#include <SmartProjectionFactor.h>

Inheritance diagram for gtsam::SmartProjectionFactor< CAMERA >:

Public Types
typedef CameraSet< CAMERA >	Cameras
	shorthand for a set of cameras More...

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

Public Types inherited from gtsam::SmartFactorBase< CAMERA >
typedef CameraSet< CAMERA >	Cameras
	We use the new CameraSte data structure to refer to a set of cameras. More...

typedef std::vector< MatrixZD, Eigen::aligned_allocator< MatrixZD > >	FBlocks

typedef Eigen::Matrix< double, ZDim, Dim >	MatrixZD

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
void	computeJacobiansWithTriangulatedPoint (std::vector< typename Base::MatrixZD, Eigen::aligned_allocator< typename Base::MatrixZD > > &Fblocks, Matrix &E, Vector &b, const Cameras &cameras) const

boost::shared_ptr< RegularHessianFactor< Base::Dim > >	createHessianFactor (const Cameras &cameras, const double lambda=0.0, bool diagonalDamping=false) const
	linearize returns a Hessianfactor that is an approximation of error(p) More...

boost::shared_ptr< JacobianFactorQ< Base::Dim, 2 > >	createJacobianQFactor (const Cameras &cameras, double lambda) const
	create factor More...

boost::shared_ptr< JacobianFactorQ< Base::Dim, 2 > >	createJacobianQFactor (const Values &values, double lambda) const
	Create a factor, takes values. More...

boost::shared_ptr< JacobianFactor >	createJacobianSVDFactor (const Cameras &cameras, double lambda) const
	different (faster) way to compute Jacobian factor More...

boost::shared_ptr< RegularImplicitSchurFactor< CAMERA > >	createRegularImplicitSchurFactor (const Cameras &cameras, double lambda) const

bool	decideIfTriangulate (const Cameras &cameras) const
	Check if the new linearization point is the same as the one used for previous triangulation. More...

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

double	error (const Values &values) const override
	Calculate total reprojection error. More...

bool	isDegenerate () const

bool	isFarPoint () const

bool	isOutlier () const

bool	isPointBehindCamera () const

bool	isValid () const
	Is result valid? More...

boost::shared_ptr< GaussianFactor >	linearize (const Values &values) const override
	linearize More...

boost::shared_ptr< GaussianFactor >	linearizeDamped (const Cameras &cameras, const double lambda=0.0) const

boost::shared_ptr< GaussianFactor >	linearizeDamped (const Values &values, const double lambda=0.0) const

virtual boost::shared_ptr< RegularHessianFactor< Base::Dim > >	linearizeToHessian (const Values &values, double lambda=0.0) const
	linearize to a Hessianfactor More...

virtual boost::shared_ptr< RegularImplicitSchurFactor< CAMERA > >	linearizeToImplicit (const Values &values, double lambda=0.0) const
	linearize to an Implicit Schur factor More...

virtual boost::shared_ptr< JacobianFactorQ< Base::Dim, 2 > >	linearizeToJacobian (const Values &values, double lambda=0.0) const
	linearize to a JacobianfactorQ More...

TriangulationResult	point () const

TriangulationResult	point (const Values &values) const

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

Vector	reprojectionErrorAfterTriangulation (const Values &values) const
	Calculate vector of re-projection errors, before applying noise model. More...

	SmartProjectionFactor ()

	SmartProjectionFactor (const SharedNoiseModel &sharedNoiseModel, const SmartProjectionParams &params=SmartProjectionParams())

double	totalReprojectionError (const Cameras &cameras, boost::optional< Point3 > externalPoint=boost::none) const

bool	triangulateAndComputeE (Matrix &E, const Cameras &cameras) const

bool	triangulateAndComputeE (Matrix &E, const Values &values) const

bool	triangulateAndComputeJacobians (std::vector< typename Base::MatrixZD, Eigen::aligned_allocator< typename Base::MatrixZD > > &Fblocks, Matrix &E, Vector &b, const Values &values) const
	Version that takes values, and creates the point. More...

bool	triangulateAndComputeJacobiansSVD (std::vector< typename Base::MatrixZD, Eigen::aligned_allocator< typename Base::MatrixZD > > &Fblocks, Matrix &Enull, Vector &b, const Values &values) const
	takes values More...

bool	triangulateForLinearize (const Cameras &cameras) const
	triangulate More...

TriangulationResult	triangulateSafe (const Cameras &cameras) const
	triangulateSafe More...

	~SmartProjectionFactor () override

Public Member Functions inherited from gtsam::SmartFactorBase< CAMERA >
void	add (const Z &measured, const Key &key)

void	add (const ZVector &measurements, const KeyVector &cameraKeys)

template<class SFM_TRACK >
void	add (const SFM_TRACK &trackToAdd)

Pose3	body_P_sensor () const

virtual Cameras	cameras (const Values &values) const
	Collect all cameras: important that in key order. More...

template<class POINT >
void	computeJacobians (FBlocks &Fs, Matrix &E, Vector &b, const Cameras &cameras, const POINT &point) const

template<class POINT >
void	computeJacobiansSVD (FBlocks &Fs, Matrix &Enull, Vector &b, const Cameras &cameras, const POINT &point) const
	SVD version. More...

virtual void	correctForMissingMeasurements (const Cameras &cameras, Vector &ue, boost::optional< typename Cameras::FBlocks & > Fs=boost::none, boost::optional< Matrix & > E=boost::none) const

boost::shared_ptr< RegularHessianFactor< Dim > >	createHessianFactor (const Cameras &cameras, const Point3 &point, const double lambda=0.0, bool diagonalDamping=false) const
	Linearize to a Hessianfactor. More...

boost::shared_ptr< JacobianFactorQ< Dim, ZDim > >	createJacobianQFactor (const Cameras &cameras, const Point3 &point, double lambda=0.0, bool diagonalDamping=false) const

boost::shared_ptr< JacobianFactor >	createJacobianSVDFactor (const Cameras &cameras, const Point3 &point, double lambda=0.0) const

boost::shared_ptr< RegularImplicitSchurFactor< CAMERA > >	createRegularImplicitSchurFactor (const Cameras &cameras, const Point3 &point, double lambda=0.0, bool diagonalDamping=false) const
	Return Jacobians as RegularImplicitSchurFactor with raw access. More...

size_t	dim () const override
	get the dimension (number of rows!) of the factor More...

const ZVector &	measured () const

	SmartFactorBase ()
	Default Constructor, for serialization. More...

	SmartFactorBase (const SharedNoiseModel &sharedNoiseModel, boost::optional< Pose3 > body_P_sensor=boost::none, size_t expectedNumberCameras=10)
	Constructor. More...

template<class POINT >
double	totalReprojectionError (const Cameras &cameras, const POINT &point) const

template<class POINT >
Vector	unwhitenedError (const Cameras &cameras, const POINT &point, boost::optional< typename Cameras::FBlocks & > Fs=boost::none, boost::optional< Matrix & > E=boost::none) const

void	updateAugmentedHessian (const Cameras &cameras, const Point3 &point, const double lambda, bool diagonalDamping, SymmetricBlockMatrix &augmentedHessian, const KeyVector allKeys) const

template<class POINT >
Vector	whitenedError (const Cameras &cameras, const POINT &point) const

void	whitenJacobians (FBlocks &F, Matrix &E, Vector &b) const
	Whiten the Jacobians computed by computeJacobians using noiseModel_. More...

	~SmartFactorBase () override
	Virtual destructor, subclasses from NonlinearFactor. More...

