#include <GeneralSFMFactor.h>

Inheritance diagram for gtsam::GeneralSFMFactor< CAMERA, LANDMARK >:

[legend]

Public Types
typedef NoiseModelFactorN< CAMERA, LANDMARK >	Base
	typedef for the base class More...

typedef std::shared_ptr< This >	shared_ptr

typedef GeneralSFMFactor< CAMERA, LANDMARK >	This
	typedef for this object More...

Public Types inherited from gtsam::NoiseModelFactorN< CAMERA, LANDMARK >
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...

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

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

Vector	evaluateError (const CAMERA &camera, const LANDMARK &point, OptionalMatrixType H1, OptionalMatrixType H2) const override

	GeneralSFMFactor (const Point2 &measured, const SharedNoiseModel &model, Key cameraKey, Key landmarkKey)

	GeneralSFMFactor ()
	constructor that takes a Point2 More...

	GeneralSFMFactor (const Point2 &p)
	constructor that takes doubles x,y to make a Point2 More...

	GeneralSFMFactor (double x, double y)

std::shared_ptr< GaussianFactor >	linearize (const Values &values) const override
	Linearize using fixed-size matrices. More...

const Point2	measured () const

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

	~GeneralSFMFactor () override
	destructor More...

Public Member Functions inherited from gtsam::NoiseModelFactorN< CAMERA, LANDMARK >
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

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 &) 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 ()

Protected Attributes
Point2	measured_
	the 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 Types
typedef Eigen::Matrix< double, 2, DimC >	JacobianC

typedef Eigen::Matrix< double, 2, DimL >	JacobianL

Static Private Attributes
static const int	DimC = FixedDimension<CAMERA>::value

static const int	DimL = FixedDimension<LANDMARK>::value

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactorN< CAMERA, LANDMARK >
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)

Detailed Description

template<class CAMERA, class LANDMARK>
class gtsam::GeneralSFMFactor< CAMERA, LANDMARK >

Non-linear factor for a constraint derived from a 2D measurement. The calibration is unknown here compared to GenericProjectionFactor

Definition at line 59 of file GeneralSFMFactor.h.

Member Typedef Documentation

◆ Base

template<class CAMERA , class LANDMARK >

typedef NoiseModelFactorN<CAMERA, LANDMARK> gtsam::GeneralSFMFactor< CAMERA, LANDMARK >::Base

typedef for the base class

Definition at line 76 of file GeneralSFMFactor.h.

◆ JacobianC

template<class CAMERA , class LANDMARK >

typedef Eigen::Matrix<double, 2, DimC> gtsam::GeneralSFMFactor< CAMERA, LANDMARK >::JacobianC

private

Definition at line 66 of file GeneralSFMFactor.h.

◆ JacobianL

template<class CAMERA , class LANDMARK >

typedef Eigen::Matrix<double, 2, DimL> gtsam::GeneralSFMFactor< CAMERA, LANDMARK >::JacobianL

private

Definition at line 67 of file GeneralSFMFactor.h.

◆ shared_ptr

template<class CAMERA , class LANDMARK >

typedef std::shared_ptr<This> gtsam::GeneralSFMFactor< CAMERA, LANDMARK >::shared_ptr

Definition at line 82 of file GeneralSFMFactor.h.

◆ This

template<class CAMERA , class LANDMARK >

typedef GeneralSFMFactor<CAMERA, LANDMARK> gtsam::GeneralSFMFactor< CAMERA, LANDMARK >::This

typedef for this object

Definition at line 75 of file GeneralSFMFactor.h.

Constructor & Destructor Documentation

◆ GeneralSFMFactor() [1/4]

template<class CAMERA , class LANDMARK >

gtsam::GeneralSFMFactor< CAMERA, LANDMARK >::GeneralSFMFactor	(	const Point2 &	measured,
		const SharedNoiseModel &	model,
		Key	cameraKey,
		Key	landmarkKey
	)

inline

Constructor

Parameters

measured	is the 2 dimensional location of point in image (the measurement)
model	is the standard deviation of the measurements
cameraKey	is the index of the camera
landmarkKey	is the index of the landmark

Definition at line 91 of file GeneralSFMFactor.h.

◆ GeneralSFMFactor() [2/4]

template<class CAMERA , class LANDMARK >

gtsam::GeneralSFMFactor< CAMERA, LANDMARK >::GeneralSFMFactor ( )

inline

constructor that takes a Point2

default constructor

Definition at line 95 of file GeneralSFMFactor.h.

◆ GeneralSFMFactor() [3/4]

template<class CAMERA , class LANDMARK >

gtsam::GeneralSFMFactor< CAMERA, LANDMARK >::GeneralSFMFactor ( const Point2 & p )

inline

constructor that takes doubles x,y to make a Point2

Definition at line 96 of file GeneralSFMFactor.h.

◆ GeneralSFMFactor() [4/4]

template<class CAMERA , class LANDMARK >

gtsam::GeneralSFMFactor< CAMERA, LANDMARK >::GeneralSFMFactor	(	double	x,
		double	y
	)

inline

Definition at line 98 of file GeneralSFMFactor.h.

◆ ~GeneralSFMFactor()

template<class CAMERA , class LANDMARK >

gtsam::GeneralSFMFactor< CAMERA, LANDMARK >::~GeneralSFMFactor ( )

inlineoverride

destructor

Definition at line 100 of file GeneralSFMFactor.h.

Member Function Documentation

◆ clone()

template<class CAMERA , class LANDMARK >

gtsam::NonlinearFactor::shared_ptr gtsam::GeneralSFMFactor< CAMERA, LANDMARK >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 103 of file GeneralSFMFactor.h.

◆ equals()

template<class CAMERA , class LANDMARK >

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

inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 120 of file GeneralSFMFactor.h.

◆ evaluateError()

template<class CAMERA , class LANDMARK >

Vector gtsam::GeneralSFMFactor< CAMERA, LANDMARK >::evaluateError	(	const CAMERA &	camera,
		const LANDMARK &	point,
		OptionalMatrixType	H1,
		OptionalMatrixType	H2
	)		const

inlineoverride

h(x)-z

Definition at line 126 of file GeneralSFMFactor.h.

◆ linearize()

template<class CAMERA , class LANDMARK >

std::shared_ptr<GaussianFactor> gtsam::GeneralSFMFactor< CAMERA, LANDMARK >::linearize ( const Values & values ) const

inlineoverridevirtual

Linearize using fixed-size matrices.

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 140 of file GeneralSFMFactor.h.

◆ measured()

template<class CAMERA , class LANDMARK >

const Point2 gtsam::GeneralSFMFactor< CAMERA, LANDMARK >::measured ( ) const

inline

return the measured

Definition at line 179 of file GeneralSFMFactor.h.

◆ print()

template<class CAMERA , class LANDMARK >

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

inlineoverridevirtual

print

Parameters

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

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 112 of file GeneralSFMFactor.h.

Member Data Documentation

◆ DimC

template<class CAMERA , class LANDMARK >

const int gtsam::GeneralSFMFactor< CAMERA, LANDMARK >::DimC = FixedDimension<CAMERA>::value

staticprivate

Definition at line 64 of file GeneralSFMFactor.h.

◆ DimL

template<class CAMERA , class LANDMARK >

const int gtsam::GeneralSFMFactor< CAMERA, LANDMARK >::DimL = FixedDimension<LANDMARK>::value

staticprivate

Definition at line 65 of file GeneralSFMFactor.h.

◆ measured_

template<class CAMERA , class LANDMARK >

Point2 gtsam::GeneralSFMFactor< CAMERA, LANDMARK >::measured_

protected

the 2D measurement

Definition at line 71 of file GeneralSFMFactor.h.

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

GeneralSFMFactor.h

Public Types

Public Member Functions

Protected Attributes

Private Types

Static Private Attributes

Additional Inherited Members

Detailed Description

template<class CAMERA, class LANDMARK> class gtsam::GeneralSFMFactor< CAMERA, LANDMARK >

Member Typedef Documentation

◆ Base

◆ JacobianC

◆ JacobianL

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ GeneralSFMFactor() [1/4]

◆ GeneralSFMFactor() [2/4]

◆ GeneralSFMFactor() [3/4]

◆ GeneralSFMFactor() [4/4]

◆ ~GeneralSFMFactor()

Member Function Documentation

◆ clone()

◆ equals()

◆ evaluateError()

◆ linearize()

◆ measured()

◆ print()

Member Data Documentation

◆ DimC

◆ DimL

◆ measured_

template<class CAMERA, class LANDMARK>
class gtsam::GeneralSFMFactor< CAMERA, LANDMARK >