#include <GeneralSFMFactor.h>

Inheritance diagram for gtsam::GeneralSFMFactor2< CALIBRATION >:

[legend]

Public Types
typedef NoiseModelFactor3< Pose3, Point3, CALIBRATION >	Base
	typedef for the base class More...

typedef PinholeCamera< CALIBRATION >	Camera
	typedef for camera type More...

typedef boost::shared_ptr< This >	shared_ptr

typedef GeneralSFMFactor2< CALIBRATION >	This

Public Types inherited from gtsam::NoiseModelFactor3< Pose3, Point3, CALIBRATION >
typedef Pose3	X1

typedef Point3	X2

typedef CALIBRATION	X3

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...

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

bool	equals (const NonlinearFactor &p, double tol=1e-9) const override

Vector	evaluateError (const Pose3 &pose3, const Point3 &point, const CALIBRATION &calib, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none) const override

	GeneralSFMFactor2 (const Point2 &measured, const SharedNoiseModel &model, Key poseKey, Key landmarkKey, Key calibKey)

	GeneralSFMFactor2 ()
	default constructor More...

const Point2	measured () const

void	print (const std::string &s="SFMFactor2", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override

	~GeneralSFMFactor2 () override
	destructor More...

Public Member Functions inherited from gtsam::NoiseModelFactor3< Pose3, Point3, CALIBRATION >
Key	key1 () const

Key	key2 () const

Key	key3 () const

	NoiseModelFactor3 ()

	NoiseModelFactor3 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3)

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

	~NoiseModelFactor3 () override

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

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...

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...

KeyVector &	keys ()

iterator	begin ()

iterator	end ()

Protected Attributes
Point2	measured_
	the 2D measurement More...

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Private Member Functions
	GTSAM_CONCEPT_MANIFOLD_TYPE (CALIBRATION)

template<class Archive >
void	serialize (Archive &ar, const unsigned int)

Static Private Attributes
static const int	DimK = FixedDimension<CALIBRATION>::value

Friends
class	boost::serialization::access

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactor3< Pose3, Point3, CALIBRATION >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor3< Pose3, Point3, CALIBRATION >	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)

Detailed Description

template<class CALIBRATION>
class gtsam::GeneralSFMFactor2< CALIBRATION >

Non-linear factor for a constraint derived from a 2D measurement. Compared to GeneralSFMFactor, it is a ternary-factor because the calibration is isolated from camera..

Definition at line 203 of file GeneralSFMFactor.h.

Member Typedef Documentation

template<class CALIBRATION>

typedef NoiseModelFactor3<Pose3, Point3, CALIBRATION> gtsam::GeneralSFMFactor2< CALIBRATION >::Base

typedef for the base class

Definition at line 216 of file GeneralSFMFactor.h.

template<class CALIBRATION>

typedef PinholeCamera<CALIBRATION> gtsam::GeneralSFMFactor2< CALIBRATION >::Camera

typedef for camera type

Definition at line 215 of file GeneralSFMFactor.h.

template<class CALIBRATION>

typedef boost::shared_ptr<This> gtsam::GeneralSFMFactor2< CALIBRATION >::shared_ptr

Definition at line 219 of file GeneralSFMFactor.h.

template<class CALIBRATION>

typedef GeneralSFMFactor2<CALIBRATION> gtsam::GeneralSFMFactor2< CALIBRATION >::This

Definition at line 214 of file GeneralSFMFactor.h.

Constructor & Destructor Documentation

template<class CALIBRATION>

gtsam::GeneralSFMFactor2< CALIBRATION >::GeneralSFMFactor2	(	const Point2 &	measured,
		const SharedNoiseModel &	model,
		Key	poseKey,
		Key	landmarkKey,
		Key	calibKey
	)

inline

Constructor

Parameters

measured	is the 2 dimensional location of point in image (the measurement)
model	is the standard deviation of the measurements
poseKey	is the index of the camera
landmarkKey	is the index of the landmark
calibKey	is the index of the calibration

Definition at line 229 of file GeneralSFMFactor.h.

template<class CALIBRATION>

gtsam::GeneralSFMFactor2< CALIBRATION >::GeneralSFMFactor2 ( )

inline

default constructor

Definition at line 231 of file GeneralSFMFactor.h.

template<class CALIBRATION>

gtsam::GeneralSFMFactor2< CALIBRATION >::~GeneralSFMFactor2 ( )

inlineoverride

destructor

Definition at line 233 of file GeneralSFMFactor.h.

Member Function Documentation

template<class CALIBRATION>

gtsam::NonlinearFactor::shared_ptr gtsam::GeneralSFMFactor2< CALIBRATION >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 236 of file GeneralSFMFactor.h.

template<class CALIBRATION>

bool gtsam::GeneralSFMFactor2< CALIBRATION >::equals	(	const NonlinearFactor &	p,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 253 of file GeneralSFMFactor.h.

template<class CALIBRATION>

Vector gtsam::GeneralSFMFactor2< CALIBRATION >::evaluateError	(	const Pose3 &	pose3,
		const Point3 &	point,
		const CALIBRATION &	calib,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`,
		boost::optional< Matrix & >	H3 = `boost::none`
	)		const

inlineoverridevirtual

h(x)-z

Implements gtsam::NoiseModelFactor3< Pose3, Point3, CALIBRATION >.

Definition at line 259 of file GeneralSFMFactor.h.

template<class CALIBRATION>

gtsam::GeneralSFMFactor2< CALIBRATION >::GTSAM_CONCEPT_MANIFOLD_TYPE ( CALIBRATION )

private

template<class CALIBRATION>

const Point2 gtsam::GeneralSFMFactor2< CALIBRATION >::measured ( ) const

inline

return the measured

Definition at line 279 of file GeneralSFMFactor.h.

template<class CALIBRATION>

void gtsam::GeneralSFMFactor2< CALIBRATION >::print	(	const std::string &	s = `"SFMFactor2"`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

print

Parameters

s	optional string naming the factor
keyFormatter	optional formatter useful for printing Symbols

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 245 of file GeneralSFMFactor.h.

template<class CALIBRATION>

template<class Archive >

void gtsam::GeneralSFMFactor2< CALIBRATION >::serialize	(	Archive &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 287 of file GeneralSFMFactor.h.

Friends And Related Function Documentation

template<class CALIBRATION>

friend class boost::serialization::access

friend

Serialization function

Definition at line 285 of file GeneralSFMFactor.h.

Member Data Documentation

template<class CALIBRATION>

const int gtsam::GeneralSFMFactor2< CALIBRATION >::DimK = FixedDimension<CALIBRATION>::value

staticprivate

Definition at line 206 of file GeneralSFMFactor.h.

template<class CALIBRATION>

Point2 gtsam::GeneralSFMFactor2< CALIBRATION >::measured_

protected

the 2D measurement

Definition at line 210 of file GeneralSFMFactor.h.

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

GeneralSFMFactor.h

Public Types

Public Member Functions

Protected Attributes

Private Member Functions

Static Private Attributes

Friends

Additional Inherited Members

Detailed Description

template<class CALIBRATION> class gtsam::GeneralSFMFactor2< CALIBRATION >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<class CALIBRATION>
class gtsam::GeneralSFMFactor2< CALIBRATION >