#include <InvDepthFactorVariant3.h>

Inheritance diagram for gtsam::InvDepthFactorVariant3b:

[legend]

Public Types
typedef NoiseModelFactor3< Pose3, 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 InvDepthFactorVariant3b	This
	shorthand for this class More...

Public Types inherited from gtsam::NoiseModelFactor3< Pose3, Pose3, Vector3 >
typedef Pose3	X1

typedef Pose3	X2

typedef Vector3	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 Pose3 &pose1, const Pose3 &pose2, const Vector3 &landmark, 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

	InvDepthFactorVariant3b ()
	Default constructor. More...

	InvDepthFactorVariant3b (const Key poseKey1, const Key poseKey2, const Key landmarkKey, const Point2 &measured, const Cal3_S2::shared_ptr &K, const SharedNoiseModel &model)

Vector	inverseDepthError (const Pose3 &pose1, const Pose3 &pose2, const Vector3 &landmark) const

void	print (const std::string &s="InvDepthFactorVariant3", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override

	~InvDepthFactorVariant3b () override

Public Member Functions inherited from gtsam::NoiseModelFactor3< Pose3, Pose3, Vector3 >
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
Cal3_S2::shared_ptr	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< Pose3, Pose3, Vector3 >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor3< Pose3, 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

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

Definition at line 145 of file InvDepthFactorVariant3.h.

Member Typedef Documentation

typedef NoiseModelFactor3<Pose3, Pose3, Vector3> gtsam::InvDepthFactorVariant3b::Base

shorthand for base class type

Definition at line 155 of file InvDepthFactorVariant3.h.

typedef boost::shared_ptr<This> gtsam::InvDepthFactorVariant3b::shared_ptr

shorthand for a smart pointer to a factor

Definition at line 161 of file InvDepthFactorVariant3.h.

typedef InvDepthFactorVariant3b gtsam::InvDepthFactorVariant3b::This

shorthand for this class

Definition at line 158 of file InvDepthFactorVariant3.h.

Constructor & Destructor Documentation

gtsam::InvDepthFactorVariant3b::InvDepthFactorVariant3b ( )

inline

Default constructor.

Definition at line 164 of file InvDepthFactorVariant3.h.

gtsam::InvDepthFactorVariant3b::InvDepthFactorVariant3b	(	const Key	poseKey1,
		const Key	poseKey2,
		const Key	landmarkKey,
		const Point2 &	measured,
		const Cal3_S2::shared_ptr &	K,
		const SharedNoiseModel &	model
	)

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 178 of file InvDepthFactorVariant3.h.

gtsam::InvDepthFactorVariant3b::~InvDepthFactorVariant3b ( )

inlineoverride

Virtual destructor

Definition at line 183 of file InvDepthFactorVariant3.h.

Member Function Documentation

const Cal3_S2::shared_ptr gtsam::InvDepthFactorVariant3b::calibration ( ) const

inline

return the calibration object

Definition at line 249 of file InvDepthFactorVariant3.h.

bool gtsam::InvDepthFactorVariant3b::equals	(	const NonlinearFactor &	p,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 197 of file InvDepthFactorVariant3.h.

Vector gtsam::InvDepthFactorVariant3b::evaluateError	(	const Pose3 &	pose1,
		const Pose3 &	pose2,
		const Vector3 &	landmark,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`,
		boost::optional< Matrix & >	H3 = `boost::none`
	)		const

inlineoverridevirtual

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

Implements gtsam::NoiseModelFactor3< Pose3, Pose3, Vector3 >.

Definition at line 226 of file InvDepthFactorVariant3.h.

const Point2& gtsam::InvDepthFactorVariant3b::imagePoint ( ) const

inline

return the measurement

Definition at line 244 of file InvDepthFactorVariant3.h.

Vector gtsam::InvDepthFactorVariant3b::inverseDepthError	(	const Pose3 &	pose1,
		const Pose3 &	pose2,
		const Vector3 &	landmark
	)		const

inline

Definition at line 205 of file InvDepthFactorVariant3.h.

void gtsam::InvDepthFactorVariant3b::print	(	const std::string &	s = `"InvDepthFactorVariant3"`,
		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 190 of file InvDepthFactorVariant3.h.

template<class ARCHIVE >

void gtsam::InvDepthFactorVariant3b::serialize	(	ARCHIVE &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 258 of file InvDepthFactorVariant3.h.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function.

Definition at line 256 of file InvDepthFactorVariant3.h.

Member Data Documentation

Cal3_S2::shared_ptr gtsam::InvDepthFactorVariant3b::K_

protected

shared pointer to calibration object

Definition at line 150 of file InvDepthFactorVariant3.h.

Point2 gtsam::InvDepthFactorVariant3b::measured_

protected

2D measurement

Definition at line 149 of file InvDepthFactorVariant3.h.

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

InvDepthFactorVariant3.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