#include <TriangulationFactor.h>

Inheritance diagram for gtsam::TriangulationFactor< CAMERA >:

[legend]

Public Types
using	Camera = CAMERA
	CAMERA type. More...

using	Measurement = typename CAMERA::Measurement
	shorthand for measurement type, e.g. Point2 or StereoPoint2 More...

using	shared_ptr = std::shared_ptr< This >
	shorthand for a smart pointer to a factor More...

Public Types inherited from gtsam::NoiseModelFactorN< Point3 >
using	ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type

Public Types inherited from gtsam::NoiseModelFactor
typedef std::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::NonlinearFactor
typedef std::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
	equals More...

Vector	evaluateError (const Point3 &point, OptionalMatrixType H2) const override
	Evaluate error h(x)-z and optionally derivatives. More...

std::shared_ptr< GaussianFactor >	linearize (const Values &x) const override

const Measurement &	measured () const

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

bool	throwCheirality () const

	TriangulationFactor ()
	Default constructor. More...

	TriangulationFactor (const CAMERA &camera, const Measurement &measured, const SharedNoiseModel &model, Key pointKey, bool throwCheirality=false, bool verboseCheirality=false)

bool	verboseCheirality () const

	~TriangulationFactor () override

Public Member Functions inherited from gtsam::NoiseModelFactorN< Point3 >
Key	key () const

virtual Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const =0

Vector	unwhitenedError (const Values &x, std::vector< Matrix > &H) const

	~NoiseModelFactorN () override

	NoiseModelFactorN ()
	Default Constructor for I/O. More...

	NoiseModelFactorN (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys)

	NoiseModelFactorN (const SharedNoiseModel &noiseModel, CONTAINER keys)

Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override

virtual Vector	evaluateError (const ValueTypes &... x, OptionalMatrixTypeT< ValueTypes >... H) const=0

Vector	evaluateError (const ValueTypes &... x, MatrixTypeT< ValueTypes > &... H) const

Vector	evaluateError (const ValueTypes &... x) const

AreAllMatrixRefs< Vector, OptionalJacArgs... >	evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const

AreAllMatrixPtrs< Vector, OptionalJacArgs... >	evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const

Key	key1 () const

Key	key2 () const

Key	key3 () const

Key	key4 () const

Key	key5 () const

Key	key6 () const

Public Member Functions inherited from gtsam::NoiseModelFactor
shared_ptr	cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const

size_t	dim () const override

double	error (const HybridValues &c) const override

virtual double	error (const Values &c) const

double	error (const Values &c) 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

Vector	unwhitenedError (const Values &x, std::vector< Matrix > &H) 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)

double	error (const HybridValues &c) const override

virtual bool	active (const Values &c) const

virtual shared_ptr	rekey (const std::map< Key, Key > &rekey_mapping) const

virtual shared_ptr	rekey (const KeyVector &new_keys) const

virtual bool	sendable () const

Public Member Functions inherited from gtsam::Factor
virtual	~Factor ()=default
	Default destructor. More...

bool	empty () const
	Whether the factor is empty (involves zero variables). 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...

bool	equals (const This &other, double tol=1e-9) const
	check equality More...

KeyVector &	keys ()

iterator	begin ()

iterator	end ()

Public Attributes
Matrix	A

VerticalBlockMatrix	Ab
	thread-safe (?) scratch memory for linearize More...

Vector	b

Protected Types
using	Base = NoiseModelFactorN< Point3 >
	shorthand for base class type More...

using	This = TriangulationFactor< CAMERA >
	shorthand for this class More...

