The ProbabilisticStereoTriangulator class. More...

#include <ProbabilisticStereoTriangulator.hpp>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ProbabilisticStereoTriangulator (double pixelSigma=0.5)
	Default constructor; make sure to call resetFrames before triangulation! More...

	ProbabilisticStereoTriangulator (std::shared_ptr< okvis::MultiFrame > frameA_ptr, std::shared_ptr< okvis::MultiFrame > frameB_ptr, size_t camIdA, size_t camIdB, const okvis::kinematics::Transformation &T_AB, const Eigen::Matrix< double, 6, 6 > &UOplus, double pixelSigma=0.5)
	Constructor to set frames and relative transformation. More...

void	resetFrames (std::shared_ptr< okvis::MultiFrame > frameA_ptr, std::shared_ptr< okvis::MultiFrame > frameB_ptr, size_t camIdA, size_t camIdB, const okvis::kinematics::Transformation &T_AB, const Eigen::Matrix< double, 6, 6 > &UOplus)
	Reset frames and relative transformation. More...

	~ProbabilisticStereoTriangulator ()
	Default destructor. More...

bool	stereoTriangulate (size_t keypointIdxA, size_t keypointIdxB, Eigen::Vector4d &outHomogeneousPoint_A, bool &outCanBeInitializedInaccuarate, double sigmaRay=-1.0) const
	Triangulation. More...

bool	stereoTriangulate (size_t keypointIdxA, size_t keypointIdxB, Eigen::Vector4d &outHomogeneousPoint_A, Eigen::Matrix3d &outPointUOplus_A, bool &outCanBeInitialized, double sigmaRay=-1.0) const
	Triangulation. More...

void	getUncertainty (size_t keypointIdxA, size_t keypointIdxB, const Eigen::Vector4d &homogeneousPoint_A, Eigen::Matrix3d &outPointUOplus_A, bool &outCanBeInitialized) const
	Get triangulation uncertainty. More...

Protected Member Functions
bool	computeReprojectionError4 (const std::shared_ptr< okvis::MultiFrame > &frame, size_t camId, size_t keypointId, const Eigen::Vector4d &homogeneousPoint, double &outError) const
	Compute the reprojection error. More...

Protected Attributes
double	sigmaRay_

std::shared_ptr < okvis::MultiFrame >	frameA_
	The multiframe A. More...

std::shared_ptr < okvis::MultiFrame >	frameB_
	The multiframe B. More...

size_t	camIdA_
	Camera ID for frame A. More...

size_t	camIdB_
	Camera ID for frame B. More...

Eigen::Matrix< double, 6, 6 >	UOplus_
	Local copy of relative uncertainty. More...

Eigen::Matrix< double, 9, 9 >	H_
	Information matrix of pose and landmark. More...

Local copy of the relative transformation.
okvis::kinematics::Transformation	T_AB_

::okvis::ceres::PoseParameterBlock	poseA_

::okvis::ceres::PoseParameterBlock	poseB_

::okvis::ceres::PoseParameterBlock	extrinsics_

okvis::kinematics::Transformation	T_BA_

Detailed Description

template<class CAMERA_GEOMETRY_T>
class okvis::triangulation::ProbabilisticStereoTriangulator< CAMERA_GEOMETRY_T >

The ProbabilisticStereoTriangulator class.

Template Parameters

CAMERA_GEOMETRY_T Camera geometry model. See also okvis::cameras::CameraBase.

Constructor & Destructor Documentation

template<class CAMERA_GEOMETRY_T >

okvis::triangulation::ProbabilisticStereoTriangulator< CAMERA_GEOMETRY_T >::ProbabilisticStereoTriangulator ( double pixelSigma = 0.5 )

Default constructor; make sure to call resetFrames before triangulation!

Parameters

pixelSigma A (conservative) estimate of the pixel one-sigma uncertainty in the keypoint location.

template<class CAMERA_GEOMETRY_T >

okvis::triangulation::ProbabilisticStereoTriangulator< CAMERA_GEOMETRY_T >::ProbabilisticStereoTriangulator	(	std::shared_ptr< okvis::MultiFrame >	frameA_ptr,
		std::shared_ptr< okvis::MultiFrame >	frameB_ptr,
		size_t	camIdA,
		size_t	camIdB,
		const okvis::kinematics::Transformation &	T_AB,
		const Eigen::Matrix< double, 6, 6 > &	UOplus,
		double	pixelSigma = `0.5`
	)

Constructor to set frames and relative transformation.

Parameters

frameA_ptr	First multiframe.
frameB_ptr	Second multiframe.
camIdA	Camera ID for first frame.
camIdB	Camera ID for second frame.
T_AB	Relative transformation from frameA to frameB.
UOplus	Oplus-type uncertainty of T_AB.
pixelSigma	A (conservative) estimate of the pixel one-sigma uncertainty in the keypoint location.

template<class CAMERA_GEOMETRY_T >

okvis::triangulation::ProbabilisticStereoTriangulator< CAMERA_GEOMETRY_T >::~ProbabilisticStereoTriangulator ( )

Default destructor.