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
Parameters
SmartProjectionParams	params_

Caching triangulation
TriangulationResult	result_
	result from triangulateSafe More...

std::vector< Pose3, Eigen::aligned_allocator< Pose3 > >	cameraPosesTriangulation_

Protected Attributes inherited from gtsam::SmartFactorBase< CAMERA >
boost::optional< Pose3 >	body_P_sensor_
	Pose of the camera in the body frame. More...

FBlocks	Fs

ZVector	measured_

SharedIsotropic	noiseModel_

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

Private Types
typedef SmartFactorBase< CAMERA >	Base

typedef SmartProjectionFactor< CAMERA >	SmartProjectionCameraFactor

typedef SmartProjectionFactor< CAMERA >	This

Private Member Functions
template<class ARCHIVE >
void	serialize (ARCHIVE &ar, const unsigned int version)

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

Additional Inherited Members
Static Public Member Functions inherited from gtsam::SmartFactorBase< CAMERA >
static void	FillDiagonalF (const FBlocks &Fs, Matrix &F)
	Create BIG block-diagonal matrix F from Fblocks. More...

static Matrix	PointCov (Matrix &E)
	Computes Point Covariance P from E. More...

Public Attributes inherited from gtsam::SmartFactorBase< CAMERA >
GTSAM_MAKE_ALIGNED_OPERATOR_NEW typedef boost::shared_ptr< This >	shared_ptr
	shorthand for a smart pointer to a factor More...

Static Public Attributes inherited from gtsam::SmartFactorBase< CAMERA >
static const int	Dim = traits<CAMERA>::dimension
	Camera dimension. More...

static const int	ZDim = traits<Z>::dimension
	Measurement dimension. More...

Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base

typedef NonlinearFactor	This

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 CAMERA>
class gtsam::SmartProjectionFactor< CAMERA >

SmartProjectionFactor: triangulates point and keeps an estimate of it around. This factor operates with monocular cameras, where a camera is expected to behave like PinholeCamera or PinholePose. This factor is intended to be used directly with PinholeCamera, which optimizes the camera pose and calibration. This also requires that values contains the involved cameras (instead of poses and calibrations separately). If the calibration is fixed use SmartProjectionPoseFactor instead!

Definition at line 45 of file SmartProjectionFactor.h.

Member Typedef Documentation

template<class CAMERA>

typedef SmartFactorBase<CAMERA> gtsam::SmartProjectionFactor< CAMERA >::Base

private

Definition at line 50 of file SmartProjectionFactor.h.

template<class CAMERA>

typedef CameraSet<CAMERA> gtsam::SmartProjectionFactor< CAMERA >::Cameras

shorthand for a set of cameras

Definition at line 73 of file SmartProjectionFactor.h.

template<class CAMERA>

typedef boost::shared_ptr<This> gtsam::SmartProjectionFactor< CAMERA >::shared_ptr

shorthand for a smart pointer to a factor

Definition at line 70 of file SmartProjectionFactor.h.

template<class CAMERA>

typedef SmartProjectionFactor<CAMERA> gtsam::SmartProjectionFactor< CAMERA >::SmartProjectionCameraFactor

private

Definition at line 52 of file SmartProjectionFactor.h.

template<class CAMERA>

typedef SmartProjectionFactor<CAMERA> gtsam::SmartProjectionFactor< CAMERA >::This

private

Definition at line 51 of file SmartProjectionFactor.h.

Constructor & Destructor Documentation

template<class CAMERA>

gtsam::SmartProjectionFactor< CAMERA >::SmartProjectionFactor ( )

inline

Default constructor, only for serialization

Definition at line 78 of file SmartProjectionFactor.h.

template<class CAMERA>

gtsam::SmartProjectionFactor< CAMERA >::SmartProjectionFactor	(	const SharedNoiseModel &	sharedNoiseModel,
		const SmartProjectionParams &	params = `SmartProjectionParams()`
	)

inline

Constructor

Parameters

sharedNoiseModel	isotropic noise model for the 2D feature measurements
params	parameters for the smart projection factors

Definition at line 85 of file SmartProjectionFactor.h.

template<class CAMERA>

gtsam::SmartProjectionFactor< CAMERA >::~SmartProjectionFactor ( )

inlineoverride

Virtual destructor

Definition at line 93 of file SmartProjectionFactor.h.

