#include <ProjectionFactor.h>

Inheritance diagram for gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >:

[legend]

Public Types
typedef NoiseModelFactorN< POSE, LANDMARK >	Base
	shorthand for base class type More...

typedef std::shared_ptr< This >	shared_ptr
	shorthand for a smart pointer to a factor More...

typedef GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >	This
	shorthand for this class More...

Public Types inherited from gtsam::NoiseModelFactorN< Pose3, Point3 >
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...

Public Member Functions
const std::optional< POSE > &	body_P_sensor () const

const std::shared_ptr< CALIBRATION >	calibration () const

gtsam::NonlinearFactor::shared_ptr	clone () const override

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

Vector	evaluateError (const Pose3 &pose, const Point3 &point, OptionalMatrixType H1, OptionalMatrixType H2) const override
	Evaluate error h(x)-z and optionally derivatives. More...

	GenericProjectionFactor ()
	Default constructor. More...

	GenericProjectionFactor (const Point2 &measured, const SharedNoiseModel &model, Key poseKey, Key pointKey, const std::shared_ptr< CALIBRATION > &K, bool throwCheirality, bool verboseCheirality, std::optional< POSE > body_P_sensor={})

	GenericProjectionFactor (const Point2 &measured, const SharedNoiseModel &model, Key poseKey, Key pointKey, const std::shared_ptr< CALIBRATION > &K, std::optional< POSE > body_P_sensor={})

const Point2 &	measured () const

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

bool	throwCheirality () const

bool	verboseCheirality () const

	~GenericProjectionFactor () override

Public Member Functions inherited from gtsam::NoiseModelFactorN< Pose3, Point3 >
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

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)

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	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 ()

Protected Attributes
std::optional< POSE >	body_P_sensor_
	The pose of the sensor in the body frame. More...

std::shared_ptr< CALIBRATION >	K_
	shared pointer to calibration object More...

Point2	measured_
	2D measurement More...

bool	throwCheirality_
	If true, rethrows Cheirality exceptions (default: false) More...

bool	verboseCheirality_
	If true, prints text for Cheirality exceptions (default: false) More...

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

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

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactorN< Pose3, Point3 >
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)

Detailed Description

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
class gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >

Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here. The main building block for visual SLAM.

Definition at line 40 of file ProjectionFactor.h.

Member Typedef Documentation

◆ Base

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

typedef NoiseModelFactorN<POSE, LANDMARK> gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::Base

shorthand for base class type

Definition at line 55 of file ProjectionFactor.h.

◆ shared_ptr

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

typedef std::shared_ptr<This> gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::shared_ptr

shorthand for a smart pointer to a factor

Definition at line 64 of file ProjectionFactor.h.

◆ This

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

typedef GenericProjectionFactor<POSE, LANDMARK, CALIBRATION> gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::This

shorthand for this class

Definition at line 61 of file ProjectionFactor.h.

Constructor & Destructor Documentation

◆ GenericProjectionFactor() [1/3]

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::GenericProjectionFactor ( )

inline

Default constructor.

Definition at line 67 of file ProjectionFactor.h.

◆ GenericProjectionFactor() [2/3]

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::GenericProjectionFactor	(	const Point2 &	measured,
		const SharedNoiseModel &	model,
		Key	poseKey,
		Key	pointKey,
		const std::shared_ptr< CALIBRATION > &	K,
		std::optional< POSE >	body_P_sensor = `{}`
	)

inline

Constructor TODO: Mark argument order standard (keys, measurement, parameters)

Parameters

measured	is the 2 dimensional location of point in image (the measurement)
model	is the standard deviation
poseKey	is the index of the camera
pointKey	is the index of the landmark
K	shared pointer to the constant calibration
body_P_sensor	is the transform from body to sensor frame (default identity)

Definition at line 81 of file ProjectionFactor.h.