Protected Types inherited from gtsam::NoiseModelFactorN< Point3 >
using	Base = NoiseModelFactor

using	KeyType = Key

using	MatrixTypeT = Matrix

using	OptionalMatrixTypeT = Matrix *

using	This = NoiseModelFactorN< ValueTypes... >

using	IsConvertible = typename std::enable_if< std::is_convertible< From, To >::value, void >::type

using	IndexIsValid = typename std::enable_if<(I >=1) &&(I<=N), void >::type

using	ContainerElementType = typename std::decay< decltype(*std::declval< Container >().begin())>::type

using	IsContainerOfKeys = IsConvertible< ContainerElementType< Container >, Key >

using	AreAllMatrixRefs = std::enable_if_t<(... &&std::is_convertible< Args, Matrix & >::value), Ret >

using	IsMatrixPointer = std::is_same< typename std::decay_t< Arg >, Matrix * >

using	IsNullpointer = std::is_same< typename std::decay_t< Arg >, std::nullptr_t >

using	AreAllMatrixPtrs = std::enable_if_t<(... &&(IsMatrixPointer< Args >::value\|\|IsNullpointer< Args >::value)), Ret >

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 Attributes
const CAMERA	camera_
	CAMERA in which this landmark was seen. More...

const Measurement	measured_
	2D measurement More...

const bool	throwCheirality_
	If true, rethrows Cheirality exceptions (default: false) More...

const bool	verboseCheirality_
	If true, prints text for Cheirality exceptions (default: false) More...

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

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

Additional Inherited Members
Static Public Attributes inherited from gtsam::NoiseModelFactorN< Point3 >
constexpr static auto	N
	N is the number of variables (N-way factor) More...

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)

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::TriangulationFactor< CAMERA >

Non-linear factor for a constraint derived from a 2D measurement. The calibration and pose are assumed known.

Definition at line 31 of file TriangulationFactor.h.

Member Typedef Documentation

◆ Base

template<class CAMERA >

using gtsam::TriangulationFactor< CAMERA >::Base = NoiseModelFactorN<Point3>

protected

shorthand for base class type

Definition at line 43 of file TriangulationFactor.h.

◆ Camera

template<class CAMERA >

using gtsam::TriangulationFactor< CAMERA >::Camera = CAMERA

CAMERA type.

Definition at line 36 of file TriangulationFactor.h.

◆ Measurement

template<class CAMERA >

using gtsam::TriangulationFactor< CAMERA >::Measurement = typename CAMERA::Measurement

shorthand for measurement type, e.g. Point2 or StereoPoint2

Definition at line 38 of file TriangulationFactor.h.

◆ shared_ptr

template<class CAMERA >

using gtsam::TriangulationFactor< CAMERA >::shared_ptr = std::shared_ptr<This>

shorthand for a smart pointer to a factor

Definition at line 60 of file TriangulationFactor.h.

◆ This

template<class CAMERA >

using gtsam::TriangulationFactor< CAMERA >::This = TriangulationFactor<CAMERA>

protected

shorthand for this class

Definition at line 46 of file TriangulationFactor.h.

Constructor & Destructor Documentation

◆ TriangulationFactor() [1/2]

template<class CAMERA >

gtsam::TriangulationFactor< CAMERA >::TriangulationFactor ( )

inline

Default constructor.

Definition at line 66 of file TriangulationFactor.h.

◆ TriangulationFactor() [2/2]

template<class CAMERA >

gtsam::TriangulationFactor< CAMERA >::TriangulationFactor	(	const CAMERA &	camera,
		const Measurement &	measured,
		const SharedNoiseModel &	model,
		Key	pointKey,
		bool	throwCheirality = `false`,
		bool	verboseCheirality = `false`
	)

inline

Constructor with exception-handling flags

Parameters

camera	is the camera in which unknown landmark is seen
measured	is the 2 dimensional location of point in image (the measurement)
model	is the standard deviation
pointKey	is the index of the landmark
throwCheirality	determines whether Cheirality exceptions are rethrown
verboseCheirality	determines whether exceptions are printed for Cheirality

Definition at line 79 of file TriangulationFactor.h.

◆ ~TriangulationFactor()

template<class CAMERA >

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

inlineoverride

Virtual destructor

Definition at line 92 of file TriangulationFactor.h.

Member Function Documentation

◆ clone()

template<class CAMERA >

gtsam::NonlinearFactor::shared_ptr gtsam::TriangulationFactor< CAMERA >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 96 of file TriangulationFactor.h.

