#include <TransferFactor.h>

Inheritance diagram for gtsam::TransferFactor< F >:

[legend]

Public Member Functions
Vector	evaluateError (const F &F1, const F &F2, OptionalMatrixType H1=nullptr, OptionalMatrixType H2=nullptr) const override
	vector of errors returns 2*N vector More...

std::pair< Matrix3, Matrix3 >	getMatrices (const F &F1, const F &F2) const

	TransferFactor (EdgeKey key1, EdgeKey key2, const Point2 &pa, const Point2 &pb, const Point2 &pc, const SharedNoiseModel &model=nullptr)
	Constructor for a single triplet of points. More...

	TransferFactor (EdgeKey key1, EdgeKey key2, const std::vector< std::tuple< Point2, Point2, Point2 >> &triplets, const SharedNoiseModel &model=nullptr)
	Constructor that accepts a vector of point triplets. More...

Public Member Functions inherited from gtsam::NoiseModelFactorN< F, F >
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 Attributes
EdgeKey	key1_

EdgeKey	key2_
	the two EdgeKeys More...

std::vector< std::tuple< Point2, Point2, Point2 > >	triplets_
	Point triplets. More...

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactorN< F, F >
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< F, F >
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<typename F>
class gtsam::TransferFactor< F >

Binary factor in the context of Structure from Motion (SfM). It is used to transfer transfer corresponding points from two views to a third based on two fundamental matrices. The factor computes the error between the transferred points pa and pb, and the actual point pc in the target view. Jacobians are done using numerical differentiation.

Definition at line 33 of file TransferFactor.h.

Constructor & Destructor Documentation

◆ TransferFactor() [1/2]

template<typename F >

gtsam::TransferFactor< F >::TransferFactor	(	EdgeKey	key1,
		EdgeKey	key2,
		const Point2 &	pa,
		const Point2 &	pb,
		const Point2 &	pc,
		const SharedNoiseModel &	model = `nullptr`
	)

inline

Constructor for a single triplet of points.

Note: : batching all points for the same transfer will be much faster.

Parameters

key1	First EdgeKey specifying F1: (a, c) or (c, a).
key2	Second EdgeKey specifying F2: (b, c) or (c, b).
pa	The point in the first view (a).
pb	The point in the second view (b).
pc	The point in the third (and transfer target) view (c).
model	An optional SharedNoiseModel that defines the noise model for this factor. Defaults to nullptr.

Definition at line 52 of file TransferFactor.h.

◆ TransferFactor() [2/2]

template<typename F >

gtsam::TransferFactor< F >::TransferFactor	(	EdgeKey	key1,
		EdgeKey	key2,
		const std::vector< std::tuple< Point2, Point2, Point2 >> &	triplets,
		const SharedNoiseModel &	model = `nullptr`
	)

inline

Constructor that accepts a vector of point triplets.

Parameters

key1	First EdgeKey specifying F1: (a, c) or (c, a).
key2	Second EdgeKey specifying F2: (b, c) or (c, b).
triplets	A vector of triplets containing (pa, pb, pc).
model	An optional SharedNoiseModel that defines the noise model for this factor. Defaults to nullptr.

Definition at line 68 of file TransferFactor.h.

Member Function Documentation

◆ evaluateError()

template<typename F >

Vector gtsam::TransferFactor< F >::evaluateError	(	const F &	F1,
		const F &	F2,
		OptionalMatrixType	H1 = `nullptr`,
		OptionalMatrixType	H2 = `nullptr`
	)		const

inlineoverride

vector of errors returns 2*N vector

Definition at line 95 of file TransferFactor.h.

◆ getMatrices()

template<typename F >

std::pair<Matrix3, Matrix3> gtsam::TransferFactor< F >::getMatrices	(	const F &	F1,
		const F &	F2
	)		const

inline

Definition at line 78 of file TransferFactor.h.

Member Data Documentation

◆ key1_

template<typename F >

EdgeKey gtsam::TransferFactor< F >::key1_

private

Definition at line 34 of file TransferFactor.h.

◆ key2_

template<typename F >

EdgeKey gtsam::TransferFactor< F >::key2_

private

the two EdgeKeys

Definition at line 34 of file TransferFactor.h.

◆ triplets_

template<typename F >

std::vector<std::tuple<Point2, Point2, Point2> > gtsam::TransferFactor< F >::triplets_

private

Point triplets.

Definition at line 36 of file TransferFactor.h.

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

TransferFactor.h

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

template<typename F> class gtsam::TransferFactor< F >

Constructor & Destructor Documentation

◆ TransferFactor() [1/2]

◆ TransferFactor() [2/2]

Member Function Documentation

◆ evaluateError()

◆ getMatrices()

Member Data Documentation

◆ key1_

◆ key2_

◆ triplets_

template<typename F>
class gtsam::TransferFactor< F >