Public Member Functions | Private Types | Private Attributes | List of all members
gtsam::EssentialMatrixFactor3 Class Reference

#include <EssentialMatrixFactor.h>

Inheritance diagram for gtsam::EssentialMatrixFactor3:
Inheritance graph
[legend]

Public Member Functions

gtsam::NonlinearFactor::shared_ptr clone () const override
 
 EssentialMatrixFactor3 (Key key1, Key key2, const Point2 &pA, const Point2 &pB, const Rot3 &cRb, const SharedNoiseModel &model)
 
template<class CALIBRATION >
 EssentialMatrixFactor3 (Key key1, Key key2, const Point2 &pA, const Point2 &pB, const Rot3 &cRb, 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::EssentialMatrixFactor2
 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
 
- 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< GaussianFactorlinearize (const Values &x) const override
 
const SharedNoiseModelnoiseModel () 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 KeyVectorkeys () 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...
 
KeyVectorkeys ()
 
iterator begin ()
 
iterator end ()
 

Private Types

typedef EssentialMatrixFactor2 Base
 
typedef EssentialMatrixFactor3 This
 

Private Attributes

Rot3 cRb_
 Rotation from body to camera frame. 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< Thisshared_ptr
 
- Public Types inherited from gtsam::NonlinearFactor
typedef std::shared_ptr< Thisshared_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 This version takes an extrinsic rotation to allow for omni-directional rigs

Definition at line 237 of file EssentialMatrixFactor.h.

Member Typedef Documentation

◆ Base

Definition at line 238 of file EssentialMatrixFactor.h.

◆ This

Definition at line 239 of file EssentialMatrixFactor.h.

Constructor & Destructor Documentation

◆ EssentialMatrixFactor3() [1/2]

gtsam::EssentialMatrixFactor3::EssentialMatrixFactor3 ( Key  key1,
Key  key2,
const Point2 pA,
const Point2 pB,
const Rot3 cRb,
const SharedNoiseModel model 
)
inline

Constructor

Parameters
key1Essential Matrix variable key
key2Inverse depth variable key
pApoint in first camera, in calibrated coordinates
pBpoint in second camera, in calibrated coordinates
bRcextra rotation between "body" and "camera" frame
modelnoise model should be in calibrated coordinates, as well

Definition at line 257 of file EssentialMatrixFactor.h.

◆ EssentialMatrixFactor3() [2/2]

template<class CALIBRATION >
gtsam::EssentialMatrixFactor3::EssentialMatrixFactor3 ( Key  key1,
Key  key2,
const Point2 pA,
const Point2 pB,
const Rot3 cRb,
const SharedNoiseModel model,
std::shared_ptr< CALIBRATION >  K 
)
inline

Constructor

Parameters
key1Essential Matrix variable key
key2Inverse depth variable key
pApoint in first camera, in pixel coordinates
pBpoint in second camera, in pixel coordinates
Kcalibration object, will be used only in constructor
modelnoise model should be in pixels, as well

Definition at line 271 of file EssentialMatrixFactor.h.

Member Function Documentation

◆ clone()

gtsam::NonlinearFactor::shared_ptr gtsam::EssentialMatrixFactor3::clone ( ) const
inlineoverridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::EssentialMatrixFactor2.

Definition at line 277 of file EssentialMatrixFactor.h.

◆ evaluateError()

Vector gtsam::EssentialMatrixFactor3::evaluateError ( const EssentialMatrix E,
const double &  d,
OptionalMatrixType  DE,
OptionalMatrixType  Dd 
) const
inlineoverride

Definition at line 295 of file EssentialMatrixFactor.h.

◆ print()

void gtsam::EssentialMatrixFactor3::print ( const std::string &  s = "",
const KeyFormatter keyFormatter = DefaultKeyFormatter 
) const
inlineoverridevirtual

print

Reimplemented from gtsam::EssentialMatrixFactor2.

Definition at line 283 of file EssentialMatrixFactor.h.

Member Data Documentation

◆ cRb_

Rot3 gtsam::EssentialMatrixFactor3::cRb_
private

Rotation from body to camera frame.

Definition at line 241 of file EssentialMatrixFactor.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:46:17