#include <TranslationFactor.h>

Inheritance diagram for gtsam::BilinearAngleTranslationFactor:

[legend]

Public Member Functions
	BilinearAngleTranslationFactor ()
	default constructor More...

	BilinearAngleTranslationFactor (Key a, Key b, Key scale_key, const Unit3 &w_aZb, const SharedNoiseModel &noiseModel)

Vector	evaluateError (const Point3 &Ta, const Point3 &Tb, const Vector1 &scale, OptionalMatrixType H1, OptionalMatrixType H2, OptionalMatrixType H3) const override
	Calculate error: (scale * (Tb - Ta) - measurement) where Tb and Ta are Point3 translations and measurement is the Unit3 translation direction from a to b. More...

Public Member Functions inherited from gtsam::NoiseModelFactorN< Point3, Point3, Vector1 >
Key	key () const

virtual Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const =0

Vector	unwhitenedError (const Values &x, std::vector< Matrix > &H) const

	~NoiseModelFactorN () override

	NoiseModelFactorN ()
	Default Constructor for I/O. More...

	NoiseModelFactorN (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys)

	NoiseModelFactorN (const SharedNoiseModel &noiseModel, CONTAINER keys)

Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override

virtual Vector	evaluateError (const ValueTypes &... x, OptionalMatrixTypeT< ValueTypes >... H) const=0

Vector	evaluateError (const ValueTypes &... x, MatrixTypeT< ValueTypes > &... H) const

Vector	evaluateError (const ValueTypes &... x) const

AreAllMatrixRefs< Vector, OptionalJacArgs... >	evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const

AreAllMatrixPtrs< Vector, OptionalJacArgs... >	evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const

Key	key1 () const

Key	key2 () const

Key	key3 () const

Key	key4 () const

Key	key5 () const

Key	key6 () const

Public Member Functions inherited from gtsam::NoiseModelFactor
shared_ptr	cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const

size_t	dim () const override

bool	equals (const NonlinearFactor &f, double tol=1e-9) const override

double	error (const Values &c) const override

std::shared_ptr< GaussianFactor >	linearize (const Values &x) const override

const SharedNoiseModel &	noiseModel () const
	access to the noise model More...

	NoiseModelFactor ()

template<typename CONTAINER >
	NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override

Vector	unweightedWhitenedError (const Values &c) const

Vector	unwhitenedError (const Values &x, std::vector< Matrix > &H) const

double	weight (const Values &c) const

Vector	whitenedError (const Values &c) const

	~NoiseModelFactor () override

Public Member Functions inherited from gtsam::NonlinearFactor
	NonlinearFactor ()

template<typename CONTAINER >
	NonlinearFactor (const CONTAINER &keys)

double	error (const HybridValues &c) const override

virtual bool	active (const Values &) const

virtual shared_ptr	clone () const

virtual shared_ptr	rekey (const std::map< Key, Key > &rekey_mapping) const

virtual shared_ptr	rekey (const KeyVector &new_keys) const

virtual bool	sendable () const

Public Member Functions inherited from gtsam::Factor
virtual	~Factor ()=default
	Default destructor. More...

bool	empty () const
	Whether the factor is empty (involves zero variables). More...

Key	front () const
	First key. More...

Key	back () const
	Last key. More...

const_iterator	find (Key key) const
	find More...

const KeyVector &	keys () const
	Access the factor's involved variable keys. More...

const_iterator	begin () const

const_iterator	end () const

size_t	size () const

virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys More...

bool	equals (const This &other, double tol=1e-9) const
	check equality More...

KeyVector &	keys ()

iterator	begin ()

iterator	end ()

Private Types
typedef NoiseModelFactorN< Point3, Point3, Vector1 >	Base

Private Attributes
Point3	measured_w_aZb_

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactorN< Point3, Point3, Vector1 >
enum
	N is the number of variables (N-way factor) More...

using	ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type

Public Types inherited from gtsam::NoiseModelFactor
typedef std::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::NonlinearFactor
typedef std::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::Factor
typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys. More...

typedef KeyVector::iterator	iterator
	Iterator over keys. More...

Protected Types inherited from gtsam::NoiseModelFactorN< Point3, Point3, Vector1 >
using	Base = NoiseModelFactor

using	KeyType = Key

using	MatrixTypeT = Matrix

using	OptionalMatrixTypeT = Matrix *

using	This = NoiseModelFactorN< ValueTypes... >

using	IsConvertible = typename std::enable_if< std::is_convertible< From, To >::value, void >::type

using	IndexIsValid = typename std::enable_if<(I >=1) &&(I<=N), void >::type

using	ContainerElementType = typename std::decay< decltype(*std::declval< Container >().begin())>::type

using	IsContainerOfKeys = IsConvertible< ContainerElementType< Container >, Key >

using	AreAllMatrixRefs = std::enable_if_t<(... &&std::is_convertible< Args, Matrix & >::value), Ret >

using	IsMatrixPointer = std::is_same< typename std::decay_t< Arg >, Matrix * >

using	IsNullpointer = std::is_same< typename std::decay_t< Arg >, std::nullptr_t >

using	AreAllMatrixPtrs = std::enable_if_t<(... &&(IsMatrixPointer< Args >::value\|\|IsNullpointer< Args >::value)), Ret >

Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor	Base

typedef NoiseModelFactor	This

Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base

typedef NonlinearFactor	This

Protected Member Functions inherited from gtsam::NoiseModelFactor
	NoiseModelFactor (const SharedNoiseModel &noiseModel)

Protected Member Functions inherited from gtsam::Factor
	Factor ()

template<typename CONTAINER >
	Factor (const CONTAINER &keys)

template<typename ITERATOR >
	Factor (ITERATOR first, ITERATOR last)

Static Protected Member Functions inherited from gtsam::Factor
template<typename CONTAINER >
static Factor	FromKeys (const CONTAINER &keys)

template<typename ITERATOR >
static Factor	FromIterators (ITERATOR first, ITERATOR last)

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Detailed Description

Binary factor for a relative translation direction measurement w_aZb. The measurement equation is w_aZb = scale * (Tb - Ta) i.e., w_aZb is the translation direction from frame A to B, in world coordinates.

Instead of normalizing the Tb - Ta vector, we multiply it by a scalar which is also jointly optimized. This is inspired by the work on BATA (Zhuang et al, CVPR 2018).

Definition at line 104 of file TranslationFactor.h.

Member Typedef Documentation

◆ Base

typedef NoiseModelFactorN<Point3, Point3, Vector1> gtsam::BilinearAngleTranslationFactor::Base

private

Definition at line 107 of file TranslationFactor.h.

Constructor & Destructor Documentation

◆ BilinearAngleTranslationFactor() [1/2]

gtsam::BilinearAngleTranslationFactor::BilinearAngleTranslationFactor ( )

inline

default constructor

Definition at line 112 of file TranslationFactor.h.

◆ BilinearAngleTranslationFactor() [2/2]

gtsam::BilinearAngleTranslationFactor::BilinearAngleTranslationFactor	(	Key	a,
		Key	b,
		Key	scale_key,
		const Unit3 &	w_aZb,
		const SharedNoiseModel &	noiseModel
	)

inline

Definition at line 114 of file TranslationFactor.h.

Member Function Documentation

◆ evaluateError()

Vector gtsam::BilinearAngleTranslationFactor::evaluateError	(	const Point3 &	Ta,
		const Point3 &	Tb,
		const Vector1 &	scale,
		OptionalMatrixType	H1,
		OptionalMatrixType	H2,
		OptionalMatrixType	H3
	)		const

inlineoverride

Calculate error: (scale * (Tb - Ta) - measurement) where Tb and Ta are Point3 translations and measurement is the Unit3 translation direction from a to b.

Parameters

Ta	translation for key a
Tb	translation for key b
H1	optional jacobian in Ta
H2	optional jacobian in Tb

Returns: * Vector

Definition at line 133 of file TranslationFactor.h.

Member Data Documentation

◆ measured_w_aZb_

Point3 gtsam::BilinearAngleTranslationFactor::measured_w_aZb_

private

Definition at line 108 of file TranslationFactor.h.

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

TranslationFactor.h

Public Member Functions

Private Types

Private Attributes

Additional Inherited Members