edge from a track to a depth camera node using a disparity measurement More...

#include <edge_se3_pointxyz_disparity.h>

Inheritance diagram for g2o::EdgeSE3PointXYZDisparity:

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Collaboration diagram for g2o::EdgeSE3PointXYZDisparity:

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Public Member Functions
	EdgeSE3PointXYZDisparity ()
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 ()
virtual void	linearizeOplus ()
virtual bool	setMeasurementData (const double *d)
virtual bool	getMeasurementData (double *d) const
virtual int	measurementDimension () const
virtual bool	setMeasurementFromState ()
virtual double	initialEstimatePossible (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to)
virtual void	initialEstimate (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to)
const ParameterCamera *	cameraParameter () const
Public Member Functions inherited from g2o::BaseBinaryEdge< 3, Vector3, VertexSE3, VertexPointXYZ >
	BaseBinaryEdge ()
Public Member Functions inherited from g2o::BaseFixedSizedEdge< D, Vector3, VertexSE3, VertexPointXYZ >
bool	allVerticesFixedNs (std::index_sequence< Ints... >) const
void	constructQuadraticFormNs (const InformationType &omega, const ErrorVector &weightedError, std::index_sequence< Ints... >)
void	constructOffDiagonalQuadraticFormMs (const AtOType &, std::index_sequence<>)
void	constructOffDiagonalQuadraticFormMs (const AtOType &AtO, std::index_sequence< Ints... >)
void	constructOffDiagonalQuadraticFormM (const AtOType &AtO)
void	constructQuadraticFormN (const InformationType &omega, const ErrorVector &weightedError)
void	linearizeOplus_allocate (JacobianWorkspace &jacobianWorkspace, std::index_sequence< Ints... >)
void	linearizeOplusN ()
void	linearizeOplusNs (std::index_sequence< Ints... >)
constexpr std::enable_if< VertexXnType< VertexN >::Dimension!=-1, int >::type	vertexDimension () const
const VertexXnType< VertexN > *	vertexXn () const
	BaseFixedSizedEdge ()
OptimizableGraph::Vertex *	createVertex (int i, CtorArgs... args)
	create an instance of the Nth VertexType
virtual void	resize (size_t size)
virtual bool	allVerticesFixed () const
virtual void	linearizeOplus (JacobianWorkspace &jacobianWorkspace)
const std::tuple_element< N, std::tuple< JacobianType< D, VertexTypes::Dimension >... > >::type &	jacobianOplusXn () const
virtual void	constructQuadraticForm ()
virtual void	mapHessianMemory (double *d, int i, int j, bool rowMajor)
Public Member Functions inherited from g2o::BaseEdge< D, Vector3 >
	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 ()
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

Private Member Functions
virtual bool	resolveCaches ()

Private Attributes
Eigen::Matrix< double, 3, 9, Eigen::ColMajor >	J
ParameterCamera *	params
CacheCamera *	cache

Additional Inherited Members
Public Types inherited from g2o::BaseBinaryEdge< 3, Vector3, VertexSE3, VertexPointXYZ >
using	VertexXiType
using	VertexXjType
Public Types inherited from g2o::BaseFixedSizedEdge< D, Vector3, VertexSE3, VertexPointXYZ >
using	NthType
using	VertexXnType
	The type of the N-th vertex.
typedef BaseEdge< D, Vector3 >::Measurement	Measurement
typedef BaseEdge< D, Vector3 >::ErrorVector	ErrorVector
typedef BaseEdge< D, Vector3 >::InformationType	InformationType
using	JacobianType
using	HessianBlockType
	it requires quite some ugly code to get the type of hessians...
using	HessianBlockTypeK
using	HessianBlockTypeKTransposed
using	HessianTuple
using	HessianTupleTransposed
using	HessianRowMajorStorage
Public Types inherited from g2o::BaseEdge< D, Vector3 >
typedef Vector3	Measurement
typedef internal::BaseEdgeTraits< D >::ErrorVector	ErrorVector
typedef internal::BaseEdgeTraits< D >::InformationType	InformationType
Static Public Member Functions inherited from g2o::BaseFixedSizedEdge< D, Vector3, VertexSE3, VertexPointXYZ >
static constexpr int	VertexDimension ()
	Size of the N-th vertex at compile time.
Static Public Attributes inherited from g2o::BaseFixedSizedEdge< D, Vector3, VertexSE3, VertexPointXYZ >
static const int	Dimension
static const std::size_t	_nr_of_vertices
static const std::size_t	_nr_of_vertex_pairs
Static Public Attributes inherited from g2o::BaseEdge< D, Vector3 >
static constexpr int	Dimension
Protected Member Functions inherited from g2o::BaseEdge< D, Vector3 >
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 ()
Protected Attributes inherited from g2o::BaseBinaryEdge< 3, Vector3, VertexSE3, VertexPointXYZ >
BaseFixedSizedEdge< D, Vector3, VertexSE3, VertexPointXYZ >::template JacobianType< D, VertexSE3::Dimension > &	_jacobianOplusXi
BaseFixedSizedEdge< D, Vector3, VertexSE3, VertexPointXYZ >::template JacobianType< D, VertexPointXYZ::Dimension > &	_jacobianOplusXj
Protected Attributes inherited from g2o::BaseFixedSizedEdge< D, Vector3, VertexSE3, VertexPointXYZ >
HessianRowMajorStorage	_hessianRowMajor
HessianTuple	_hessianTuple
HessianTupleTransposed	_hessianTupleTransposed
std::tuple< JacobianType< D, VertexTypes::Dimension >... >	_jacobianOplus
Protected Attributes inherited from g2o::BaseEdge< D, Vector3 >
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

