Public Types | Public Member Functions | Protected Attributes | List of all members
gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH > Class Template Reference

#include <InvDepthFactor3.h>

Inheritance diagram for gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >:
Inheritance graph
[legend]

Public Types

typedef NoiseModelFactor3< POSE, LANDMARK, INVDEPTH > Base
 shorthand for base class type More...
 
typedef std::shared_ptr< Thisshared_ptr
 shorthand for a smart pointer to a factor More...
 
typedef InvDepthFactor3< POSE, LANDMARK, INVDEPTH > This
 shorthand for this class More...
 
- Public Types inherited from gtsam::NoiseModelFactorN< POSE, LANDMARK, INVDEPTH >
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 Cal3_S2::shared_ptr calibration () const
 
bool equals (const NonlinearFactor &p, double tol=1e-9) const override
 equals More...
 
Vector evaluateError (const POSE &pose, const Vector5 &point, const INVDEPTH &invDepth, OptionalMatrixType H1, OptionalMatrixType H2, OptionalMatrixType H3) const override
 Evaluate error h(x)-z and optionally derivatives. More...
 
const Point2imagePoint () const
 
 InvDepthFactor3 ()
 Default constructor. More...
 
 InvDepthFactor3 (const Point2 &measured, const SharedNoiseModel &model, const Key poseKey, Key pointKey, Key invDepthKey, const Cal3_S2::shared_ptr &K)
 
void print (const std::string &s="InvDepthFactor3", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 
 ~InvDepthFactor3 () override
 
- Public Member Functions inherited from gtsam::NoiseModelFactorN< POSE, LANDMARK, INVDEPTH >
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 clone () 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::shared_ptr< Cal3_S2K_
 shared pointer to calibration object More...
 
Point2 measured_
 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...
 

Additional Inherited Members

- Protected Types inherited from gtsam::NoiseModelFactorN< POSE, LANDMARK, INVDEPTH >
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, class LANDMARK, class INVDEPTH>
class gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >

Ternary factor representing a visual measurement that includes inverse depth

Definition at line 27 of file InvDepthFactor3.h.

Member Typedef Documentation

◆ Base

template<class POSE , class LANDMARK , class INVDEPTH >
typedef NoiseModelFactor3<POSE, LANDMARK, INVDEPTH> gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::Base

shorthand for base class type

Definition at line 37 of file InvDepthFactor3.h.

◆ shared_ptr

template<class POSE , class LANDMARK , class INVDEPTH >
typedef std::shared_ptr<This> gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::shared_ptr

shorthand for a smart pointer to a factor

Definition at line 46 of file InvDepthFactor3.h.

◆ This

template<class POSE , class LANDMARK , class INVDEPTH >
typedef InvDepthFactor3<POSE, LANDMARK, INVDEPTH> gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::This

shorthand for this class

Definition at line 43 of file InvDepthFactor3.h.

Constructor & Destructor Documentation

◆ InvDepthFactor3() [1/2]

template<class POSE , class LANDMARK , class INVDEPTH >
gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::InvDepthFactor3 ( )
inline

Default constructor.

Definition at line 49 of file InvDepthFactor3.h.

◆ InvDepthFactor3() [2/2]

template<class POSE , class LANDMARK , class INVDEPTH >
gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::InvDepthFactor3 ( const Point2 measured,
const SharedNoiseModel model,
const Key  poseKey,
Key  pointKey,
Key  invDepthKey,
const Cal3_S2::shared_ptr K 
)
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 pose
pointKeyis the index of the landmark
invDepthKeyis the index of inverse depth
Kshared pointer to the constant calibration

Definition at line 63 of file InvDepthFactor3.h.

◆ ~InvDepthFactor3()

template<class POSE , class LANDMARK , class INVDEPTH >
gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::~InvDepthFactor3 ( )
inlineoverride

Virtual destructor

Definition at line 68 of file InvDepthFactor3.h.

Member Function Documentation

◆ calibration()

template<class POSE , class LANDMARK , class INVDEPTH >
const Cal3_S2::shared_ptr gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::calibration ( ) const
inline

return the calibration object

Definition at line 110 of file InvDepthFactor3.h.

◆ equals()

template<class POSE , class LANDMARK , class INVDEPTH >
bool gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::equals ( const NonlinearFactor p,
double  tol = 1e-9 
) const
inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 82 of file InvDepthFactor3.h.

◆ evaluateError()

template<class POSE , class LANDMARK , class INVDEPTH >
Vector gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::evaluateError ( const POSE &  pose,
const Vector5 &  point,
const INVDEPTH &  invDepth,
OptionalMatrixType  H1,
OptionalMatrixType  H2,
OptionalMatrixType  H3 
) const
inlineoverride

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

Definition at line 88 of file InvDepthFactor3.h.

◆ imagePoint()

template<class POSE , class LANDMARK , class INVDEPTH >
const Point2& gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::imagePoint ( ) const
inline

return the measurement

Definition at line 105 of file InvDepthFactor3.h.

◆ print()

template<class POSE , class LANDMARK , class INVDEPTH >
void gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::print ( const std::string &  s = "InvDepthFactor3< POSE, LANDMARK, INVDEPTH >",
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 75 of file InvDepthFactor3.h.

Member Data Documentation

◆ K_

template<class POSE , class LANDMARK , class INVDEPTH >
std::shared_ptr<Cal3_S2> gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::K_
protected

shared pointer to calibration object

Definition at line 32 of file InvDepthFactor3.h.

◆ measured_

template<class POSE , class LANDMARK , class INVDEPTH >
Point2 gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::measured_
protected

2D measurement

Definition at line 31 of file InvDepthFactor3.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:46:20