXYZ(), initialEstimate(), read(), setMeasurementFromState(), setSize(), 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