Public Types | Public Member Functions | Protected Attributes | List of all members
gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION > Class Template Reference

#include <ProjectionFactor.h>

Inheritance diagram for gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >:
Inheritance graph
[legend]

Public Types

typedef NoiseModelFactorN< POSE, LANDMARK > Base
 shorthand for base class type More...
 
typedef std::shared_ptr< Thisshared_ptr
 shorthand for a smart pointer to a factor More...
 
typedef GenericProjectionFactor< POSE, LANDMARK, CALIBRATION > This
 shorthand for this class More...
 
- Public Types inherited from gtsam::NoiseModelFactorN< POSE, 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< 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...
 

Public Member Functions

const std::optional< POSE > & body_P_sensor () const
 
const std::shared_ptr< CALIBRATION > calibration () const
 
gtsam::NonlinearFactor::shared_ptr clone () const override
 
bool equals (const NonlinearFactor &p, double tol=1e-9) const override
 equals More...
 
Vector evaluateError (const Pose3 &pose, const Point3 &point, OptionalMatrixType H1, OptionalMatrixType H2) const override
 Evaluate error h(x)-z and optionally derivatives. More...
 
 GenericProjectionFactor ()
 Default constructor. More...
 
 GenericProjectionFactor (const Point2 &measured, const SharedNoiseModel &model, Key poseKey, Key pointKey, const std::shared_ptr< CALIBRATION > &K, std::optional< POSE > body_P_sensor={})
 
 GenericProjectionFactor (const Point2 &measured, const SharedNoiseModel &model, Key poseKey, Key pointKey, const std::shared_ptr< CALIBRATION > &K, bool throwCheirality, bool verboseCheirality, std::optional< POSE > body_P_sensor={})
 
const Point2measured () const
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 
bool throwCheirality () const
 
bool verboseCheirality () const
 
 ~GenericProjectionFactor () override
 
- Public Member Functions inherited from gtsam::NoiseModelFactorN< POSE, 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
 
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 ()
 

Protected Attributes

std::optional< POSE > body_P_sensor_
 The pose of the sensor in the body frame. More...
 
std::shared_ptr< CALIBRATION > K_
 shared pointer to calibration object More...
 
Point2 measured_
 2D measurement More...
 
bool throwCheirality_
 If true, rethrows Cheirality exceptions (default: false) More...
 
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

- Protected Types inherited from gtsam::NoiseModelFactorN< POSE, 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 POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
class gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >

Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here. The main building block for visual SLAM.

Definition at line 40 of file ProjectionFactor.h.

Member Typedef Documentation

◆ Base

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
typedef NoiseModelFactorN<POSE, LANDMARK> gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::Base

shorthand for base class type

Definition at line 55 of file ProjectionFactor.h.

◆ shared_ptr

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
typedef std::shared_ptr<This> gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::shared_ptr

shorthand for a smart pointer to a factor

Definition at line 64 of file ProjectionFactor.h.

◆ This

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
typedef GenericProjectionFactor<POSE, LANDMARK, CALIBRATION> gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::This

shorthand for this class

Definition at line 61 of file ProjectionFactor.h.

Constructor & Destructor Documentation

◆ GenericProjectionFactor() [1/3]

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::GenericProjectionFactor ( )
inline

Default constructor.

Definition at line 67 of file ProjectionFactor.h.

◆ GenericProjectionFactor() [2/3]

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::GenericProjectionFactor ( const Point2 measured,
const SharedNoiseModel model,
Key  poseKey,
Key  pointKey,
const std::shared_ptr< CALIBRATION > &  K,
std::optional< POSE >  body_P_sensor = {} 
)
inline

Constructor TODO: Mark argument order standard (keys, measurement, parameters)

Parameters
measuredis the 2 dimensional location of point in image (the measurement)
modelis the standard deviation
poseKeyis the index of the camera
pointKeyis the index of the landmark
Kshared pointer to the constant calibration
body_P_sensoris the transform from body to sensor frame (default identity)

Definition at line 81 of file ProjectionFactor.h.

◆ GenericProjectionFactor() [3/3]

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::GenericProjectionFactor ( const Point2 measured,
const SharedNoiseModel model,
Key  poseKey,
Key  pointKey,
const std::shared_ptr< CALIBRATION > &  K,
bool  throwCheirality,
bool  verboseCheirality,
std::optional< POSE >  body_P_sensor = {} 
)
inline

Constructor with exception-handling flags TODO: Mark argument order standard (keys, measurement, parameters)

Parameters
measuredis the 2 dimensional location of point in image (the measurement)
modelis the standard deviation
poseKeyis the index of the camera
pointKeyis the index of the landmark
Kshared pointer to the constant calibration
throwCheiralitydetermines whether Cheirality exceptions are rethrown
verboseCheiralitydetermines whether exceptions are printed for Cheirality
body_P_sensoris the transform from body to sensor frame (default identity)

Definition at line 99 of file ProjectionFactor.h.

◆ ~GenericProjectionFactor()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::~GenericProjectionFactor ( )
inlineoverride

Virtual destructor

Definition at line 107 of file ProjectionFactor.h.

Member Function Documentation

◆ body_P_sensor()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
const std::optional<POSE>& gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::body_P_sensor ( ) const
inline

return the (optional) sensor pose with respect to the vehicle frame

Definition at line 179 of file ProjectionFactor.h.

◆ calibration()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
const std::shared_ptr<CALIBRATION> gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::calibration ( ) const
inline

return the calibration object

Definition at line 174 of file ProjectionFactor.h.

◆ clone()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
gtsam::NonlinearFactor::shared_ptr gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::clone ( ) const
inlineoverridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 110 of file ProjectionFactor.h.

◆ equals()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
bool gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::equals ( const NonlinearFactor p,
double  tol = 1e-9 
) const
inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 128 of file ProjectionFactor.h.

◆ evaluateError()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
Vector gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::evaluateError ( const Pose3 pose,
const Point3 point,
OptionalMatrixType  H1,
OptionalMatrixType  H2 
) const
inlineoverride

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

Definition at line 138 of file ProjectionFactor.h.

◆ measured()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
const Point2& gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::measured ( ) const
inline

return the measurement

Definition at line 169 of file ProjectionFactor.h.

◆ print()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
void gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::print ( const std::string &  s = "",
const KeyFormatter keyFormatter = DefaultKeyFormatter 
) const
inlineoverridevirtual

print

Parameters
soptional string naming the factor
keyFormatteroptional formatter useful for printing Symbols

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 119 of file ProjectionFactor.h.

◆ throwCheirality()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
bool gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::throwCheirality ( ) const
inline

return flag for throwing cheirality exceptions

Definition at line 187 of file ProjectionFactor.h.

◆ verboseCheirality()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
bool gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::verboseCheirality ( ) const
inline

return verbosity

Definition at line 184 of file ProjectionFactor.h.

Member Data Documentation

◆ body_P_sensor_

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
std::optional<POSE> gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::body_P_sensor_
protected

The pose of the sensor in the body frame.

Definition at line 46 of file ProjectionFactor.h.

◆ K_

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
std::shared_ptr<CALIBRATION> gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::K_
protected

shared pointer to calibration object

Definition at line 45 of file ProjectionFactor.h.

◆ measured_

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
Point2 gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::measured_
protected

2D measurement

Definition at line 44 of file ProjectionFactor.h.

◆ throwCheirality_

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
bool gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::throwCheirality_
protected

If true, rethrows Cheirality exceptions (default: false)

Definition at line 49 of file ProjectionFactor.h.

◆ verboseCheirality_

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
bool gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::verboseCheirality_
protected

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

Definition at line 50 of file ProjectionFactor.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:46:19