#include <TriangulationFactor.h>
Public Types | |
using | Camera = CAMERA |
CAMERA type. More... | |
using | Measurement = typename CAMERA::Measurement |
shorthand for measurement type, e.g. Point2 or StereoPoint2 More... | |
using | shared_ptr = std::shared_ptr< This > |
shorthand for a smart pointer to a factor More... | |
Public Types inherited from gtsam::NoiseModelFactorN< 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 | |
gtsam::NonlinearFactor::shared_ptr | clone () const override |
bool | equals (const NonlinearFactor &p, double tol=1e-9) const override |
equals More... | |
Vector | evaluateError (const Point3 &point, OptionalMatrixType H2) const override |
Evaluate error h(x)-z and optionally derivatives. More... | |
std::shared_ptr< GaussianFactor > | linearize (const Values &x) const override |
const Measurement & | measured () const |
void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
bool | throwCheirality () const |
TriangulationFactor () | |
Default constructor. More... | |
TriangulationFactor (const CAMERA &camera, const Measurement &measured, const SharedNoiseModel &model, Key pointKey, bool throwCheirality=false, bool verboseCheirality=false) | |
bool | verboseCheirality () const |
~TriangulationFactor () override | |
Public Member Functions inherited from gtsam::NoiseModelFactorN< 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 |
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 () |
Public Attributes | |
Matrix | A |
VerticalBlockMatrix | Ab |
thread-safe (?) scratch memory for linearize More... | |
Vector | b |
Protected Types | |
using | Base = NoiseModelFactorN< Point3 > |
shorthand for base class type More... | |
using | This = TriangulationFactor< CAMERA > |
shorthand for this class More... | |
Protected Types inherited from gtsam::NoiseModelFactorN< 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 Attributes | |
const CAMERA | camera_ |
CAMERA in which this landmark was seen. More... | |
const Measurement | measured_ |
2D measurement More... | |
const bool | throwCheirality_ |
If true, rethrows Cheirality exceptions (default: false) More... | |
const 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 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 and pose are assumed known.
Definition at line 31 of file TriangulationFactor.h.
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protected |
shorthand for base class type
Definition at line 43 of file TriangulationFactor.h.
using gtsam::TriangulationFactor< CAMERA >::Camera = CAMERA |
CAMERA type.
Definition at line 36 of file TriangulationFactor.h.
using gtsam::TriangulationFactor< CAMERA >::Measurement = typename CAMERA::Measurement |
shorthand for measurement type, e.g. Point2 or StereoPoint2
Definition at line 38 of file TriangulationFactor.h.
using gtsam::TriangulationFactor< CAMERA >::shared_ptr = std::shared_ptr<This> |
shorthand for a smart pointer to a factor
Definition at line 60 of file TriangulationFactor.h.
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protected |
shorthand for this class
Definition at line 46 of file TriangulationFactor.h.
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inline |
Default constructor.
Definition at line 66 of file TriangulationFactor.h.
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inline |
Constructor with exception-handling flags
camera | is the camera in which unknown landmark is seen |
measured | is the 2 dimensional location of point in image (the measurement) |
model | is the standard deviation |
pointKey | is the index of the landmark |
throwCheirality | determines whether Cheirality exceptions are rethrown |
verboseCheirality | determines whether exceptions are printed for Cheirality |
Definition at line 79 of file TriangulationFactor.h.
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inlineoverride |
Virtual destructor
Definition at line 92 of file TriangulationFactor.h.
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inlineoverridevirtual |
Reimplemented from gtsam::NonlinearFactor.
Definition at line 96 of file TriangulationFactor.h.
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inlineoverridevirtual |
equals
Reimplemented from gtsam::NoiseModelFactor.
Definition at line 115 of file TriangulationFactor.h.
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inlineoverride |
Evaluate error h(x)-z and optionally derivatives.
Definition at line 122 of file TriangulationFactor.h.
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inlineoverridevirtual |
Linearize to a JacobianFactor, does not support constrained noise model ! Hence
Reimplemented from gtsam::NoiseModelFactor.
Definition at line 148 of file TriangulationFactor.h.
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inline |
return the measurement
Definition at line 174 of file TriangulationFactor.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 106 of file TriangulationFactor.h.
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inline |
return flag for throwing cheirality exceptions
Definition at line 184 of file TriangulationFactor.h.
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inline |
return verbosity
Definition at line 179 of file TriangulationFactor.h.
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mutable |
Definition at line 140 of file TriangulationFactor.h.
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mutable |
thread-safe (?) scratch memory for linearize
Definition at line 139 of file TriangulationFactor.h.
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mutable |
Definition at line 141 of file TriangulationFactor.h.
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protected |
CAMERA in which this landmark was seen.
Definition at line 49 of file TriangulationFactor.h.
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protected |
2D measurement
Definition at line 50 of file TriangulationFactor.h.
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protected |
If true, rethrows Cheirality exceptions (default: false)
Definition at line 53 of file TriangulationFactor.h.
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protected |
If true, prints text for Cheirality exceptions (default: false)
Definition at line 54 of file TriangulationFactor.h.