edge from a track to a depth camera node using a disparity measurement

the disparity measurement is normalized: disparity / (focal_x * baseline)

Definition at line 45 of file edge_se3_pointxyz_disparity.h.

Constructor & Destructor Documentation

◆ EdgeSE3PointXYZDisparity()

g2o::EdgeSE3PointXYZDisparity::EdgeSE3PointXYZDisparity ( )

Definition at line 40 of file edge_se3_pointxyz_disparity.cpp.

    : BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ>(),
      params(nullptr),
      cache(nullptr) {
  resizeParameters(1);
  installParameter(params, 0);
  information().setIdentity();
  information()(2, 2) = 1000.;
  J.fill(0);
  J.block<3, 3>(0, 0) = -Matrix3::Identity();
}

References g2o::BaseBinaryEdge< 3, Vector3, VertexSE3, VertexPointXYZ >::BaseBinaryEdge(), cache, g2o::BaseEdge< D, Vector3 >::information(), g2o::OptimizableGraph::Edge::installParameter(), J, params, and g2o::OptimizableGraph::Edge::resizeParameters().

Member Function Documentation

◆ cameraParameter()

const ParameterCamera * g2o::EdgeSE3PointXYZDisparity::cameraParameter ( ) const

inline

Definition at line 85 of file edge_se3_pointxyz_disparity.h.

85{ return params; }

References params.

◆ computeError()

void g2o::EdgeSE3PointXYZDisparity::computeError ( )

virtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 72 of file edge_se3_pointxyz_disparity.cpp.

                                            {
  // VertexSE3 *cam = static_cast<VertexSE3*>(_vertices[0]);
  VertexPointXYZ* point = static_cast<VertexPointXYZ*>(_vertices[1]);
  const Vector3& pt = point->estimate();
 
  Vector3 p = cache->w2i() * pt;
 
  Vector3 perr;
  perr.head<2>() = p.head<2>() / p(2);
  perr(2) = 1 / p(2);
 
  // error, which is backwards from the normal observed - calculated
  // _measurement is the measured projection
  _error = perr - _measurement;
}

References g2o::BaseEdge< D, Vector3 >::_error, g2o::BaseEdge< D, Vector3 >::_measurement, g2o::HyperGraph::Edge::_vertices, cache, and g2o::BaseVertex< D, T >::estimate().

◆ getMeasurementData()

virtual bool g2o::EdgeSE3PointXYZDisparity::getMeasurementData ( double * m ) const

inlinevirtual

writes the measurement to an array of double

Returns: true on success

Reimplemented from g2o::OptimizableGraph::Edge.

Definition at line 66 of file edge_se3_pointxyz_disparity.h.

                                                   {
    Eigen::Map<Vector3> v(d);
    v = _measurement;
    return true;
  }

References g2o::BaseEdge< D, Vector3 >::_measurement.

◆ initialEstimate()

void g2o::EdgeSE3PointXYZDisparity::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, Vector3 >.

Definition at line 148 of file edge_se3_pointxyz_disparity.cpp.

                                                                      {
  (void)from;
  assert(from.size() == 1 && from.count(_vertices[0]) == 1 &&
         "Can not initialize VertexDepthCam position by VertexTrackXYZ");
  VertexSE3* cam = dynamic_cast<VertexSE3*>(_vertices[0]);
  VertexPointXYZ* point = dynamic_cast<VertexPointXYZ*>(_vertices[1]);
 
  const Eigen::Matrix<double, 3, 3, Eigen::ColMajor>& invKcam =
      params->invKcam();
  Vector3 p;
  double w = 1. / _measurement(2);
  p.head<2>() = _measurement.head<2>() * w;
  p(2) = w;
  p = invKcam * p;
  p = cam->estimate() * (params->offset() * p);
  point->setEstimate(p);
}

References g2o::BaseEdge< D, Vector3 >::_measurement, g2o::HyperGraph::Edge::_vertices, g2o::BaseVertex< D, T >::estimate(), params, and g2o::BaseVertex< D, T >::setEstimate().

◆ initialEstimatePossible()

virtual double g2o::EdgeSE3PointXYZDisparity::initialEstimatePossible	(	const OptimizableGraph::VertexSet &	from,
		OptimizableGraph::Vertex *	to )

inlinevirtual

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 76 of file edge_se3_pointxyz_disparity.h.

                                                                         {
    (void)to;
    return (from.count(_vertices[0]) == 1 ? 1.0 : -1.0);
  }

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

◆ linearizeOplus()

void g2o::EdgeSE3PointXYZDisparity::linearizeOplus ( )

virtual

Definition at line 90 of file edge_se3_pointxyz_disparity.cpp.

                                              {
  // VertexSE3 *cam = static_cast<VertexSE3 *>(_vertices[0]);
  VertexPointXYZ* vp = static_cast<VertexPointXYZ*>(_vertices[1]);
 
  const Vector3& pt = vp->estimate();
 
  Vector3 Zcam = cache->w2l() * vp->estimate();
 
  //  J(0,3) = -0.0;
  J(0, 4) = -2 * Zcam(2);
  J(0, 5) = 2 * Zcam(1);
 
  J(1, 3) = 2 * Zcam(2);
  //  J(1,4) = -0.0;
  J(1, 5) = -2 * Zcam(0);
 
  J(2, 3) = -2 * Zcam(1);
  J(2, 4) = 2 * Zcam(0);
  //  J(2,5) = -0.0;
 
  J.block<3, 3>(0, 6) = cache->w2l().rotation();
 
  // Eigen::Matrix<double,3,9,Eigen::ColMajor> Jprime =
  // vcache->params->Kcam_inverseOffsetR  * J;
  Eigen::Matrix<double, 3, 9, Eigen::ColMajor> Jprime =
      params->Kcam_inverseOffsetR() * J;
  Eigen::Matrix<double, 3, 9, Eigen::ColMajor> Jhom;
  Vector3 Zprime = cache->w2i() * pt;
 
  Jhom.block<2, 9>(0, 0) = 1 / (Zprime(2) * Zprime(2)) *
                           (Jprime.block<2, 9>(0, 0) * Zprime(2) -
                            Zprime.head<2>() * Jprime.block<1, 9>(2, 0));
  Jhom.block<1, 9>(2, 0) =
      -1 / (Zprime(2) * Zprime(2)) * Jprime.block<1, 9>(2, 0);
 
  _jacobianOplusXi = Jhom.block<3, 6>(0, 0);
  _jacobianOplusXj = Jhom.block<3, 3>(0, 6);
}

References g2o::BaseBinaryEdge< 3, Vector3, VertexSE3, VertexPointXYZ >::_jacobianOplusXi, g2o::BaseBinaryEdge< 3, Vector3, VertexSE3, VertexPointXYZ >::_jacobianOplusXj, g2o::HyperGraph::Edge::_vertices, cache, g2o::BaseVertex< D, T >::estimate(), J, and params.

◆ measurementDimension()

virtual int g2o::EdgeSE3PointXYZDisparity::measurementDimension ( ) const

inlinevirtual

returns the dimension of the measurement in the extended representation which is used by get/setMeasurement;

Reimplemented from g2o::OptimizableGraph::Edge.

Definition at line 72 of file edge_se3_pointxyz_disparity.h.

72{ return 3; }

◆ read()

bool g2o::EdgeSE3PointXYZDisparity::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 60 of file edge_se3_pointxyz_disparity.cpp.

                                                  {
  readParamIds(is);
  internal::readVector(is, _measurement);
  return readInformationMatrix(is);
}

References g2o::BaseEdge< D, Vector3 >::_measurement, g2o::BaseEdge< D, Vector3 >::readInformationMatrix(), g2o::BaseEdge< D, Vector3 >::readParamIds(), and g2o::internal::readVector().

◆ resolveCaches()

bool g2o::EdgeSE3PointXYZDisparity::resolveCaches ( )

privatevirtual

Reimplemented from g2o::OptimizableGraph::Edge.

Definition at line 52 of file edge_se3_pointxyz_disparity.cpp.

                                             {
  ParameterVector pv(1);
  pv[0] = params;
  resolveCache(cache, (OptimizableGraph::Vertex*)_vertices[0], "CACHE_CAMERA",
               pv);
  return cache != 0;
}

References g2o::HyperGraph::Edge::_vertices, cache, params, and g2o::OptimizableGraph::Edge::resolveCache().

◆ setMeasurementData()

virtual bool g2o::EdgeSE3PointXYZDisparity::setMeasurementData ( const double * m )

inlinevirtual

sets the measurement from an array of double

Returns: true on success

Reimplemented from g2o::OptimizableGraph::Edge.

Definition at line 60 of file edge_se3_pointxyz_disparity.h.

                                                   {
    Eigen::Map<const Vector3> v(d);
    _measurement = v;
    return true;
  }

References g2o::BaseEdge< D, Vector3 >::_measurement.

◆ setMeasurementFromState()

bool g2o::EdgeSE3PointXYZDisparity::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 131 of file edge_se3_pointxyz_disparity.cpp.

                                                       {
  // VertexSE3 *cam = static_cast< VertexSE3*>(_vertices[0]);
  VertexPointXYZ* point = static_cast<VertexPointXYZ*>(_vertices[1]);
  const Vector3& pt = point->estimate();
 
  Vector3 p = cache->w2i() * pt;
 
  Vector3 perr;
  perr.head<2>() = p.head<2>() / p(2);
  perr(2) = 1 / p(2);
 
  // error, which is backwards from the normal observed - calculated
  // _measurement is the measured projection
  _measurement = perr;
  return true;
}

References g2o::BaseEdge< D, Vector3 >::_measurement, g2o::HyperGraph::Edge::_vertices, cache, and g2o::BaseVertex< D, T >::estimate().

◆ write()

bool g2o::EdgeSE3PointXYZDisparity::write ( std::ostream & os ) const

virtual

write the vertex to a stream

Implements g2o::OptimizableGraph::Edge.

Definition at line 66 of file edge_se3_pointxyz_disparity.cpp.

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

References g2o::BaseEdge< D, Vector3 >::measurement(), g2o::BaseEdge< D, Vector3 >::writeInformationMatrix(), g2o::BaseEdge< D, Vector3 >::writeParamIds(), and g2o::internal::writeVector().

Member Data Documentation

◆ cache

CacheCamera* g2o::EdgeSE3PointXYZDisparity::cache

private

Definition at line 91 of file edge_se3_pointxyz_disparity.h.

Referenced by computeError(), EdgeSE3PointXYZDisparity(), linearizeOplus(), resolveCaches(), and setMeasurementFromState().

◆ EIGEN_MAKE_ALIGNED_OPERATOR_NEW

g2o::EdgeSE3PointXYZDisparity::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 48 of file edge_se3_pointxyz_disparity.h.

◆ J

Eigen::Matrix<double, 3, 9, Eigen::ColMajor> g2o::EdgeSE3PointXYZDisparity::J

private

Definition at line 88 of file edge_se3_pointxyz_disparity.h.

Referenced by EdgeSE3PointXYZDisparity(), and linearizeOplus().

◆ params

ParameterCamera* g2o::EdgeSE3PointXYZDisparity::params

private

Definition at line 90 of file edge_se3_pointxyz_disparity.h.

Referenced by cameraParameter(), EdgeSE3PointXYZDisparity(), initialEstimate(), linearizeOplus(), and resolveCaches().

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

/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz_disparity.h
/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_pointxyz_disparity.cpp

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ EdgeSE3PointXYZDisparity()

Member Function Documentation

◆ cameraParameter()

◆ computeError()

◆ getMeasurementData()

◆ initialEstimate()

◆ initialEstimatePossible()

◆ linearizeOplus()

◆ measurementDimension()

◆ read()

◆ resolveCaches()

◆ setMeasurementData()

◆ setMeasurementFromState()

◆ write()

Member Data Documentation

◆ cache

◆ EIGEN_MAKE_ALIGNED_OPERATOR_NEW

◆ J

◆ params