Member Function Documentation

template<class CAMERA_GEOMETRY_T >

bool okvis::triangulation::ProbabilisticStereoTriangulator< CAMERA_GEOMETRY_T >::computeReprojectionError4	(	const std::shared_ptr< okvis::MultiFrame > &	frame,
		size_t	camId,
		size_t	keypointId,
		const Eigen::Vector4d &	homogeneousPoint,
		double &	outError
	)		const

protected

Compute the reprojection error.

Parameters

[in]	frame	Multiframe.
[in]	camId	Camera ID.
[in]	keypointId	ID of keypoint to calculate error for.
[in]	homogeneousPoint	Homogeneous coordinates of point to calculate error for
[out]	outError	Reprojection error.

Returns: True if reprojection was successful.

template<class CAMERA_GEOMETRY_T >

void okvis::triangulation::ProbabilisticStereoTriangulator< CAMERA_GEOMETRY_T >::getUncertainty	(	size_t	keypointIdxA,
		size_t	keypointIdxB,
		const Eigen::Vector4d &	homogeneousPoint_A,
		Eigen::Matrix3d &	outPointUOplus_A,
		bool &	outCanBeInitialized
	)		const

Get triangulation uncertainty.

Parameters

[in]	keypointIdxA	Index of keypoint to be triangulated in frame A.
[in]	keypointIdxB	Index of keypoint to be triangulated in frame B.
[in]	homogeneousPoint_A	Input triangulated point in A-coordinates.
[out]	outPointUOplus_A	Output uncertainty, represented w.r.t. ceres disturbance, in A-coordinates.
[out]	outCanBeInitialized	Whether or not the triangulation can be considered initialized.

template<class CAMERA_GEOMETRY_T >

void okvis::triangulation::ProbabilisticStereoTriangulator< CAMERA_GEOMETRY_T >::resetFrames	(	std::shared_ptr< okvis::MultiFrame >	frameA_ptr,
		std::shared_ptr< okvis::MultiFrame >	frameB_ptr,
		size_t	camIdA,
		size_t	camIdB,
		const okvis::kinematics::Transformation &	T_AB,
		const Eigen::Matrix< double, 6, 6 > &	UOplus
	)

Reset frames and relative transformation.

Parameters

frameA_ptr	First multiframe.
frameB_ptr	Second multiframe.
camIdA	Camera ID for first frame.
camIdB	Camera ID for second frame.
T_AB	Relative transformation from frameA to frameB.
UOplus	Oplus-type uncertainty of T_AB.

template<class CAMERA_GEOMETRY_T >

bool okvis::triangulation::ProbabilisticStereoTriangulator< CAMERA_GEOMETRY_T >::stereoTriangulate	(	size_t	keypointIdxA,
		size_t	keypointIdxB,
		Eigen::Vector4d &	outHomogeneousPoint_A,
		bool &	outCanBeInitializedInaccuarate,
		double	sigmaRay = `-1.0`
	)		const

Triangulation.

Parameters

[in]	keypointIdxA	Index of keypoint to be triangulated in frame A.
[in]	keypointIdxB	Index of keypoint to be triangulated in frame B.
[out]	outHomogeneousPoint_A	Output triangulation in A-coordinates.
[out]	outCanBeInitializedInaccuarate	This will be set to false, if it can certainly not be initialised (conservative, but inaccurate guess)
[in]	sigmaRay	Ray uncertainty.

Returns: 3-sigma consistency check result, in A-coordinates.

template<class CAMERA_GEOMETRY_T >

bool okvis::triangulation::ProbabilisticStereoTriangulator< CAMERA_GEOMETRY_T >::stereoTriangulate	(	size_t	keypointIdxA,
		size_t	keypointIdxB,
		Eigen::Vector4d &	outHomogeneousPoint_A,
		Eigen::Matrix3d &	outPointUOplus_A,
		bool &	outCanBeInitialized,
		double	sigmaRay = `-1.0`
	)		const

Triangulation.

Parameters

[in]	keypointIdxA	Index of keypoint to be triangulated in frame A.
[in]	keypointIdxB	Index of keypoint to be triangulated in frame B.
[out]	outHomogeneousPoint_A	Output triangulation in A-coordinates.
[out]	outPointUOplus_A	Output uncertainty, represented w.r.t. ceres disturbance, in A-coordinates.
[out]	outCanBeInitialized	Whether or not the triangulation can be considered initialized.
[in]	sigmaRay	Ray uncertainty.

Returns: 3-sigma consistency check result.