◆ GenericProjectionFactor() [3/3]

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::GenericProjectionFactor	(	const Point2 &	measured,
		const SharedNoiseModel &	model,
		Key	poseKey,
		Key	pointKey,
		const std::shared_ptr< CALIBRATION > &	K,
		bool	throwCheirality,
		bool	verboseCheirality,
		std::optional< POSE >	body_P_sensor = `{}`
	)

inline

Constructor with exception-handling flags TODO: Mark argument order standard (keys, measurement, parameters)

Parameters

measured	is the 2 dimensional location of point in image (the measurement)
model	is the standard deviation
poseKey	is the index of the camera
pointKey	is the index of the landmark
K	shared pointer to the constant calibration
throwCheirality	determines whether Cheirality exceptions are rethrown
verboseCheirality	determines whether exceptions are printed for Cheirality
body_P_sensor	is the transform from body to sensor frame (default identity)

Definition at line 99 of file ProjectionFactor.h.

◆ ~GenericProjectionFactor()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::~GenericProjectionFactor ( )

inlineoverride

Virtual destructor

Definition at line 107 of file ProjectionFactor.h.

Member Function Documentation

◆ body_P_sensor()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

const std::optional<POSE>& gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::body_P_sensor ( ) const

inline

return the (optional) sensor pose with respect to the vehicle frame

Definition at line 179 of file ProjectionFactor.h.

◆ calibration()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

const std::shared_ptr<CALIBRATION> gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::calibration ( ) const

inline

return the calibration object

Definition at line 174 of file ProjectionFactor.h.

◆ clone()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

gtsam::NonlinearFactor::shared_ptr gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 110 of file ProjectionFactor.h.

◆ equals()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

bool gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::equals	(	const NonlinearFactor &	p,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 128 of file ProjectionFactor.h.

◆ evaluateError()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

Vector gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::evaluateError	(	const Pose3 &	pose,
		const Point3 &	point,
		OptionalMatrixType	H1,
		OptionalMatrixType	H2
	)		const

inlineoverride

Evaluate error h(x)-z and optionally derivatives.

Definition at line 138 of file ProjectionFactor.h.

◆ measured()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

const Point2& gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::measured ( ) const

inline

return the measurement

Definition at line 169 of file ProjectionFactor.h.

◆ print()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

void gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

print

Parameters

s	optional string naming the factor
keyFormatter	optional formatter useful for printing Symbols

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 119 of file ProjectionFactor.h.

◆ throwCheirality()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

bool gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::throwCheirality ( ) const

inline

return flag for throwing cheirality exceptions

Definition at line 187 of file ProjectionFactor.h.

◆ verboseCheirality()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

bool gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::verboseCheirality ( ) const

inline

return verbosity

Definition at line 184 of file ProjectionFactor.h.

Member Data Documentation

◆ body_P_sensor_

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

std::optional<POSE> gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::body_P_sensor_

protected

The pose of the sensor in the body frame.

Definition at line 46 of file ProjectionFactor.h.

◆ K_

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

std::shared_ptr<CALIBRATION> gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::K_

protected

shared pointer to calibration object

Definition at line 45 of file ProjectionFactor.h.

◆ measured_

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

Point2 gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::measured_

protected

2D measurement

Definition at line 44 of file ProjectionFactor.h.

◆ throwCheirality_

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

bool gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::throwCheirality_

protected

If true, rethrows Cheirality exceptions (default: false)

Definition at line 49 of file ProjectionFactor.h.

◆ verboseCheirality_

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

bool gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::verboseCheirality_

protected

If true, prints text for Cheirality exceptions (default: false)

Definition at line 50 of file ProjectionFactor.h.

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

ProjectionFactor.h

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2> class gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >

Member Typedef Documentation

◆ Base

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ GenericProjectionFactor() [1/3]

◆ GenericProjectionFactor() [2/3]

◆ GenericProjectionFactor() [3/3]

◆ ~GenericProjectionFactor()

Member Function Documentation

◆ body_P_sensor()

◆ calibration()

◆ clone()

◆ equals()

◆ evaluateError()

◆ measured()

◆ print()

◆ throwCheirality()

◆ verboseCheirality()

Member Data Documentation

◆ body_P_sensor_

◆ K_

◆ measured_

◆ throwCheirality_

◆ verboseCheirality_

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
class gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >