#include <MultiProjectionFactor.h>

Inheritance diagram for gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >:

Public Types
typedef NoiseModelFactor	Base
	shorthand for base class type More...

typedef std::shared_ptr< This >	shared_ptr
	shorthand for a smart pointer to a factor More...

typedef MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >	This
	shorthand for this class More...

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
const std::shared_ptr< CALIBRATION >	calibration () const

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, OptionalJacobian< 2, 6 > H1={}, OptionalJacobian< 2, 3 > H2={}) const

const Vector &	measured () const

	MultiProjectionFactor ()
	Default constructor. More...

	MultiProjectionFactor (const Vector &measured, const SharedNoiseModel &model, KeySet poseKeys, Key pointKey, const std::shared_ptr< CALIBRATION > &K, std::optional< POSE > body_P_sensor={})

	MultiProjectionFactor (const Vector &measured, const SharedNoiseModel &model, KeySet poseKeys, Key pointKey, const std::shared_ptr< CALIBRATION > &K, bool throwCheirality, bool verboseCheirality, std::optional< POSE > body_P_sensor={})

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

bool	throwCheirality () const

Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override
	Evaluate error h(x)-z and optionally derivatives. More...

bool	verboseCheirality () const

	~MultiProjectionFactor () override

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< 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 ()

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...

Vector	measured_
	2D measurement for each of the n views 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::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 CALIBRATION = Cal3_S2>
class gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >

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

Definition at line 35 of file MultiProjectionFactor.h.

Member Typedef Documentation

◆ Base

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

typedef NoiseModelFactor gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::Base

shorthand for base class type

Definition at line 51 of file MultiProjectionFactor.h.

◆ shared_ptr

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

typedef std::shared_ptr<This> gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::shared_ptr

shorthand for a smart pointer to a factor

Definition at line 57 of file MultiProjectionFactor.h.

◆ This

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

typedef MultiProjectionFactor<POSE, LANDMARK, CALIBRATION> gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::This

shorthand for this class

Definition at line 54 of file MultiProjectionFactor.h.

Constructor & Destructor Documentation

◆ MultiProjectionFactor() [1/3]

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::MultiProjectionFactor ( )

inline

Default constructor.

Definition at line 60 of file MultiProjectionFactor.h.

◆ MultiProjectionFactor() [2/3]

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::MultiProjectionFactor	(	const Vector &	measured,
		const SharedNoiseModel &	model,
		KeySet	poseKeys,
		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

measured	is the 2n dimensional location of the n points in the n views (the measurements)
model	is the standard deviation (current version assumes that the uncertainty is the same for all views)
poseKeys	is the set of indices corresponding to the cameras observing the same landmark
pointKey	is the index of the landmark
K	shared pointer to the constant calibration
body_P_sensor	is the transform from body to sensor frame (default identity)

Definition at line 72 of file MultiProjectionFactor.h.

◆ MultiProjectionFactor() [3/3]

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::MultiProjectionFactor	(	const Vector &	measured,
		const SharedNoiseModel &	model,
		KeySet	poseKeys,
		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

measured	is the 2 dimensional location of point in image (the measurement)
model	is the standard deviation
poseKey	is the index of the camera
pointKey	is the index of the landmark
K	shared pointer to the constant calibration
throwCheirality	determines whether Cheirality exceptions are rethrown
verboseCheirality	determines whether exceptions are printed for Cheirality
body_P_sensor	is the transform from body to sensor frame (default identity)

Definition at line 93 of file MultiProjectionFactor.h.

◆ ~MultiProjectionFactor()

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::~MultiProjectionFactor ( )

inlineoverride

Virtual destructor

Definition at line 101 of file MultiProjectionFactor.h.

Member Function Documentation

◆ calibration()

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

const std::shared_ptr<CALIBRATION> gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::calibration ( ) const

inline

return the calibration object

Definition at line 204 of file MultiProjectionFactor.h.

◆ clone()

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

NonlinearFactor::shared_ptr gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 104 of file MultiProjectionFactor.h.

◆ equals()

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

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

inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 122 of file MultiProjectionFactor.h.

◆ evaluateError()

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

Vector gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::evaluateError	(	const Pose3 &	pose,
		const Point3 &	point,
		OptionalJacobian< 2, 6 >	H1 = `{}`,
		OptionalJacobian< 2, 3 >	H2 = `{}`
	)		const

inline

Definition at line 166 of file MultiProjectionFactor.h.

◆ measured()

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

const Vector& gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::measured ( ) const

inline

return the measurements

Definition at line 199 of file MultiProjectionFactor.h.

◆ print()

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

void gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

print

Parameters

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

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 113 of file MultiProjectionFactor.h.

◆ throwCheirality()

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

bool gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::throwCheirality ( ) const

inline

return flag for throwing cheirality exceptions

Definition at line 212 of file MultiProjectionFactor.h.

◆ unwhitenedError()

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

Vector gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::unwhitenedError	(	const Values &	x,
		OptionalMatrixVecType	H = `nullptr`
	)		const

inlineoverridevirtual

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

Implements gtsam::NoiseModelFactor.

Definition at line 132 of file MultiProjectionFactor.h.

◆ verboseCheirality()

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

bool gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::verboseCheirality ( ) const

inline

return verbosity

Definition at line 209 of file MultiProjectionFactor.h.

Member Data Documentation

◆ body_P_sensor_

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

std::optional<POSE> gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::body_P_sensor_

protected

The pose of the sensor in the body frame.

Definition at line 41 of file MultiProjectionFactor.h.

◆ K_

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

std::shared_ptr<CALIBRATION> gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::K_

protected

shared pointer to calibration object

Definition at line 40 of file MultiProjectionFactor.h.

◆ measured_

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

Vector gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::measured_

protected

2D measurement for each of the n views

Definition at line 39 of file MultiProjectionFactor.h.

◆ throwCheirality_

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

bool gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::throwCheirality_

protected

If true, rethrows Cheirality exceptions (default: false)

Definition at line 45 of file MultiProjectionFactor.h.

◆ verboseCheirality_

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

bool gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::verboseCheirality_

protected

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

Definition at line 46 of file MultiProjectionFactor.h.

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

MultiProjectionFactor.h

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2> class gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >

Member Typedef Documentation

◆ Base

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ MultiProjectionFactor() [1/3]

◆ MultiProjectionFactor() [2/3]

◆ MultiProjectionFactor() [3/3]

◆ ~MultiProjectionFactor()

Member Function Documentation

◆ calibration()

◆ clone()

◆ equals()

◆ evaluateError()

◆ measured()

◆ print()

◆ throwCheirality()

◆ unwhitenedError()

◆ verboseCheirality()

Member Data Documentation

◆ body_P_sensor_

◆ K_

◆ measured_

◆ throwCheirality_

◆ verboseCheirality_

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>
class gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >