isam::Monocular_Factor Class Reference

#include <slam_monocular.h>

Inheritance diagram for isam::Monocular_Factor:

List of all members.

Public Member Functions
Eigen::VectorXd	basic_error (Selector s=ESTIMATE) const
void	initialize ()
	Monocular_Factor (Pose3d_Node *pose, Point3dh_Node *point, MonocularCamera *camera, const MonocularMeasurement &measure, const isam::Noise &noise)
	Monocular_Factor (Pose3d_Node *pose, Point3d_Node *point, MonocularCamera *camera, const MonocularMeasurement &measure, const isam::Noise &noise)
Private Attributes
MonocularCamera *	_camera
Point3d_Node *	_point
Point3dh_Node *	_point_h
Pose3d_Node *	_pose

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Detailed Description

Monocular observation of a 3D homogeneous point; projective or Euclidean geometry depending on constructor used.

Definition at line 122 of file slam_monocular.h.

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Constructor & Destructor Documentation

isam::Monocular_Factor::Monocular_Factor	(	Pose3d_Node *	pose,
		Point3dh_Node *	point,
		MonocularCamera *	camera,
		const MonocularMeasurement &	measure,
		const isam::Noise &	noise
	)		[inline]

Definition at line 131 of file slam_monocular.h.

isam::Monocular_Factor::Monocular_Factor	(	Pose3d_Node *	pose,
		Point3d_Node *	point,
		MonocularCamera *	camera,
		const MonocularMeasurement &	measure,
		const isam::Noise &	noise
	)		[inline]

Definition at line 143 of file slam_monocular.h.

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Member Function Documentation

Eigen::VectorXd isam::Monocular_Factor::basic_error

(

Selector

s = ESTIMATE

)

const [inline, virtual]

Implements isam::Factor.

Definition at line 167 of file slam_monocular.h.

void isam::Monocular_Factor::initialize

(

)

[inline, virtual]

Implements isam::Factor.

Definition at line 152 of file slam_monocular.h.

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Member Data Documentation

MonocularCamera* isam::Monocular_Factor::_camera [private]

Definition at line 126 of file slam_monocular.h.

Point3d_Node* isam::Monocular_Factor::_point [private]

Definition at line 124 of file slam_monocular.h.

Point3dh_Node* isam::Monocular_Factor::_point_h [private]

Definition at line 125 of file slam_monocular.h.

Pose3d_Node* isam::Monocular_Factor::_pose [private]

Definition at line 123 of file slam_monocular.h.

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

• slam_monocular.h