#include <StereoFactor.h>

Inheritance diagram for gtsam::GenericStereoFactor< POSE, LANDMARK >:

[legend]

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

typedef POSE	CamPose
	typedef for Pose Lie Value type More...

typedef std::shared_ptr< GenericStereoFactor >	shared_ptr
	typedef for shared pointer to this object More...

typedef GenericStereoFactor< POSE, LANDMARK >	This
	typedef for this class (with templates) More...

Public Types inherited from gtsam::NoiseModelFactorN< POSE, LANDMARK >
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 Cal3_S2Stereo::shared_ptr	calibration () const

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

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

Vector	evaluateError (const Pose3 &pose, const Point3 &point, OptionalMatrixType H1, OptionalMatrixType H2) const override

	GenericStereoFactor ()

	GenericStereoFactor (const StereoPoint2 &measured, const SharedNoiseModel &model, Key poseKey, Key landmarkKey, const Cal3_S2Stereo::shared_ptr &K, bool throwCheirality, bool verboseCheirality, std::optional< POSE > body_P_sensor={})

	GenericStereoFactor (const StereoPoint2 &measured, const SharedNoiseModel &model, Key poseKey, Key landmarkKey, const Cal3_S2Stereo::shared_ptr &K, std::optional< POSE > body_P_sensor={})

const StereoPoint2 &	measured () const

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

bool	throwCheirality () const

bool	verboseCheirality () const

	~GenericStereoFactor () override

Public Member Functions inherited from gtsam::NoiseModelFactorN< POSE, LANDMARK >
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 ()

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

Cal3_S2Stereo::shared_ptr	K_
	shared pointer to calibration More...

StereoPoint2	measured_
	the measurement More...

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

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

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactorN< POSE, LANDMARK >
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

template<class POSE, class LANDMARK>
class gtsam::GenericStereoFactor< POSE, LANDMARK >

A Generic Stereo Factor

Definition at line 32 of file StereoFactor.h.

Member Typedef Documentation

◆ Base

template<class POSE , class LANDMARK >

typedef NoiseModelFactorN<POSE, LANDMARK> gtsam::GenericStereoFactor< POSE, LANDMARK >::Base

typedef for base class

Definition at line 47 of file StereoFactor.h.

◆ CamPose

template<class POSE , class LANDMARK >

typedef POSE gtsam::GenericStereoFactor< POSE, LANDMARK >::CamPose

typedef for Pose Lie Value type

Definition at line 50 of file StereoFactor.h.

◆ shared_ptr

template<class POSE , class LANDMARK >

typedef std::shared_ptr<GenericStereoFactor> gtsam::GenericStereoFactor< POSE, LANDMARK >::shared_ptr

typedef for shared pointer to this object

Definition at line 49 of file StereoFactor.h.

◆ This

template<class POSE , class LANDMARK >

typedef GenericStereoFactor<POSE, LANDMARK> gtsam::GenericStereoFactor< POSE, LANDMARK >::This

typedef for this class (with templates)

Definition at line 48 of file StereoFactor.h.

Constructor & Destructor Documentation

◆ GenericStereoFactor() [1/3]

template<class POSE , class LANDMARK >

gtsam::GenericStereoFactor< POSE, LANDMARK >::GenericStereoFactor ( )

inline

Default constructor

Definition at line 58 of file StereoFactor.h.

◆ GenericStereoFactor() [2/3]

template<class POSE , class LANDMARK >

gtsam::GenericStereoFactor< POSE, LANDMARK >::GenericStereoFactor	(	const StereoPoint2 &	measured,
		const SharedNoiseModel &	model,
		Key	poseKey,
		Key	landmarkKey,
		const Cal3_S2Stereo::shared_ptr &	K,
		std::optional< POSE >	body_P_sensor = `{}`
	)

inline

Constructor

Parameters

measured	is the Stereo Point measurement (u_l, u_r, v). v will be identical for left & right for rectified stereo pair
model	is the noise model in on the measurement
poseKey	the pose variable key
landmarkKey	the landmark variable key
K	the constant calibration
body_P_sensor	is the transform from body to sensor frame (default identity)

Definition at line 70 of file StereoFactor.h.

