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Big refactor of PinholeCamera: now derives from PinholeBaseK

release/4.3a0
dellaert 2015-02-21 11:48:46 +01:00
parent 5ed2abd292
commit 57c921c6cf
2 changed files with 87 additions and 218 deletions
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286
gtsam/geometry/PinholeCamera.h
View File

@ -18,32 +18,32 @@
#pragma once #pragma once
#include <gtsam/geometry/CalibratedCamera.h> #include <gtsam/geometry/PinholePose.h>
#include <gtsam/geometry/Pose2.h>
#include <cmath>
namespace gtsam { namespace gtsam {
/** /**
* A pinhole camera class that has a Pose3 and a Calibration. * A pinhole camera class that has a Pose3 and a Calibration.
* Use PinholePose if you will not be optimizing for Calibration
* @addtogroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
template<typename Calibration> template<typename Calibration>
class PinholeCamera { class GTSAM_EXPORT PinholeCamera: public PinholeBaseK<Calibration> {
private: private:
Pose3 pose_;
Calibration K_;
GTSAM_CONCEPT_MANIFOLD_TYPE(Calibration) typedef PinholeBaseK<Calibration> Base; ///< base class has 3D pose as private member
Calibration K_; ///< Calibration, part of class now
// Get dimensions of calibration type at compile time // Get dimensions of calibration type at compile time
static const int DimK = FixedDimension<Calibration>::value; static const int DimK = FixedDimension<Calibration>::value;
public: public:
enum {dimension = 6 + DimK}; enum {
dimension = 6 + DimK
}; ///< Dimension depends on calibration
/// @name Standard Constructors /// @name Standard Constructors
/// @{ /// @{
@ -54,12 +54,12 @@ public:
/** constructor with pose */ /** constructor with pose */
explicit PinholeCamera(const Pose3& pose) : explicit PinholeCamera(const Pose3& pose) :
pose_(pose) { Base(pose) {
} }
/** constructor with pose and calibration */ /** constructor with pose and calibration */
PinholeCamera(const Pose3& pose, const Calibration& K) : PinholeCamera(const Pose3& pose, const Calibration& K) :
pose_(pose), K_(K) { Base(pose), K_(K) {
} }
/// @} /// @}
@ -75,12 +75,7 @@ public:
*/ */
static PinholeCamera Level(const Calibration &K, const Pose2& pose2, static PinholeCamera Level(const Calibration &K, const Pose2& pose2,
double height) { double height) {
const double st = sin(pose2.theta()), ct = cos(pose2.theta()); return PinholeCamera(CalibratedCamera::LevelPose(pose2, height), K);
const Point3 x(st, -ct, 0), y(0, 0, -1), z(ct, st, 0);
const Rot3 wRc(x, y, z);
const Point3 t(pose2.x(), pose2.y(), height);
const Pose3 pose3(wRc, t);
return PinholeCamera(pose3, K);
} }
/// PinholeCamera::level with default calibration /// PinholeCamera::level with default calibration
@ -99,28 +94,23 @@ public:
*/ */
static PinholeCamera Lookat(const Point3& eye, const Point3& target, static PinholeCamera Lookat(const Point3& eye, const Point3& target,
const Point3& upVector, const Calibration& K = Calibration()) { const Point3& upVector, const Calibration& K = Calibration()) {
Point3 zc = target - eye; return PinholeCamera(CalibratedCamera::LookatPose(eye, target, upVector), K);
zc = zc / zc.norm();
Point3 xc = (-upVector).cross(zc); // minus upVector since yc is pointing down
xc = xc / xc.norm();
Point3 yc = zc.cross(xc);
Pose3 pose3(Rot3(xc, yc, zc), eye);
return PinholeCamera(pose3, K);
} }
/// @} /// @}
/// @name Advanced Constructors /// @name Advanced Constructors
/// @{ /// @{
explicit PinholeCamera(const Vector &v) { /// Init from vector, can be 6D (default calibration) or dim
pose_ = Pose3::Expmap(v.head(6)); explicit PinholeCamera(const Vector &v) :
if (v.size() > 6) { Base(v.head<6>()) {
K_ = Calibration(v.tail(DimK)); if (v.size() > 6)
} K_ = Calibration(v.tail<DimK>());
} }
/// Init from Vector and calibration
PinholeCamera(const Vector &v, const Vector &K) : PinholeCamera(const Vector &v, const Vector &K) :
pose_(Pose3::Expmap(v)), K_(K) { Base(v), K_(K) {
} }
/// @} /// @}
@ -128,14 +118,14 @@ public:
/// @{ /// @{
/// assert equality up to a tolerance /// assert equality up to a tolerance
bool equals(const PinholeCamera &camera, double tol = 1e-9) const { bool equals(const Base &camera, double tol = 1e-9) const {
return pose_.equals(camera.pose(), tol) const PinholeCamera* e = dynamic_cast<const PinholeCamera*>(&camera);
&& K_.equals(camera.calibration(), tol); return Base::equals(camera, tol) && K_.equals(e->calibration(), tol);
} }
/// print /// print
void print(const std::string& s = "PinholeCamera") const { void print(const std::string& s = "PinholeCamera") const {
pose_.print(s + ".pose"); Base::print(s);
K_.print(s + ".calibration"); K_.print(s + ".calibration");
} }
@ -147,13 +137,8 @@ public:
} }
/// return pose /// return pose
Pose3& pose() {
return pose_;
}
/// return pose, constant version
const Pose3& pose() const { const Pose3& pose() const {
return pose_; return Base::pose();
} }
/// return pose, with derivative /// return pose, with derivative
@ -162,12 +147,7 @@ public:
H->setZero(); H->setZero();
H->block(0, 0, 6, 6) = I_6x6; H->block(0, 0, 6, 6) = I_6x6;
} }
return pose_; return Base::pose();
}
/// return calibration
Calibration& calibration() {
return K_;
} }
/// return calibration /// return calibration
@ -179,12 +159,12 @@ public:
/// @name Manifold /// @name Manifold
/// @{ /// @{
/// Manifold dimension /// @deprecated
size_t dim() const { size_t dim() const {
return dimension; return dimension;
} }
/// Manifold dimension /// @deprecated
static size_t Dim() { static size_t Dim() {
return dimension; return dimension;
} }
@ -194,9 +174,9 @@ public:
/// move a cameras according to d /// move a cameras according to d
PinholeCamera retract(const Vector& d) const { PinholeCamera retract(const Vector& d) const {
if ((size_t) d.size() == 6) if ((size_t) d.size() == 6)
return PinholeCamera(pose().retract(d), calibration()); return PinholeCamera(this->pose().retract(d), calibration());
else else
return PinholeCamera(pose().retract(d.head(6)), return PinholeCamera(this->pose().retract(d.head(6)),
calibration().retract(d.tail(calibration().dim()))); calibration().retract(d.tail(calibration().dim())));
} }
@ -204,7 +184,7 @@ public:
VectorK6 localCoordinates(const PinholeCamera& T2) const { VectorK6 localCoordinates(const PinholeCamera& T2) const {
VectorK6 d; VectorK6 d;
// TODO: why does d.head<6>() not compile?? // TODO: why does d.head<6>() not compile??
d.head(6) = pose().localCoordinates(T2.pose()); d.head(6) = this->pose().localCoordinates(T2.pose());
d.tail(DimK) = calibration().localCoordinates(T2.calibration()); d.tail(DimK) = calibration().localCoordinates(T2.calibration());
return d; return d;
} }
@ -218,32 +198,6 @@ public:
/// @name Transformations and measurement functions /// @name Transformations and measurement functions
/// @{ /// @{
/**
* projects a 3-dimensional point in camera coordinates into the
* camera and returns a 2-dimensional point, no calibration applied
* @param P A point in camera coordinates
* @param Dpoint is the 2*3 Jacobian w.r.t. P
*/
static Point2 project_to_camera(const Point3& P, //
OptionalJacobian<2, 3> Dpoint = boost::none) {
#ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
if (P.z() <= 0)
throw CheiralityException();
#endif
double d = 1.0 / P.z();
const double u = P.x() * d, v = P.y() * d;
if (Dpoint)
*Dpoint << d, 0.0, -u * d, 0.0, d, -v * d;
return Point2(u, v);
}
/// Project a point into the image and check depth
std::pair<Point2, bool> projectSafe(const Point3& pw) const {
const Point3 pc = pose_.transform_to(pw);
const Point2 pn = project_to_camera(pc);
return std::make_pair(K_.uncalibrate(pn), pc.z() > 0);
}
typedef Eigen::Matrix<double, 2, DimK> Matrix2K; typedef Eigen::Matrix<double, 2, DimK> Matrix2K;
/** project a point from world coordinate to the image /** project a point from world coordinate to the image
@ -252,31 +206,25 @@ public:
* @param Dpoint is the Jacobian w.r.t. point3 * @param Dpoint is the Jacobian w.r.t. point3
* @param Dcal is the Jacobian w.r.t. calibration * @param Dcal is the Jacobian w.r.t. calibration
*/ */
Point2 project(const Point3& pw, OptionalJacobian<2, 6> Dpose = Point2 project(const Point3& pw, OptionalJacobian<2, 6> Dpose = boost::none,
boost::none, OptionalJacobian<2, 3> Dpoint = boost::none, OptionalJacobian<2, 3> Dpoint = boost::none,
OptionalJacobian<2, DimK> Dcal = boost::none) const { OptionalJacobian<2, DimK> Dcal = boost::none) const {
// Transform to camera coordinates and check cheirality // project to normalized coordinates
const Point3 pc = pose_.transform_to(pw); const Point2 pn = PinholeBase::project2(pw, Dpose, Dpoint);
// Project to normalized image coordinates // uncalibrate to pixel coordinates
const Point2 pn = project_to_camera(pc);
if (Dpose || Dpoint) {
const double z = pc.z(), d = 1.0 / z;
// uncalibration
Matrix2 Dpi_pn; Matrix2 Dpi_pn;
const Point2 pi = K_.uncalibrate(pn, Dcal, Dpi_pn); const Point2 pi = calibration().uncalibrate(pn, Dcal,
Dpose || Dpoint ? &Dpi_pn : 0);
// chain the Jacobian matrices // If needed, apply chain rule
if (Dpose) if (Dpose)
calculateDpose(pn, d, Dpi_pn, *Dpose); *Dpose = Dpi_pn * *Dpose;
if (Dpoint) if (Dpoint)
calculateDpoint(pn, d, pose_.rotation().matrix(), Dpi_pn, *Dpoint); *Dpoint = Dpi_pn * *Dpoint;
return pi; return pi;
} else
return K_.uncalibrate(pn, Dcal);
} }
/** project a point at infinity from world coordinate to the image /** project a point at infinity from world coordinate to the image
@ -285,31 +233,30 @@ public:
* @param Dpoint is the Jacobian w.r.t. point3 * @param Dpoint is the Jacobian w.r.t. point3
* @param Dcal is the Jacobian w.r.t. calibration * @param Dcal is the Jacobian w.r.t. calibration
*/ */
Point2 projectPointAtInfinity(const Point3& pw, Point2 projectPointAtInfinity(const Point3& pw, OptionalJacobian<2, 6> Dpose =
OptionalJacobian<2, 6> Dpose = boost::none, boost::none, OptionalJacobian<2, 2> Dpoint = boost::none,
OptionalJacobian<2, 2> Dpoint = boost::none,
OptionalJacobian<2, DimK> Dcal = boost::none) const { OptionalJacobian<2, DimK> Dcal = boost::none) const {
if (!Dpose && !Dpoint && !Dcal) { if (!Dpose && !Dpoint && !Dcal) {
const Point3 pc = pose_.rotation().unrotate(pw); // get direction in camera frame (translation does not matter) const Point3 pc = this->pose().rotation().unrotate(pw); // get direction in camera frame (translation does not matter)
const Point2 pn = project_to_camera(pc);// project the point to the camera const Point2 pn = Base::project_to_camera(pc); // project the point to the camera
return K_.uncalibrate(pn); return K_.uncalibrate(pn);
} }
// world to camera coordinate // world to camera coordinate
Matrix3 Dpc_rot, Dpc_point; Matrix3 Dpc_rot, Dpc_point;
const Point3 pc = pose_.rotation().unrotate(pw, Dpc_rot, Dpc_point); const Point3 pc = this->pose().rotation().unrotate(pw, Dpc_rot, Dpc_point);
Matrix36 Dpc_pose; Matrix36 Dpc_pose;
Dpc_pose.setZero(); Dpc_pose.setZero();
Dpc_pose.leftCols<3>() = Dpc_rot; Dpc_pose.leftCols<3>() = Dpc_rot;
// camera to normalized image coordinate // camera to normalized image coordinate
Matrix23 Dpn_pc;// 2*3 Matrix23 Dpn_pc; // 2*3
const Point2 pn = project_to_camera(pc, Dpn_pc); const Point2 pn = Base::project_to_camera(pc, Dpn_pc);
// uncalibration // uncalibration
Matrix2 Dpi_pn;// 2*2 Matrix2 Dpi_pn; // 2*2
const Point2 pi = K_.uncalibrate(pn, Dcal, Dpi_pn); const Point2 pi = K_.uncalibrate(pn, Dcal, Dpi_pn);
// chain the Jacobian matrices // chain the Jacobian matrices
@ -317,71 +264,46 @@ public:
if (Dpose) if (Dpose)
*Dpose = Dpi_pc * Dpc_pose; *Dpose = Dpi_pc * Dpc_pose;
if (Dpoint) if (Dpoint)
*Dpoint = (Dpi_pc * Dpc_point).leftCols<2>();// only 2dof are important for the point (direction-only) *Dpoint = (Dpi_pc * Dpc_point).leftCols<2>(); // only 2dof are important for the point (direction-only)
return pi; return pi;
} }
/** project a point from world coordinate to the image, fixed Jacobians /** project a point from world coordinate to the image, fixed Jacobians
* @param pw is a point in the world coordinate * @param pw is a point in the world coordinate
* @param Dcamera is the Jacobian w.r.t. [pose3 calibration]
* @param Dpoint is the Jacobian w.r.t. point3
*/ */
Point2 project2( Point2 project2(
const Point3& pw, // const Point3& pw, //
OptionalJacobian<2, dimension> Dcamera = boost::none, OptionalJacobian<2, dimension> Dcamera = boost::none,
OptionalJacobian<2, 3> Dpoint = boost::none) const { OptionalJacobian<2, 3> Dpoint = boost::none) const {
const Point3 pc = pose_.transform_to(pw); // project to normalized coordinates
const Point2 pn = project_to_camera(pc); Matrix26 Dpose;
const Point2 pn = PinholeBase::project2(pw, Dpose, Dpoint);
if (!Dcamera && !Dpoint) { // uncalibrate to pixel coordinates
return K_.uncalibrate(pn);
} else {
const double z = pc.z(), d = 1.0 / z;
// uncalibration
Matrix2K Dcal; Matrix2K Dcal;
Matrix2 Dpi_pn; Matrix2 Dpi_pn;
const Point2 pi = K_.uncalibrate(pn, Dcal, Dpi_pn); const Point2 pi = calibration().uncalibrate(pn, Dcamera ? &Dcal : 0,
Dcamera || Dpoint ? &Dpi_pn : 0);
// If needed, calculate derivatives
if (Dcamera)
*Dcamera << Dpi_pn * Dpose, Dcal;
if (Dpoint)
*Dpoint = Dpi_pn * (*Dpoint);
if (Dcamera) { // TODO why does leftCols<6>() not compile ??
calculateDpose(pn, d, Dpi_pn, (*Dcamera).leftCols(6));
(*Dcamera).rightCols(DimK) = Dcal;// Jacobian wrt calib
}
if (Dpoint) {
calculateDpoint(pn, d, pose_.rotation().matrix(), Dpi_pn, *Dpoint);
}
return pi; return pi;
} }
}
/// backproject a 2-dimensional point to a 3-dimensional point at given depth
Point3 backproject(const Point2& p, double depth) const {
const Point2 pn = K_.calibrate(p);
const Point3 pc(pn.x() * depth, pn.y() * depth, depth);
return pose_.transform_from(pc);
}
/// backproject a 2-dimensional point to a 3-dimensional point at infinity
Point3 backprojectPointAtInfinity(const Point2& p) const {
const Point2 pn = K_.calibrate(p);
const Point3 pc(pn.x(), pn.y(), 1.0); //by convention the last element is 1
return pose_.rotation().rotate(pc);
}
/** /**
* Calculate range to a landmark * Calculate range to a landmark
* @param point 3D location of landmark * @param point 3D location of landmark
* @param Dcamera the optionally computed Jacobian with respect to pose
* @param Dpoint the optionally computed Jacobian with respect to the landmark
* @return range (double) * @return range (double)
*/ */
double range( double range(const Point3& point, OptionalJacobian<1, dimension> Dcamera =
const Point3& point, // boost::none, OptionalJacobian<1, 3> Dpoint = boost::none) const {
OptionalJacobian<1, dimension> Dcamera = boost::none,
OptionalJacobian<1, 3> Dpoint = boost::none) const {
Matrix16 Dpose_; Matrix16 Dpose_;
double result = pose_.range(point, Dcamera ? &Dpose_ : 0, Dpoint); double result = this->pose().range(point, Dcamera ? &Dpose_ : 0, Dpoint);
if (Dcamera) if (Dcamera)
*Dcamera << Dpose_, Eigen::Matrix<double, 1, DimK>::Zero(); *Dcamera << Dpose_, Eigen::Matrix<double, 1, DimK>::Zero();
return result; return result;
@ -390,16 +312,12 @@ public:
/** /**
* Calculate range to another pose * Calculate range to another pose
* @param pose Other SO(3) pose * @param pose Other SO(3) pose
* @param Dcamera the optionally computed Jacobian with respect to pose
* @param Dpose2 the optionally computed Jacobian with respect to the other pose
* @return range (double) * @return range (double)
*/ */
double range( double range(const Pose3& pose, OptionalJacobian<1, dimension> Dcamera =
const Pose3& pose, // boost::none, OptionalJacobian<1, 6> Dpose = boost::none) const {
OptionalJacobian<1, dimension> Dcamera = boost::none,
OptionalJacobian<1, 6> Dpose = boost::none) const {
Matrix16 Dpose_; Matrix16 Dpose_;
double result = pose_.range(pose, Dcamera ? &Dpose_ : 0, Dpose); double result = this->pose().range(pose, Dcamera ? &Dpose_ : 0, Dpose);
if (Dcamera) if (Dcamera)
*Dcamera << Dpose_, Eigen::Matrix<double, 1, DimK>::Zero(); *Dcamera << Dpose_, Eigen::Matrix<double, 1, DimK>::Zero();
return result; return result;
@ -408,26 +326,21 @@ public:
/** /**
* Calculate range to another camera * Calculate range to another camera
* @param camera Other camera * @param camera Other camera
* @param Dcamera the optionally computed Jacobian with respect to pose
* @param Dother the optionally computed Jacobian with respect to the other camera
* @return range (double) * @return range (double)
*/ */
template<class CalibrationB> template<class CalibrationB>
double range( double range(const PinholeCamera<CalibrationB>& camera,
const PinholeCamera<CalibrationB>& camera, //
OptionalJacobian<1, dimension> Dcamera = boost::none, OptionalJacobian<1, dimension> Dcamera = boost::none,
// OptionalJacobian<1, 6 + traits::dimension<CalibrationB>::value> Dother = boost::optional<Matrix&> Dother = boost::none) const {
boost::optional<Matrix&> Dother =
boost::none) const {
Matrix16 Dcamera_, Dother_; Matrix16 Dcamera_, Dother_;
double result = pose_.range(camera.pose(), Dcamera ? &Dcamera_ : 0, double result = this->pose().range(camera.pose(), Dcamera ? &Dcamera_ : 0,
Dother ? &Dother_ : 0); Dother ? &Dother_ : 0);
if (Dcamera) { if (Dcamera) {
Dcamera->resize(1, 6 + DimK); Dcamera->resize(1, 6 + DimK);
*Dcamera << Dcamera_, Eigen::Matrix<double, 1, DimK>::Zero(); *Dcamera << Dcamera_, Eigen::Matrix<double, 1, DimK>::Zero();
} }
if (Dother) { if (Dother) {
Dother->resize(1, 6+CalibrationB::dimension); Dother->resize(1, 6 + CalibrationB::dimension);
Dother->setZero(); Dother->setZero();
Dother->block(0, 0, 1, 6) = Dother_; Dother->block(0, 0, 1, 6) = Dother_;
} }
@ -437,12 +350,9 @@ public:
/** /**
* Calculate range to another camera * Calculate range to another camera
* @param camera Other camera * @param camera Other camera
* @param Dcamera the optionally computed Jacobian with respect to pose
* @param Dother the optionally computed Jacobian with respect to the other camera
* @return range (double) * @return range (double)
*/ */
double range( double range(const CalibratedCamera& camera,
const CalibratedCamera& camera, //
OptionalJacobian<1, dimension> Dcamera = boost::none, OptionalJacobian<1, dimension> Dcamera = boost::none,
OptionalJacobian<1, 6> Dother = boost::none) const { OptionalJacobian<1, 6> Dother = boost::none) const {
return range(camera.pose(), Dcamera, Dother); return range(camera.pose(), Dcamera, Dother);
@ -450,55 +360,13 @@ public:
private: private:
/**
* Calculate Jacobian with respect to pose
* @param pn projection in normalized coordinates
* @param d disparity (inverse depth)
* @param Dpi_pn derivative of uncalibrate with respect to pn
* @param Dpose Output argument, can be matrix or block, assumed right size !
* See http://eigen.tuxfamily.org/dox/TopicFunctionTakingEigenTypes.html
*/
template<typename Derived>
static void calculateDpose(const Point2& pn, double d, const Matrix2& Dpi_pn,
Eigen::MatrixBase<Derived> const & Dpose) {
// optimized version of derivatives, see CalibratedCamera.nb
const double u = pn.x(), v = pn.y();
double uv = u * v, uu = u * u, vv = v * v;
Matrix26 Dpn_pose;
Dpn_pose << uv, -1 - uu, v, -d, 0, d * u, 1 + vv, -uv, -u, 0, -d, d * v;
assert(Dpose.rows()==2 && Dpose.cols()==6);
const_cast<Eigen::MatrixBase<Derived>&>(Dpose) =//
Dpi_pn * Dpn_pose;
}
/**
* Calculate Jacobian with respect to point
* @param pn projection in normalized coordinates
* @param d disparity (inverse depth)
* @param Dpi_pn derivative of uncalibrate with respect to pn
* @param Dpoint Output argument, can be matrix or block, assumed right size !
* See http://eigen.tuxfamily.org/dox/TopicFunctionTakingEigenTypes.html
*/
template<typename Derived>
static void calculateDpoint(const Point2& pn, double d, const Matrix3& R,
const Matrix2& Dpi_pn, Eigen::MatrixBase<Derived> const & Dpoint) {
// optimized version of derivatives, see CalibratedCamera.nb
const double u = pn.x(), v = pn.y();
Matrix23 Dpn_point;
Dpn_point <<//
R(0, 0) - u * R(0, 2), R(1, 0) - u * R(1, 2), R(2, 0) - u * R(2, 2),//
/**/R(0, 1) - v * R(0, 2), R(1, 1) - v * R(1, 2), R(2, 1) - v * R(2, 2);
Dpn_point *= d;
assert(Dpoint.rows()==2 && Dpoint.cols()==3);
const_cast<Eigen::MatrixBase<Derived>&>(Dpoint) =//
Dpi_pn * Dpn_point;
}
/** Serialization function */ /** Serialization function */
friend class boost::serialization::access; friend class boost::serialization::access;
template<class Archive> template<class Archive>
void serialize(Archive & ar, const unsigned int version) { void serialize(Archive & ar, const unsigned int version) {
ar & BOOST_SERIALIZATION_NVP(pose_); ar
& boost::serialization::make_nvp("PinholeBaseK",
boost::serialization::base_object<Base>(*this));
ar & BOOST_SERIALIZATION_NVP(K_); ar & BOOST_SERIALIZATION_NVP(K_);
} }

1
gtsam/geometry/tests/testPinholeCamera.cpp
View File

@ -18,6 +18,7 @@
#include <gtsam/geometry/PinholeCamera.h> #include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Cal3_S2.h> #include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/Cal3Bundler.h> #include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/base/Testable.h> #include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h> #include <gtsam/base/numericalDerivative.h>