#include <InvDepthFactor3.h>

Inheritance diagram for gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >:

[legend]

Public Types
typedef NoiseModelFactor3< POSE, LANDMARK, INVDEPTH >	Base
	shorthand for base class type More...

typedef boost::shared_ptr< This >	shared_ptr
	shorthand for a smart pointer to a factor More...

typedef InvDepthFactor3< POSE, LANDMARK, INVDEPTH >	This
	shorthand for this class More...

Public Types inherited from gtsam::NoiseModelFactor3< POSE, LANDMARK, INVDEPTH >
typedef POSE	X1

typedef LANDMARK	X2

typedef INVDEPTH	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
const Cal3_S2::shared_ptr	calibration () const

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

Vector	evaluateError (const POSE &pose, const Vector5 &point, const INVDEPTH &invDepth, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none) const override
	Evaluate error h(x)-z and optionally derivatives. More...

const Point2 &	imagePoint () const

	InvDepthFactor3 ()
	Default constructor. More...

	InvDepthFactor3 (const Point2 &measured, const SharedNoiseModel &model, const Key poseKey, Key pointKey, Key invDepthKey, const Cal3_S2::shared_ptr &K)

void	print (const std::string &s="InvDepthFactor3", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override

	~InvDepthFactor3 () override

Public Member Functions inherited from gtsam::NoiseModelFactor3< POSE, LANDMARK, INVDEPTH >
virtual Vector	evaluateError (const X1 &, const X2 &, const X3 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none) const =0

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

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...

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
boost::shared_ptr< Cal3_S2 >	K_
	shared pointer to calibration object More...

Point2	measured_
	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
template<class ARCHIVE >
void	serialize (ARCHIVE &ar, const unsigned int)

Friends
class	boost::serialization::access
	Serialization function. More...

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactor3< POSE, LANDMARK, INVDEPTH >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor3< POSE, LANDMARK, INVDEPTH >	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 POSE, class LANDMARK, class INVDEPTH>
class gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >

Ternary factor representing a visual measurement that includes inverse depth

Definition at line 27 of file InvDepthFactor3.h.

Member Typedef Documentation

template<class POSE , class LANDMARK , class INVDEPTH >

typedef NoiseModelFactor3<POSE, LANDMARK, INVDEPTH> gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::Base

shorthand for base class type

Definition at line 37 of file InvDepthFactor3.h.

template<class POSE , class LANDMARK , class INVDEPTH >

typedef boost::shared_ptr<This> gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::shared_ptr

shorthand for a smart pointer to a factor

Definition at line 43 of file InvDepthFactor3.h.

template<class POSE , class LANDMARK , class INVDEPTH >

typedef InvDepthFactor3<POSE, LANDMARK, INVDEPTH> gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::This

shorthand for this class

Definition at line 40 of file InvDepthFactor3.h.

Constructor & Destructor Documentation

template<class POSE , class LANDMARK , class INVDEPTH >

gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::InvDepthFactor3 ( )

inline

Default constructor.

Definition at line 46 of file InvDepthFactor3.h.

template<class POSE , class LANDMARK , class INVDEPTH >

gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::InvDepthFactor3	(	const Point2 &	measured,
		const SharedNoiseModel &	model,
		const Key	poseKey,
		Key	pointKey,
		Key	invDepthKey,
		const Cal3_S2::shared_ptr &	K
	)

inline

Constructor TODO: Mark argument order standard (keys, measurement, parameters)

Parameters

measured	is the 2 dimensional location of point in image (the measurement)
model	is the standard deviation
poseKey	is the index of the camera pose
pointKey	is the index of the landmark
invDepthKey	is the index of inverse depth
K	shared pointer to the constant calibration

Definition at line 60 of file InvDepthFactor3.h.

template<class POSE , class LANDMARK , class INVDEPTH >

gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::~InvDepthFactor3 ( )

inlineoverride

Virtual destructor

Definition at line 65 of file InvDepthFactor3.h.

Member Function Documentation

template<class POSE , class LANDMARK , class INVDEPTH >

const Cal3_S2::shared_ptr gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::calibration ( ) const

inline

return the calibration object

Definition at line 109 of file InvDepthFactor3.h.

template<class POSE , class LANDMARK , class INVDEPTH >

bool gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::equals	(	const NonlinearFactor &	p,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 79 of file InvDepthFactor3.h.

template<class POSE , class LANDMARK , class INVDEPTH >

Vector gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::evaluateError	(	const POSE &	pose,
		const Vector5 &	point,
		const INVDEPTH &	invDepth,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`,
		boost::optional< Matrix & >	H3 = `boost::none`
	)		const

inlineoverride

Evaluate error h(x)-z and optionally derivatives.

Definition at line 85 of file InvDepthFactor3.h.

template<class POSE , class LANDMARK , class INVDEPTH >

const Point2& gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::imagePoint ( ) const

inline

return the measurement

Definition at line 104 of file InvDepthFactor3.h.

template<class POSE , class LANDMARK , class INVDEPTH >

void gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::print	(	const std::string &	s = `"InvDepthFactor3< POSE, LANDMARK, INVDEPTH >"`,
		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 72 of file InvDepthFactor3.h.

template<class POSE , class LANDMARK , class INVDEPTH >

template<class ARCHIVE >

void gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::serialize	(	ARCHIVE &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 118 of file InvDepthFactor3.h.

Friends And Related Function Documentation

template<class POSE , class LANDMARK , class INVDEPTH >

friend class boost::serialization::access

friend

Serialization function.

Definition at line 116 of file InvDepthFactor3.h.

Member Data Documentation

template<class POSE , class LANDMARK , class INVDEPTH >

boost::shared_ptr<Cal3_S2> gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::K_

protected

shared pointer to calibration object

Definition at line 32 of file InvDepthFactor3.h.

template<class POSE , class LANDMARK , class INVDEPTH >

Point2 gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::measured_

protected

2D measurement

Definition at line 31 of file InvDepthFactor3.h.

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

InvDepthFactor3.h

Public Types

Public Member Functions

Protected Attributes

Private Member Functions

Friends

Additional Inherited Members

Detailed Description

template<class POSE, class LANDMARK, class INVDEPTH> class gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<class POSE, class LANDMARK, class INVDEPTH>
class gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >