#include <EssentialMatrixFactor.h>

Inheritance diagram for gtsam::EssentialMatrixFactor2:

[legend]

Public Member Functions
gtsam::NonlinearFactor::shared_ptr	clone () const override

	EssentialMatrixFactor2 (Key key1, Key key2, const Point2 &pA, const Point2 &pB, const SharedNoiseModel &model)

template<class CALIBRATION >
	EssentialMatrixFactor2 (Key key1, Key key2, const Point2 &pA, const Point2 &pB, const SharedNoiseModel &model, std::shared_ptr< CALIBRATION > K)

Vector	evaluateError (const EssentialMatrix &E, const double &d, OptionalMatrixType DE, OptionalMatrixType Dd) const override

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

Public Member Functions inherited from gtsam::NoiseModelFactorN< EssentialMatrix, double >
Key	key () 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

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

double	error (const Values &c) const override

std::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

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 &) 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 ()

Private Types
typedef NoiseModelFactorN< EssentialMatrix, double >	Base

typedef EssentialMatrixFactor2	This

Private Attributes
Point3	dP1_
	3D point corresponding to measurement in image 1 More...

double	f_
	approximate conversion factor for error scaling More...

Point2	pn_
	Measurement in image 2, in ideal coordinates. More...

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactorN< EssentialMatrix, double >
enum
	N is the number of variables (N-way factor) More...

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...

Protected Types inherited from gtsam::NoiseModelFactorN< EssentialMatrix, double >
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 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)

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

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

Detailed Description

Binary factor that optimizes for E and inverse depth d: assumes measurement in image 2 is perfect, and returns re-projection error in image 1

Definition at line 111 of file EssentialMatrixFactor.h.

Member Typedef Documentation

◆ Base

typedef NoiseModelFactorN<EssentialMatrix, double> gtsam::EssentialMatrixFactor2::Base

private

Definition at line 117 of file EssentialMatrixFactor.h.

◆ This

typedef EssentialMatrixFactor2 gtsam::EssentialMatrixFactor2::This

private

Definition at line 118 of file EssentialMatrixFactor.h.

Constructor & Destructor Documentation

◆ EssentialMatrixFactor2() [1/2]

gtsam::EssentialMatrixFactor2::EssentialMatrixFactor2	(	Key	key1,
		Key	key2,
		const Point2 &	pA,
		const Point2 &	pB,
		const SharedNoiseModel &	model
	)

inline

Constructor

Parameters

key1	Essential Matrix variable key
key2	Inverse depth variable key
pA	point in first camera, in calibrated coordinates
pB	point in second camera, in calibrated coordinates
model	noise model should be in pixels, as well

Definition at line 133 of file EssentialMatrixFactor.h.

◆ EssentialMatrixFactor2() [2/2]

template<class CALIBRATION >

gtsam::EssentialMatrixFactor2::EssentialMatrixFactor2	(	Key	key1,
		Key	key2,
		const Point2 &	pA,
		const Point2 &	pB,
		const SharedNoiseModel &	model,
		std::shared_ptr< CALIBRATION >	K
	)

inline

Constructor

Parameters

key1	Essential Matrix variable key
key2	Inverse depth variable key
pA	point in first camera, in pixel coordinates
pB	point in second camera, in pixel coordinates
K	calibration object, will be used only in constructor
model	noise model should be in pixels, as well

Definition at line 151 of file EssentialMatrixFactor.h.

Member Function Documentation

◆ clone()

gtsam::NonlinearFactor::shared_ptr gtsam::EssentialMatrixFactor2::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Reimplemented in gtsam::EssentialMatrixFactor3.

Definition at line 161 of file EssentialMatrixFactor.h.

◆ evaluateError()

Vector gtsam::EssentialMatrixFactor2::evaluateError	(	const EssentialMatrix &	E,
		const double &	d,
		OptionalMatrixType	DE,
		OptionalMatrixType	Dd
	)		const

inlineoverride

Definition at line 181 of file EssentialMatrixFactor.h.

◆ print()

void gtsam::EssentialMatrixFactor2::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

print

Reimplemented from gtsam::NoiseModelFactor.

Reimplemented in gtsam::EssentialMatrixFactor3.

Definition at line 167 of file EssentialMatrixFactor.h.

Member Data Documentation

◆ dP1_

Point3 gtsam::EssentialMatrixFactor2::dP1_

private

3D point corresponding to measurement in image 1

Definition at line 113 of file EssentialMatrixFactor.h.

◆ f_

double gtsam::EssentialMatrixFactor2::f_

private

approximate conversion factor for error scaling

Definition at line 115 of file EssentialMatrixFactor.h.

◆ pn_

Point2 gtsam::EssentialMatrixFactor2::pn_

private

Measurement in image 2, in ideal coordinates.

Definition at line 114 of file EssentialMatrixFactor.h.

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

EssentialMatrixFactor.h

Public Member Functions

Private Types

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ This

Constructor & Destructor Documentation

◆ EssentialMatrixFactor2() [1/2]

◆ EssentialMatrixFactor2() [2/2]

Member Function Documentation

◆ clone()

◆ evaluateError()

◆ print()

Member Data Documentation

◆ dP1_

◆ f_

◆ pn_