#include <PinholeFactor.h>
Inheritance diagram for gtsam::PinholeFactor:
Public Types | |
| typedef SmartFactorBase< PinholeCamera< Cal3Bundler > > | Base |
 Public Types inherited from gtsam::SmartFactorBase< PinholeCamera< Cal3Bundler > > | |
| typedef CameraSet< PinholeCamera< Cal3Bundler > > | Cameras |
| The CameraSet data structure is used to refer to a set of cameras. More... | |
| typedef std::vector< MatrixZD, Eigen::aligned_allocator< MatrixZD > > | FBlocks |
| typedef Eigen::Matrix< double, ZDim, Dim > | MatrixZD |
| 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 | |
| double | error (const Values &values) const override |
| std::shared_ptr< GaussianFactor > | linearize (const Values &values) const override |
| PinholeFactor () | |
| PinholeFactor (const SharedNoiseModel &sharedNoiseModel, std::optional< Pose3 > body_P_sensor={}, size_t expectedNumberCameras=10) | |
| Public Member Functions inherited from gtsam::SmartFactorBase< PinholeCamera< Cal3Bundler > > | |
| void | add (const Z &measured, const Key &key) |
| void | add (const ZVector &measurements, const KeyVector &cameraKeys) |
| Add a bunch of measurements, together with the camera keys. More... | |
| void | add (const SFM_TRACK &trackToAdd) |
| Pose3 | body_P_sensor () const |
| virtual Cameras | cameras (const Values &values) const |
| Collect all cameras: important that in key order. More... | |
| void | computeJacobians (FBlocks &Fs, Matrix &E, Vector &b, const Cameras &cameras, const POINT &point) const |
| void | computeJacobiansSVD (FBlocks &Fs, Matrix &Enull, Vector &b, const Cameras &cameras, const POINT &point) const |
| virtual void | correctForMissingMeasurements (const Cameras &cameras, Vector &ue, typename Cameras::FBlocks *Fs=nullptr, Matrix *E=nullptr) const |
| void | correctForMissingMeasurements (const Cameras &cameras, Vector &ue, OptArgs &&... optArgs) const |
| std::shared_ptr< RegularHessianFactor< Dim > > | createHessianFactor (const Cameras &cameras, const Point3 &point, const double lambda=0.0, bool diagonalDamping=false) const |
| Linearize to a Hessianfactor. More... | |
| std::shared_ptr< JacobianFactorQ< Dim, ZDim > > | createJacobianQFactor (const Cameras &cameras, const Point3 &point, double lambda=0.0, bool diagonalDamping=false) const |
| Return Jacobians as JacobianFactorQ. More... | |
| std::shared_ptr< JacobianFactor > | createJacobianSVDFactor (const Cameras &cameras, const Point3 &point, double lambda=0.0) const |
| std::shared_ptr< RegularImplicitSchurFactor< PinholeCamera< Cal3Bundler > > > | createRegularImplicitSchurFactor (const Cameras &cameras, const Point3 &point, double lambda=0.0, bool diagonalDamping=false) const |
| Return Jacobians as RegularImplicitSchurFactor with raw access. More... | |
| size_t | dim () const override |
| Return the dimension (number of rows!) of the factor. More... | |
| bool | equals (const NonlinearFactor &p, double tol=1e-9) const override |
| equals More... | |
| const ZVector & | measured () const |
| Return the 2D measurements (ZDim, in general). More... | |
| void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| SmartFactorBase () | |
| Default Constructor, for serialization. More... | |
| SmartFactorBase (const SharedNoiseModel &sharedNoiseModel, std::optional< Pose3 > body_P_sensor={}, size_t expectedNumberCameras=10) | |
| Construct with given noise model and optional arguments. More... | |
| double | totalReprojectionError (const Cameras &cameras, const POINT &point) const |
| Vector | unwhitenedError (const Cameras &cameras, const POINT &point, typename Cameras::FBlocks *Fs=nullptr, Matrix *E=nullptr) const |
| Vector | unwhitenedError (const Cameras &cameras, const POINT &point, OptArgs &&... optArgs) const |
| void | updateAugmentedHessian (const Cameras &cameras, const Point3 &point, const double lambda, bool diagonalDamping, SymmetricBlockMatrix &augmentedHessian, const KeyVector allKeys) const |
| Vector | whitenedError (const Cameras &cameras, const POINT &point) const |
| void | whitenJacobians (FBlocks &F, Matrix &E, Vector &b) const |
| Whiten the Jacobians computed by computeJacobians using noiseModel_. More... | |
| ~SmartFactorBase () override | |
| Virtual destructor, subclasses from NonlinearFactor. More... | |
| 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 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 () |
Additional Inherited Members | |
| Static Public Member Functions inherited from gtsam::SmartFactorBase< PinholeCamera< Cal3Bundler > > | |
| static void | FillDiagonalF (const FBlocks &Fs, Matrix &F) |
| Create BIG block-diagonal matrix F from Fblocks. More... | |
| static Matrix | PointCov (const Matrix &E) |
| Computes Point Covariance P from the "point Jacobian" E. More... | |
| Public Attributes inherited from gtsam::SmartFactorBase< PinholeCamera< Cal3Bundler > > | |
| GTSAM_MAKE_ALIGNED_OPERATOR_NEW typedef std::shared_ptr< This > | shared_ptr |
| shorthand for a smart pointer to a factor. More... | |
| Static Public Attributes inherited from gtsam::SmartFactorBase< PinholeCamera< Cal3Bundler > > | |
| static const int | Dim |
| Camera dimension. More... | |
| static const int | ZDim |
| Measurement dimension. More... | |
| Protected Types inherited from gtsam::NonlinearFactor | |
| typedef Factor | Base |
| typedef NonlinearFactor | This |
| 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::SmartFactorBase< PinholeCamera< Cal3Bundler > > | |
| std::optional< Pose3 > | body_P_sensor_ |
| Pose of the camera in the body frame. More... | |
| FBlocks | Fs |
| ZVector | measured_ |
| SharedIsotropic | noiseModel_ |
| Protected Attributes inherited from gtsam::Factor | |
| KeyVector | keys_ |
| The keys involved in this factor. More... | |
Detailed Description
Definition at line 33 of file PinholeFactor.h.
Member Typedef Documentation
◆ Base
Definition at line 35 of file PinholeFactor.h.
Constructor & Destructor Documentation
◆ PinholeFactor() [1/2]
|
inline |
Definition at line 36 of file PinholeFactor.h.
◆ PinholeFactor() [2/2]
|
inline |
Definition at line 37 of file PinholeFactor.h.
Member Function Documentation
◆ error()
|
inlineoverridevirtual |
Reimplemented from gtsam::NonlinearFactor.
Definition at line 41 of file PinholeFactor.h.
◆ linearize()
|
inlineoverridevirtual |
linearize to a GaussianFactor
Implements gtsam::NonlinearFactor.
Definition at line 42 of file PinholeFactor.h.
The documentation for this class was generated from the following file: