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39 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
40 #include <boost/serialization/nvp.hpp>
46 namespace serialization {
58 template<
class CAMERA,
class LANDMARK>
92 Key cameraKey,
Key landmarkKey)
105 return std::static_pointer_cast<gtsam::NonlinearFactor>(
122 const This*
e =
dynamic_cast<const This*
>(&
p);
132 catch( CheiralityException&
e [[maybe_unused]]) {
133 if (H1) *H1 = JacobianC::Zero();
134 if (H2) *H2 = JacobianL::Zero();
143 if (!this->
active(values))
return std::shared_ptr<JacobianFactor>();
153 }
catch (CheiralityException&
e [[maybe_unused]]) {
173 model = std::static_pointer_cast<noiseModel::Constrained>(
noiseModel)->unit();
176 return std::make_shared<BinaryJacobianFactor<2, DimC, DimL> >(
key1, H1,
key2, H2,
b,
model);
185 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
187 friend class boost::serialization::access;
188 template<
class Archive>
189 void serialize(Archive & ar,
const unsigned int ) {
191 ar & boost::serialization::make_nvp(
"NoiseModelFactor2",
192 boost::serialization::base_object<Base>(*
this));
198 template<
class CAMERA,
class LANDMARK>
200 GeneralSFMFactor<CAMERA, LANDMARK> > {
207 template<
class CALIBRATION>
242 return std::static_pointer_cast<gtsam::NonlinearFactor>(
259 const This*
e =
dynamic_cast<const This*
>(&
p);
271 if (H1) *H1 = Matrix::Zero(2, 6);
272 if (H2) *H2 = Matrix::Zero(2, 3);
273 if (H3) *H3 = Matrix::Zero(2,
DimK);
286 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
288 friend class boost::serialization::access;
289 template<
class Archive>
290 void serialize(Archive & ar,
const unsigned int ) {
292 ar & boost::serialization::make_nvp(
"NoiseModelFactor3",
293 boost::serialization::base_object<Base>(*
this));
299 template<
class CALIBRATION>
301 GeneralSFMFactor2<CALIBRATION> > {
std::shared_ptr< GaussianFactor > linearize(const Values &values) const override
Linearize using fixed-size matrices.
GeneralSFMFactor2< CALIBRATION > This
std::shared_ptr< This > shared_ptr
Namespace containing all symbols from the Eigen library.
A binary JacobianFactor specialization that uses fixed matrix math for speed.
typedef and functions to augment Eigen's VectorXd
Array< double, 1, 3 > e(1./3., 0.5, 2.)
gtsam::NonlinearFactor::shared_ptr clone() const override
Concept check for values that can be used in unit tests.
Typedefs for easier changing of types.
typedef and functions to augment Eigen's MatrixXd
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GeneralSFMFactor< CAMERA, LANDMARK > This
typedef for this object
static Pose3 pose3(rt3, pt3)
std::shared_ptr< Factor > shared_ptr
A shared_ptr to this class.
virtual bool active(const Values &) const
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
bool equals(const NonlinearFactor &p, double tol=1e-9) const override
Point2 measured_
the 2D measurement
gtsam::NonlinearFactor::shared_ptr clone() const override
const SharedNoiseModel & noiseModel() const
access to the noise model
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Access to matrices via blocks of pre-defined sizes. Used in GaussianFactor and GaussianConditional.
Eigen::Matrix< double, 2, DimC > JacobianC
void print(const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
noiseModel::Diagonal::shared_ptr SharedDiagonal
Base class for all pinhole cameras.
Vector evaluateError(const Pose3 &pose3, const Point3 &point, const CALIBRATION &calib, OptionalMatrixType H1, OptionalMatrixType H2, OptionalMatrixType H3) const override
Vector evaluateError(const CAMERA &camera, const LANDMARK &point, OptionalMatrixType H1, OptionalMatrixType H2) const override
Base class and basic functions for Manifold types.
bool equals(const NonlinearFactor &f, double tol=1e-9) const override
noiseModel::Base::shared_ptr SharedNoiseModel
Eigen::Matrix< double, 2, DimL > JacobianL
noiseModel::Diagonal::shared_ptr model
const Point2 measured() const
Non-linear factor base classes.
GeneralSFMFactor2(const Point2 &measured, const SharedNoiseModel &model, Key poseKey, Key landmarkKey, Key calibKey)
Continuous, differentiable manifold values for.
bool equals(const NonlinearFactor &p, double tol=1e-9) const override
static const Eigen::MatrixBase< Vector2 >::ConstantReturnType Z_2x1
void Print(const CONTAINER &keys, const string &s, const KeyFormatter &keyFormatter)
void print(const std::string &s="SFMFactor2", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
Matrix * OptionalMatrixType
The matrix class, also used for vectors and row-vectors.
Give fixed size dimension of a type, fails at compile time if dynamic.
static const CalibratedCamera camera(kDefaultPose)
Point2 measured_
the 2D measurement
GeneralSFMFactor(const Point2 &measured, const SharedNoiseModel &model, Key cameraKey, Key landmarkKey)
std::uint64_t Key
Integer nonlinear key type.
#define GTSAM_CONCEPT_MANIFOLD_TYPE(T)
const Point2 measured() const
void print(const std::string &s="SFMFactor", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:32:36