◆ equals()

template<class CAMERA >

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

inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 115 of file TriangulationFactor.h.

◆ evaluateError()

template<class CAMERA >

Vector gtsam::TriangulationFactor< CAMERA >::evaluateError	(	const Point3 &	point,
		OptionalMatrixType	H2
	)		const

inlineoverride

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

Definition at line 122 of file TriangulationFactor.h.

◆ linearize()

template<class CAMERA >

std::shared_ptr<GaussianFactor> gtsam::TriangulationFactor< CAMERA >::linearize ( const Values & x ) const

inlineoverridevirtual

Linearize to a JacobianFactor, does not support constrained noise model ! $Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z$ Hence $b = z - h(x) = - \mathtt{error\_vector}(x)$

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 148 of file TriangulationFactor.h.

◆ measured()

template<class CAMERA >

const Measurement& gtsam::TriangulationFactor< CAMERA >::measured ( ) const

inline

return the measurement

Definition at line 174 of file TriangulationFactor.h.

◆ print()

template<class CAMERA >

void gtsam::TriangulationFactor< 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::NoiseModelFactor.

Definition at line 106 of file TriangulationFactor.h.

◆ throwCheirality()

template<class CAMERA >

bool gtsam::TriangulationFactor< CAMERA >::throwCheirality ( ) const

inline

return flag for throwing cheirality exceptions

Definition at line 184 of file TriangulationFactor.h.

◆ verboseCheirality()

template<class CAMERA >

bool gtsam::TriangulationFactor< CAMERA >::verboseCheirality ( ) const

inline

return verbosity

Definition at line 179 of file TriangulationFactor.h.

Member Data Documentation

◆ A

template<class CAMERA >

Matrix gtsam::TriangulationFactor< CAMERA >::A

mutable

Definition at line 140 of file TriangulationFactor.h.

◆ Ab

template<class CAMERA >

VerticalBlockMatrix gtsam::TriangulationFactor< CAMERA >::Ab

mutable

thread-safe (?) scratch memory for linearize

Definition at line 139 of file TriangulationFactor.h.

◆ b

template<class CAMERA >

Vector gtsam::TriangulationFactor< CAMERA >::b

mutable

Definition at line 141 of file TriangulationFactor.h.

◆ camera_

template<class CAMERA >

const CAMERA gtsam::TriangulationFactor< CAMERA >::camera_

protected

CAMERA in which this landmark was seen.

Definition at line 49 of file TriangulationFactor.h.

◆ measured_

template<class CAMERA >

const Measurement gtsam::TriangulationFactor< CAMERA >::measured_

protected

2D measurement

Definition at line 50 of file TriangulationFactor.h.

◆ throwCheirality_

template<class CAMERA >

const bool gtsam::TriangulationFactor< CAMERA >::throwCheirality_

protected

If true, rethrows Cheirality exceptions (default: false)

Definition at line 53 of file TriangulationFactor.h.

◆ verboseCheirality_

template<class CAMERA >

const bool gtsam::TriangulationFactor< CAMERA >::verboseCheirality_

protected

If true, prints text for Cheirality exceptions (default: false)

Definition at line 54 of file TriangulationFactor.h.

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

TriangulationFactor.h

Public Types

Public Member Functions

Public Attributes

Protected Types

Protected Attributes

Additional Inherited Members

Detailed Description

template<class CAMERA> class gtsam::TriangulationFactor< CAMERA >

Member Typedef Documentation

◆ Base

◆ Camera

◆ Measurement

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ TriangulationFactor() [1/2]

◆ TriangulationFactor() [2/2]

◆ ~TriangulationFactor()

Member Function Documentation

◆ clone()

◆ equals()

◆ evaluateError()

◆ linearize()

◆ measured()

◆ print()

◆ throwCheirality()

◆ verboseCheirality()

Member Data Documentation

◆ A

◆ Ab

◆ b

◆ camera_

◆ measured_

◆ throwCheirality_

◆ verboseCheirality_

template<class CAMERA>
class gtsam::TriangulationFactor< CAMERA >