#include <InvDepthFactorVariant2.h>

Inheritance diagram for gtsam::InvDepthFactorVariant2:

[legend]

Public Types
typedef NoiseModelFactor2< Pose3, Vector3 >	Base
	shorthand for base class type More...

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

typedef InvDepthFactorVariant2	This
	shorthand for this class More...

Public Types inherited from gtsam::NoiseModelFactor2< Pose3, Vector3 >
typedef Pose3	X1

typedef Vector3	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...

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 Pose3 &pose, const Vector3 &landmark, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const override
	Evaluate error h(x)-z and optionally derivatives. More...

const Point2 &	imagePoint () const

	InvDepthFactorVariant2 ()
	Default constructor. More...

	InvDepthFactorVariant2 (const Key poseKey, const Key landmarkKey, const Point2 &measured, const Cal3_S2::shared_ptr &K, const Point3 referencePoint, const SharedNoiseModel &model)

Vector	inverseDepthError (const Pose3 &pose, const Vector3 &landmark) const

void	print (const std::string &s="InvDepthFactorVariant2", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override

const Point3 &	referencePoint () const

	~InvDepthFactorVariant2 () override

Public Member Functions inherited from gtsam::NoiseModelFactor2< Pose3, Vector3 >
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

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
Cal3_S2::shared_ptr	K_
	shared pointer to calibration object More...

Point2	measured_
	2D measurement More...

Point3	referencePoint_
	the reference point/origin for this landmark 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::NoiseModelFactor2< Pose3, Vector3 >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor2< Pose3, Vector3 >	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

Binary factor representing a visual measurement using an inverse-depth parameterization

Definition at line 26 of file InvDepthFactorVariant2.h.

Member Typedef Documentation

typedef NoiseModelFactor2<Pose3, Vector3> gtsam::InvDepthFactorVariant2::Base

shorthand for base class type

Definition at line 37 of file InvDepthFactorVariant2.h.

typedef boost::shared_ptr<This> gtsam::InvDepthFactorVariant2::shared_ptr

shorthand for a smart pointer to a factor

Definition at line 43 of file InvDepthFactorVariant2.h.

typedef InvDepthFactorVariant2 gtsam::InvDepthFactorVariant2::This

shorthand for this class

Definition at line 40 of file InvDepthFactorVariant2.h.

Constructor & Destructor Documentation

gtsam::InvDepthFactorVariant2::InvDepthFactorVariant2 ( )

inline

Default constructor.

Definition at line 46 of file InvDepthFactorVariant2.h.

gtsam::InvDepthFactorVariant2::InvDepthFactorVariant2	(	const Key	poseKey,
		const Key	landmarkKey,
		const Point2 &	measured,
		const Cal3_S2::shared_ptr &	K,
		const Point3	referencePoint,
		const SharedNoiseModel &	model
	)

inline

Constructor

Parameters

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

Definition at line 58 of file InvDepthFactorVariant2.h.

gtsam::InvDepthFactorVariant2::~InvDepthFactorVariant2 ( )

inlineoverride

Virtual destructor

Definition at line 64 of file InvDepthFactorVariant2.h.

Member Function Documentation

const Cal3_S2::shared_ptr gtsam::InvDepthFactorVariant2::calibration ( ) const

inline

return the calibration object

Definition at line 130 of file InvDepthFactorVariant2.h.

bool gtsam::InvDepthFactorVariant2::equals	(	const NonlinearFactor &	p,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 78 of file InvDepthFactorVariant2.h.

Vector gtsam::InvDepthFactorVariant2::evaluateError	(	const Pose3 &	pose,
		const Vector3 &	landmark,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`
	)		const

inlineoverridevirtual

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

Implements gtsam::NoiseModelFactor2< Pose3, Vector3 >.

Definition at line 106 of file InvDepthFactorVariant2.h.

const Point2& gtsam::InvDepthFactorVariant2::imagePoint ( ) const

inline

return the measurement

Definition at line 125 of file InvDepthFactorVariant2.h.

Vector gtsam::InvDepthFactorVariant2::inverseDepthError	(	const Pose3 &	pose,
		const Vector3 &	landmark
	)		const

inline

Definition at line 87 of file InvDepthFactorVariant2.h.

void gtsam::InvDepthFactorVariant2::print	(	const std::string &	s = `"InvDepthFactorVariant2"`,
		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 71 of file InvDepthFactorVariant2.h.

const Point3& gtsam::InvDepthFactorVariant2::referencePoint ( ) const

inline

return the calibration object

Definition at line 135 of file InvDepthFactorVariant2.h.

template<class ARCHIVE >

void gtsam::InvDepthFactorVariant2::serialize	(	ARCHIVE &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 144 of file InvDepthFactorVariant2.h.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function.

Definition at line 142 of file InvDepthFactorVariant2.h.

Member Data Documentation

Cal3_S2::shared_ptr gtsam::InvDepthFactorVariant2::K_

protected

shared pointer to calibration object

Definition at line 31 of file InvDepthFactorVariant2.h.

Point2 gtsam::InvDepthFactorVariant2::measured_

protected

2D measurement

Definition at line 30 of file InvDepthFactorVariant2.h.

Point3 gtsam::InvDepthFactorVariant2::referencePoint_

protected

the reference point/origin for this landmark

Definition at line 32 of file InvDepthFactorVariant2.h.

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

InvDepthFactorVariant2.h

Public Types

Public Member Functions

Protected Attributes

Private Member Functions

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation