Inheritance diagram for ResectioningFactor:
Public Member Functions | |
| Vector | evaluateError (const Pose3 &pose, boost::optional< Matrix & > H=boost::none) const override |
| evaluate the error More... | |
| ResectioningFactor (const SharedNoiseModel &model, const Key &key, const Cal3_S2::shared_ptr &calib, const Point2 &p, const Point3 &P) | |
| Construct factor given known point P and its projection p. More... | |
 Public Member Functions inherited from gtsam::NoiseModelFactor1< Pose3 > | |
| NoiseModelFactor1 () | |
| NoiseModelFactor1 (const SharedNoiseModel &noiseModel, Key key1) | |
| ~NoiseModelFactor1 () override | |
| Key | key () const |
| Vector | unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override |
| 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 |
| boost::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 |
| 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) | |
| virtual | ~NonlinearFactor () |
| virtual bool | active (const Values &) const |
| virtual shared_ptr | clone () const |
| shared_ptr | rekey (const std::map< Key, Key > &rekey_mapping) const |
| shared_ptr | rekey (const KeyVector &new_keys) const |
| Public Member Functions inherited from gtsam::Factor | |
| virtual | ~Factor ()=default |
| Default destructor. More... | |
| KeyVector & | keys () |
| iterator | begin () |
| iterator | end () |
| virtual void | printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const |
| print only keys 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 |
Private Types | |
| typedef NoiseModelFactor1< Pose3 > | Base |
Private Attributes | |
| Cal3_S2::shared_ptr | K_ |
| camera's intrinsic parameters More... | |
| Point3 | P_ |
| 3D point on the calibration rig More... | |
| Point2 | p_ |
| 2D measurement of the 3D point More... | |
Additional Inherited Members | |
| Public Types inherited from gtsam::NoiseModelFactor1< Pose3 > | |
| typedef Pose3 | X |
| Public Types inherited from gtsam::NoiseModelFactor | |
| typedef boost::shared_ptr< This > | shared_ptr |
| Public Types inherited from gtsam::NonlinearFactor | |
| typedef boost::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::NoiseModelFactor1< Pose3 > | |
| typedef NoiseModelFactor | Base |
| typedef NoiseModelFactor1< Pose3 > | This |
| 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) | |
| bool | equals (const This &other, double tol=1e-9) const |
| check equality More... | |
| 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
Unary factor on the unknown pose, resulting from meauring the projection of a known 3D point in the image
Definition at line 33 of file CameraResectioning.cpp.
Member Typedef Documentation
|
private |
Definition at line 34 of file CameraResectioning.cpp.
Constructor & Destructor Documentation
|
inline |
Construct factor given known point P and its projection p.
Definition at line 43 of file CameraResectioning.cpp.
Member Function Documentation
|
inlineoverridevirtual |
evaluate the error
Implements gtsam::NoiseModelFactor1< Pose3 >.
Definition at line 49 of file CameraResectioning.cpp.
Member Data Documentation
|
private |
camera's intrinsic parameters
Definition at line 36 of file CameraResectioning.cpp.
|
private |
3D point on the calibration rig
Definition at line 37 of file CameraResectioning.cpp.
|
private |
2D measurement of the 3D point
Definition at line 38 of file CameraResectioning.cpp.
The documentation for this class was generated from the following file: