#include <EssentialMatrixFactor.h>

Inheritance diagram for gtsam::EssentialMatrixFactor2:

[legend]

Public Member Functions
gtsam::NonlinearFactor::shared_ptr	clone () const override

	EssentialMatrixFactor2 (Key key1, Key key2, const Point2 &pA, const Point2 &pB, const SharedNoiseModel &model)

template<class CALIBRATION >
	EssentialMatrixFactor2 (Key key1, Key key2, const Point2 &pA, const Point2 &pB, const SharedNoiseModel &model, boost::shared_ptr< CALIBRATION > K)

Vector	evaluateError (const EssentialMatrix &E, const double &d, boost::optional< Matrix & > DE=boost::none, boost::optional< Matrix & > Dd=boost::none) const override

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print More...

Public Member Functions inherited from gtsam::NoiseModelFactor2< EssentialMatrix, double >
Key	key1 () const

Key	key2 () const

	NoiseModelFactor2 ()

	NoiseModelFactor2 (const SharedNoiseModel &noiseModel, Key j1, Key j2)

Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override

	~NoiseModelFactor2 () 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)

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

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 NoiseModelFactor2< EssentialMatrix, double >	Base

typedef EssentialMatrixFactor2	This

Private Attributes
Point3	dP1_
	3D point corresponding to measurement in image 1 More...

double	f_
	approximate conversion factor for error scaling More...

Point2	pn_
	Measurement in image 2, in ideal coordinates. More...

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactor2< EssentialMatrix, double >
typedef EssentialMatrix	X1

typedef double	X2

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::NoiseModelFactor2< EssentialMatrix, double >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor2< EssentialMatrix, double >	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

Binary factor that optimizes for E and inverse depth d: assumes measurement in image 2 is perfect, and returns re-projection error in image 1

Definition at line 91 of file EssentialMatrixFactor.h.

Member Typedef Documentation

typedef NoiseModelFactor2<EssentialMatrix, double> gtsam::EssentialMatrixFactor2::Base

private

Definition at line 97 of file EssentialMatrixFactor.h.

typedef EssentialMatrixFactor2 gtsam::EssentialMatrixFactor2::This

private

Definition at line 98 of file EssentialMatrixFactor.h.

Constructor & Destructor Documentation

gtsam::EssentialMatrixFactor2::EssentialMatrixFactor2	(	Key	key1,
		Key	key2,
		const Point2 &	pA,
		const Point2 &	pB,
		const SharedNoiseModel &	model
	)

inline

Constructor

Parameters

key1	Essential Matrix variable key
key2	Inverse depth variable key
pA	point in first camera, in calibrated coordinates
pB	point in second camera, in calibrated coordinates
model	noise model should be in pixels, as well

Definition at line 110 of file EssentialMatrixFactor.h.

template<class CALIBRATION >

gtsam::EssentialMatrixFactor2::EssentialMatrixFactor2	(	Key	key1,
		Key	key2,
		const Point2 &	pA,
		const Point2 &	pB,
		const SharedNoiseModel &	model,
		boost::shared_ptr< CALIBRATION >	K
	)

inline

Constructor

Parameters

key1	Essential Matrix variable key
key2	Inverse depth variable key
pA	point in first camera, in pixel coordinates
pB	point in second camera, in pixel coordinates
K	calibration object, will be used only in constructor
model	noise model should be in pixels, as well

Definition at line 126 of file EssentialMatrixFactor.h.

Member Function Documentation

gtsam::NonlinearFactor::shared_ptr gtsam::EssentialMatrixFactor2::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Reimplemented in gtsam::EssentialMatrixFactor3.

Definition at line 134 of file EssentialMatrixFactor.h.

Vector gtsam::EssentialMatrixFactor2::evaluateError	(	const EssentialMatrix &	,
		const double &	,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`
	)		const

inlineoverridevirtual

Override this method to finish implementing a binary factor. If any of the optional Matrix reference arguments are specified, it should compute both the function evaluation and its derivative(s) in X1 (and/or X2).

Implements gtsam::NoiseModelFactor2< EssentialMatrix, double >.

Reimplemented in gtsam::EssentialMatrixFactor3.

Definition at line 153 of file EssentialMatrixFactor.h.