#include <ProjectionFactorPPP.h>
Public Types | |
typedef NoiseModelFactor3< POSE, 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 ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION > | This |
shorthand for this class More... | |
Public Types inherited from gtsam::NoiseModelFactorN< POSE, 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::shared_ptr< CALIBRATION > | calibration () const |
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 Pose3 &transform, const Point3 &point, OptionalMatrixType H1, OptionalMatrixType H2, OptionalMatrixType H3) const override |
Evaluate error h(x)-z and optionally derivatives. More... | |
const Point2 & | measured () const |
void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
ProjectionFactorPPP () | |
Default constructor. More... | |
ProjectionFactorPPP (const Point2 &measured, const SharedNoiseModel &model, Key poseKey, Key transformKey, Key pointKey, const std::shared_ptr< CALIBRATION > &K) | |
ProjectionFactorPPP (const Point2 &measured, const SharedNoiseModel &model, Key poseKey, Key transformKey, Key pointKey, const std::shared_ptr< CALIBRATION > &K, bool throwCheirality, bool verboseCheirality) | |
bool | throwCheirality () const |
bool | verboseCheirality () const |
~ProjectionFactorPPP () override | |
Public Member Functions inherited from gtsam::NoiseModelFactorN< POSE, 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 () |
Protected Attributes | |
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< POSE, 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) |
Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here. i.e. the main building block for visual SLAM.
Definition at line 33 of file ProjectionFactorPPP.h.
typedef NoiseModelFactor3<POSE, POSE, LANDMARK> gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >::Base |
shorthand for base class type
Definition at line 47 of file ProjectionFactorPPP.h.
typedef std::shared_ptr<This> gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >::shared_ptr |
shorthand for a smart pointer to a factor
Definition at line 56 of file ProjectionFactorPPP.h.
typedef ProjectionFactorPPP<POSE, LANDMARK, CALIBRATION> gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >::This |
shorthand for this class
Definition at line 53 of file ProjectionFactorPPP.h.
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inline |
Default constructor.
Definition at line 59 of file ProjectionFactorPPP.h.
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inline |
Constructor TODO: Mark argument order standard (keys, measurement, 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 |
transformKey | is the index of the body-camera transform |
pointKey | is the index of the landmark |
K | shared pointer to the constant calibration |
Definition at line 73 of file ProjectionFactorPPP.h.
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inline |
Constructor with exception-handling flags TODO: Mark argument order standard (keys, measurement, 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 |
Definition at line 90 of file ProjectionFactorPPP.h.
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Virtual destructor
Definition at line 98 of file ProjectionFactorPPP.h.
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inline |
return the calibration object
Definition at line 162 of file ProjectionFactorPPP.h.
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inlineoverridevirtual |
Reimplemented from gtsam::NonlinearFactor.
Definition at line 101 of file ProjectionFactorPPP.h.
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inlineoverridevirtual |
equals
Reimplemented from gtsam::NoiseModelFactor.
Definition at line 117 of file ProjectionFactorPPP.h.
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inlineoverride |
Evaluate error h(x)-z and optionally derivatives.
Definition at line 126 of file ProjectionFactorPPP.h.
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inline |
return the measurement
Definition at line 157 of file ProjectionFactorPPP.h.
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inlineoverridevirtual |
s | optional string naming the factor |
keyFormatter | optional formatter useful for printing Symbols |
Reimplemented from gtsam::NoiseModelFactor.
Definition at line 110 of file ProjectionFactorPPP.h.
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inline |
return flag for throwing cheirality exceptions
Definition at line 170 of file ProjectionFactorPPP.h.
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inline |
return verbosity
Definition at line 167 of file ProjectionFactorPPP.h.
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protected |
shared pointer to calibration object
Definition at line 38 of file ProjectionFactorPPP.h.
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protected |
2D measurement
Definition at line 37 of file ProjectionFactorPPP.h.
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protected |
If true, rethrows Cheirality exceptions (default: false)
Definition at line 41 of file ProjectionFactorPPP.h.
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protected |
If true, prints text for Cheirality exceptions (default: false)
Definition at line 42 of file ProjectionFactorPPP.h.