◆ GenericStereoFactor() [3/3]

template<class POSE , class LANDMARK >

gtsam::GenericStereoFactor< POSE, LANDMARK >::GenericStereoFactor	(	const StereoPoint2 &	measured,
		const SharedNoiseModel &	model,
		Key	poseKey,
		Key	landmarkKey,
		const Cal3_S2Stereo::shared_ptr &	K,
		bool	throwCheirality,
		bool	verboseCheirality,
		std::optional< POSE >	body_P_sensor = `{}`
	)

inline

Constructor with exception-handling flags

Parameters

measured	is the Stereo Point measurement (u_l, u_r, v). v will be identical for left & right for rectified stereo pair
model	is the noise model in on the measurement
poseKey	the pose variable key
landmarkKey	the landmark variable key
K	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 87 of file StereoFactor.h.

◆ ~GenericStereoFactor()

template<class POSE , class LANDMARK >

gtsam::GenericStereoFactor< POSE, LANDMARK >::~GenericStereoFactor ( )

inlineoverride

Virtual destructor

Definition at line 95 of file StereoFactor.h.

Member Function Documentation

◆ body_P_sensor()

template<class POSE , class LANDMARK >

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

inline

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

Definition at line 173 of file StereoFactor.h.

◆ calibration()

template<class POSE , class LANDMARK >

const Cal3_S2Stereo::shared_ptr gtsam::GenericStereoFactor< POSE, LANDMARK >::calibration ( ) const

inline

return the calibration object

Definition at line 162 of file StereoFactor.h.

◆ clone()

template<class POSE , class LANDMARK >

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

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 98 of file StereoFactor.h.

◆ equals()

template<class POSE , class LANDMARK >

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

inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 117 of file StereoFactor.h.

◆ evaluateError()

template<class POSE , class LANDMARK >

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

inlineoverride

h(x)-z

Definition at line 126 of file StereoFactor.h.

◆ measured()

template<class POSE , class LANDMARK >

const StereoPoint2& gtsam::GenericStereoFactor< POSE, LANDMARK >::measured ( ) const

inline

return the measured

Definition at line 157 of file StereoFactor.h.

◆ print()

template<class POSE , class LANDMARK >

void gtsam::GenericStereoFactor< POSE, LANDMARK >::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 107 of file StereoFactor.h.

◆ throwCheirality()

template<class POSE , class LANDMARK >

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

inline

return flag for throwing cheirality exceptions

Definition at line 170 of file StereoFactor.h.

◆ verboseCheirality()

template<class POSE , class LANDMARK >

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

inline

return verbosity

Definition at line 167 of file StereoFactor.h.

Member Data Documentation

◆ body_P_sensor_

template<class POSE , class LANDMARK >

std::optional<POSE> gtsam::GenericStereoFactor< POSE, LANDMARK >::body_P_sensor_

private

The pose of the sensor in the body frame.

Definition at line 38 of file StereoFactor.h.

◆ K_

template<class POSE , class LANDMARK >

Cal3_S2Stereo::shared_ptr gtsam::GenericStereoFactor< POSE, LANDMARK >::K_

private

shared pointer to calibration

Definition at line 37 of file StereoFactor.h.

◆ measured_

template<class POSE , class LANDMARK >

StereoPoint2 gtsam::GenericStereoFactor< POSE, LANDMARK >::measured_

private

the measurement

Definition at line 36 of file StereoFactor.h.

◆ throwCheirality_

template<class POSE , class LANDMARK >

bool gtsam::GenericStereoFactor< POSE, LANDMARK >::throwCheirality_

private

If true, rethrows Cheirality exceptions (default: false)

Definition at line 41 of file StereoFactor.h.

◆ verboseCheirality_

template<class POSE , class LANDMARK >

bool gtsam::GenericStereoFactor< POSE, LANDMARK >::verboseCheirality_

private

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

Definition at line 42 of file StereoFactor.h.

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

StereoFactor.h

Public Types

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

template<class POSE, class LANDMARK> class gtsam::GenericStereoFactor< POSE, LANDMARK >

Member Typedef Documentation

◆ Base

◆ CamPose

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ GenericStereoFactor() [1/3]

◆ GenericStereoFactor() [2/3]

◆ GenericStereoFactor() [3/3]

◆ ~GenericStereoFactor()

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, class LANDMARK>
class gtsam::GenericStereoFactor< POSE, LANDMARK >