Member Function Documentation

template<class CAMERA>

void gtsam::SmartProjectionFactor< CAMERA >::computeJacobiansWithTriangulatedPoint	(	std::vector< typename Base::MatrixZD, Eigen::aligned_allocator< typename Base::MatrixZD > > &	Fblocks,
		Matrix &	E,
		Vector &	b,
		const Cameras &	cameras
	)		const

inline

Compute F, E only (called below in both vanilla and SVD versions) Assumes the point has been computed Note E can be 2m*3 or 2m*2, in case point is degenerate

Definition at line 336 of file SmartProjectionFactor.h.

template<class CAMERA>

boost::shared_ptr<RegularHessianFactor<Base::Dim> > gtsam::SmartProjectionFactor< CAMERA >::createHessianFactor	(	const Cameras &	cameras,
		const double	lambda = `0.0`,
		bool	diagonalDamping = `false`
	)		const

inline

linearize returns a Hessianfactor that is an approximation of error(p)

Definition at line 176 of file SmartProjectionFactor.h.

template<class CAMERA>

boost::shared_ptr<JacobianFactorQ<Base::Dim, 2> > gtsam::SmartProjectionFactor< CAMERA >::createJacobianQFactor	(	const Cameras &	cameras,
		double	lambda
	)		const

inline

create factor

Definition at line 230 of file SmartProjectionFactor.h.

template<class CAMERA>

boost::shared_ptr<JacobianFactorQ<Base::Dim, 2> > gtsam::SmartProjectionFactor< CAMERA >::createJacobianQFactor	(	const Values &	values,
		double	lambda
	)		const

inline

Create a factor, takes values.

Definition at line 240 of file SmartProjectionFactor.h.

template<class CAMERA>

boost::shared_ptr<JacobianFactor> gtsam::SmartProjectionFactor< CAMERA >::createJacobianSVDFactor	(	const Cameras &	cameras,
		double	lambda
	)		const

inline

different (faster) way to compute Jacobian factor

Definition at line 246 of file SmartProjectionFactor.h.

template<class CAMERA>

boost::shared_ptr<RegularImplicitSchurFactor<CAMERA> > gtsam::SmartProjectionFactor< CAMERA >::createRegularImplicitSchurFactor	(	const Cameras &	cameras,
		double	lambda
	)		const

inline

Definition at line 220 of file SmartProjectionFactor.h.

template<class CAMERA>

bool gtsam::SmartProjectionFactor< CAMERA >::decideIfTriangulate ( const Cameras & cameras ) const

inline

Check if the new linearization point is the same as the one used for previous triangulation.

Definition at line 120 of file SmartProjectionFactor.h.

template<class CAMERA>

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

inlineoverridevirtual

equals

Reimplemented from gtsam::SmartFactorBase< CAMERA >.

Definition at line 113 of file SmartProjectionFactor.h.

template<class CAMERA>

double gtsam::SmartProjectionFactor< CAMERA >::error ( const Values & values ) const

inlineoverridevirtual

Calculate total reprojection error.

Implements gtsam::NonlinearFactor.

Definition at line 412 of file SmartProjectionFactor.h.

template<class CAMERA>

bool gtsam::SmartProjectionFactor< CAMERA >::isDegenerate ( ) const

inline

return the degenerate state

Definition at line 435 of file SmartProjectionFactor.h.

template<class CAMERA>

bool gtsam::SmartProjectionFactor< CAMERA >::isFarPoint ( ) const

inline

return the farPoint state

Definition at line 444 of file SmartProjectionFactor.h.

template<class CAMERA>

bool gtsam::SmartProjectionFactor< CAMERA >::isOutlier ( ) const

inline

return the outlier state

Definition at line 441 of file SmartProjectionFactor.h.

template<class CAMERA>

bool gtsam::SmartProjectionFactor< CAMERA >::isPointBehindCamera ( ) const

inline

return the cheirality status flag

Definition at line 438 of file SmartProjectionFactor.h.

template<class CAMERA>

bool gtsam::SmartProjectionFactor< CAMERA >::isValid ( ) const

inline

Is result valid?

Definition at line 432 of file SmartProjectionFactor.h.

template<class CAMERA>

boost::shared_ptr<GaussianFactor> gtsam::SmartProjectionFactor< CAMERA >::linearize ( const Values & values ) const

inlineoverridevirtual

linearize

Implements gtsam::NonlinearFactor.

Definition at line 308 of file SmartProjectionFactor.h.

template<class CAMERA>

boost::shared_ptr<GaussianFactor> gtsam::SmartProjectionFactor< CAMERA >::linearizeDamped	(	const Cameras &	cameras,
		const double	lambda = `0.0`
	)		const

inline

Linearize to Gaussian Factor

Parameters

values Values structure which must contain camera poses for this factor

Returns: a Gaussian factor

Definition at line 278 of file SmartProjectionFactor.h.

template<class CAMERA>

boost::shared_ptr<GaussianFactor> gtsam::SmartProjectionFactor< CAMERA >::linearizeDamped	(	const Values &	values,
		const double	lambda = `0.0`
	)		const

inline

Linearize to Gaussian Factor

Parameters

values Values structure which must contain camera poses for this factor

Returns: a Gaussian factor

Definition at line 300 of file SmartProjectionFactor.h.

template<class CAMERA>

virtual boost::shared_ptr<RegularHessianFactor<Base::Dim> > gtsam::SmartProjectionFactor< CAMERA >::linearizeToHessian	(	const Values &	values,
		double	lambda = `0.0`
	)		const

inlinevirtual

linearize to a Hessianfactor

Definition at line 256 of file SmartProjectionFactor.h.

template<class CAMERA>

virtual boost::shared_ptr<RegularImplicitSchurFactor<CAMERA> > gtsam::SmartProjectionFactor< CAMERA >::linearizeToImplicit	(	const Values &	values,
		double	lambda = `0.0`
	)		const

inlinevirtual

linearize to an Implicit Schur factor

Definition at line 262 of file SmartProjectionFactor.h.

template<class CAMERA>

virtual boost::shared_ptr<JacobianFactorQ<Base::Dim, 2> > gtsam::SmartProjectionFactor< CAMERA >::linearizeToJacobian	(	const Values &	values,
		double	lambda = `0.0`
	)		const

inlinevirtual

linearize to a JacobianfactorQ

Definition at line 268 of file SmartProjectionFactor.h.

template<class CAMERA>

TriangulationResult gtsam::SmartProjectionFactor< CAMERA >::point ( ) const

inline

return the landmark

Definition at line 421 of file SmartProjectionFactor.h.

template<class CAMERA>

TriangulationResult gtsam::SmartProjectionFactor< CAMERA >::point ( const Values & values ) const

inline

COMPUTE the landmark

Definition at line 426 of file SmartProjectionFactor.h.

template<class CAMERA>

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

inlineoverridevirtual

print

Parameters

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

Reimplemented from gtsam::SmartFactorBase< CAMERA >.

Definition at line 101 of file SmartProjectionFactor.h.

template<class CAMERA>

Vector gtsam::SmartProjectionFactor< CAMERA >::reprojectionErrorAfterTriangulation ( const Values & values ) const

inline

Calculate vector of re-projection errors, before applying noise model.

Definition at line 375 of file SmartProjectionFactor.h.

template<class CAMERA>

template<class ARCHIVE >

void gtsam::SmartProjectionFactor< CAMERA >::serialize	(	ARCHIVE &	ar,
		const unsigned int	version
	)

inlineprivate

Definition at line 451 of file SmartProjectionFactor.h.

template<class CAMERA>

double gtsam::SmartProjectionFactor< CAMERA >::totalReprojectionError	(	const Cameras &	cameras,
		boost::optional< Point3 >	externalPoint = `boost::none`
	)		const

inline

Calculate the error of the factor. This is the log-likelihood, e.g. $0.5(h(x)-z)^2/\sigma^2$ in case of Gaussian. In this class, we take the raw prediction error $ h(x)-z $ , ask the noise model to transform it to $(h(x)-z)^2/\sigma^2$ , and then multiply by 0.5.

Definition at line 390 of file SmartProjectionFactor.h.

template<class CAMERA>

bool gtsam::SmartProjectionFactor< CAMERA >::triangulateAndComputeE	(	Matrix &	E,
		const Cameras &	cameras
	)		const

inline

Triangulate and compute derivative of error with respect to point

Returns: whether triangulation worked

Definition at line 317 of file SmartProjectionFactor.h.

template<class CAMERA>

bool gtsam::SmartProjectionFactor< CAMERA >::triangulateAndComputeE	(	Matrix &	E,
		const Values &	values
	)		const

inline

Triangulate and compute derivative of error with respect to point

Returns: whether triangulation worked

Definition at line 328 of file SmartProjectionFactor.h.

template<class CAMERA>

bool gtsam::SmartProjectionFactor< CAMERA >::triangulateAndComputeJacobians	(	std::vector< typename Base::MatrixZD, Eigen::aligned_allocator< typename Base::MatrixZD > > &	Fblocks,
		Matrix &	E,
		Vector &	b,
		const Values &	values
	)		const

inline

Version that takes values, and creates the point.

Definition at line 353 of file SmartProjectionFactor.h.

template<class CAMERA>

bool gtsam::SmartProjectionFactor< CAMERA >::triangulateAndComputeJacobiansSVD	(	std::vector< typename Base::MatrixZD, Eigen::aligned_allocator< typename Base::MatrixZD > > &	Fblocks,
		Matrix &	Enull,
		Vector &	b,
		const Values &	values
	)		const

inline

takes values

Definition at line 364 of file SmartProjectionFactor.h.

template<class CAMERA>

bool gtsam::SmartProjectionFactor< CAMERA >::triangulateForLinearize ( const Cameras & cameras ) const

inline

triangulate

Definition at line 170 of file SmartProjectionFactor.h.

template<class CAMERA>

TriangulationResult gtsam::SmartProjectionFactor< CAMERA >::triangulateSafe ( const Cameras & cameras ) const

inline

triangulateSafe

Definition at line 156 of file SmartProjectionFactor.h.

Friends And Related Function Documentation

template<class CAMERA>

friend class boost::serialization::access

friend

Serialization function.

Definition at line 449 of file SmartProjectionFactor.h.

Member Data Documentation

template<class CAMERA>

std::vector<Pose3, Eigen::aligned_allocator<Pose3> > gtsam::SmartProjectionFactor< CAMERA >::cameraPosesTriangulation_

mutableprotected

current triangulation poses

Definition at line 64 of file SmartProjectionFactor.h.

template<class CAMERA>

SmartProjectionParams gtsam::SmartProjectionFactor< CAMERA >::params_

protected

Definition at line 58 of file SmartProjectionFactor.h.

template<class CAMERA>

TriangulationResult gtsam::SmartProjectionFactor< CAMERA >::result_

mutableprotected

result from triangulateSafe

Definition at line 63 of file SmartProjectionFactor.h.

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

SmartProjectionFactor.h

Public Types

Public Member Functions

Protected Attributes

Private Types

Private Member Functions

Friends

Additional Inherited Members

Detailed Description

template<class CAMERA> class gtsam::SmartProjectionFactor< CAMERA >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<class CAMERA>
class gtsam::SmartProjectionFactor< CAMERA >