#include <SmartProjectionRigFactor.h>

Inheritance diagram for gtsam::SmartProjectionRigFactor< CAMERA >:

[legend]

Public Types
typedef CameraSet< CAMERA >	Cameras

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

Public Types inherited from gtsam::SmartProjectionFactor< CAMERA >
typedef CAMERA	Camera
	shorthand for a set of cameras More...

typedef CameraSet< CAMERA >	Cameras

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

Public Types inherited from gtsam::SmartFactorBase< CAMERA >
typedef CameraSet< CAMERA >	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
void	add (const MEASUREMENT &measured, const Key &poseKey, const size_t &cameraId=0)

void	add (const MEASUREMENTS &measurements, const KeyVector &poseKeys, const FastVector< size_t > &cameraIds=FastVector< size_t >())

const FastVector< size_t > &	cameraIds () const
	return the calibration object More...

const std::shared_ptr< Cameras > &	cameraRig () const
	return the calibration object More...

Base::Cameras	cameras (const Values &values) const override

void	computeJacobiansWithTriangulatedPoint (typename Base::FBlocks &Fs, Matrix &E, Vector &b, const Cameras &cameras) const

std::shared_ptr< RegularHessianFactor< DimPose > >	createHessianFactor (const Values &values, const double &lambda=0.0, bool diagonalDamping=false) const
	linearize and return a Hessianfactor that is an approximation of error(p) More...

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

double	error (const Values &values) const override

std::shared_ptr< GaussianFactor >	linearize (const Values &values) const override
	linearize More...

std::shared_ptr< GaussianFactor >	linearizeDamped (const Values &values, const double &lambda=0.0) const

const KeyVector &	nonUniqueKeys () const

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

	SmartProjectionRigFactor ()
	Default constructor, only for serialization. More...

	SmartProjectionRigFactor (const SharedNoiseModel &sharedNoiseModel, const std::shared_ptr< Cameras > &cameraRig, const SmartProjectionParams &params=SmartProjectionParams())

Public Member Functions inherited from gtsam::SmartProjectionFactor< CAMERA >
void	computeJacobiansWithTriangulatedPoint (typename Base::FBlocks &Fs, Matrix &E, Vector &b, const Cameras &cameras) const

std::shared_ptr< RegularHessianFactor< Base::Dim > >	createHessianFactor (const Cameras &cameras, const double lambda=0.0, bool diagonalDamping=false) const
	Create a Hessianfactor that is an approximation of error(p). More...

std::shared_ptr< JacobianFactorQ< Base::Dim, 2 > >	createJacobianQFactor (const Cameras &cameras, double lambda) const
	Create JacobianFactorQ factor. More...

std::shared_ptr< JacobianFactorQ< Base::Dim, 2 > >	createJacobianQFactor (const Values &values, double lambda) const
	Create JacobianFactorQ factor, takes values. More...

std::shared_ptr< JacobianFactor >	createJacobianSVDFactor (const Cameras &cameras, double lambda) const
	Different (faster) way to compute a JacobianFactorSVD factor. More...

std::shared_ptr< RegularImplicitSchurFactor< CAMERA > >	createRegularImplicitSchurFactor (const Cameras &cameras, double lambda) const

bool	decideIfTriangulate (const Cameras &cameras) const
	Check if the new linearization point is the same as the one used for previous triangulation. More...

bool	isDegenerate () const

bool	isFarPoint () const

bool	isOutlier () const

bool	isPointBehindCamera () const

bool	isValid () const
	Is result valid? More...

std::shared_ptr< GaussianFactor >	linearizeDamped (const Cameras &cameras, const double lambda=0.0) const

std::shared_ptr< GaussianFactor >	linearizeDamped (const Values &values, const double lambda=0.0) const

virtual std::shared_ptr< RegularHessianFactor< Base::Dim > >	linearizeToHessian (const Values &values, double lambda=0.0) const
	Linearize to a Hessianfactor. More...

virtual std::shared_ptr< RegularImplicitSchurFactor< CAMERA > >	linearizeToImplicit (const Values &values, double lambda=0.0) const
	Linearize to an Implicit Schur factor. More...

virtual std::shared_ptr< JacobianFactorQ< Base::Dim, 2 > >	linearizeToJacobian (const Values &values, double lambda=0.0) const
	Linearize to a JacobianfactorQ. More...

TriangulationResult	point () const

TriangulationResult	point (const Values &values) const

Vector	reprojectionErrorAfterTriangulation (const Values &values) const
	Calculate vector of re-projection errors, before applying noise model. More...

	SmartProjectionFactor ()

	SmartProjectionFactor (const SharedNoiseModel &sharedNoiseModel, const SmartProjectionParams &params=SmartProjectionParams())

double	totalReprojectionError (const Cameras &cameras, std::optional< Point3 > externalPoint={}) const

bool	triangulateAndComputeE (Matrix &E, const Cameras &cameras) const

bool	triangulateAndComputeE (Matrix &E, const Values &values) const

bool	triangulateAndComputeJacobians (typename Base::FBlocks &Fs, Matrix &E, Vector &b, const Values &values) const
	Version that takes values, and creates the point. More...

bool	triangulateAndComputeJacobiansSVD (typename Base::FBlocks &Fs, Matrix &Enull, Vector &b, const Values &values) const
	takes values More...

bool	triangulateForLinearize (const Cameras &cameras) const
	Possibly re-triangulate before calculating Jacobians. More...

TriangulationResult	triangulateSafe (const Cameras &cameras) const
	Call gtsam::triangulateSafe iff we need to re-triangulate. More...

	~SmartProjectionFactor () override

Public Member Functions inherited from gtsam::SmartFactorBase< CAMERA >
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...

template<class SFM_TRACK >
void	add (const SFM_TRACK &trackToAdd)

Pose3	body_P_sensor () const

template<class POINT >
void	computeJacobians (FBlocks &Fs, Matrix &E, Vector &b, const Cameras &cameras, const POINT &point) const

template<class POINT >
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

template<class ... OptArgs>
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< CAMERA > >	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...

const ZVector &	measured () const
	Return the 2D measurements (ZDim, in general). More...

	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...

template<class POINT >
double	totalReprojectionError (const Cameras &cameras, const POINT &point) const

template<class POINT >
Vector	unwhitenedError (const Cameras &cameras, const POINT &point, typename Cameras::FBlocks Fs=nullptr, Matrix E=nullptr) const

template<class POINT , class ... OptArgs, typename = std::enable_if_t<sizeof...(OptArgs)!=0>>
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

template<class POINT >
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 ()

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef CAMERA	Camera

Public Attributes inherited from gtsam::SmartFactorBase< CAMERA >
GTSAM_MAKE_ALIGNED_OPERATOR_NEW typedef std::shared_ptr< This >	shared_ptr
	shorthand for a smart pointer to a factor. More...

Protected Attributes
FastVector< size_t >	cameraIds_

std::shared_ptr< typename Base::Cameras >	cameraRig_
	cameras in the rig (fixed poses wrt body and intrinsics, for each camera) More...

KeyVector	nonUniqueKeys_
	vector of keys (one for each observation) with potentially repeated keys More...

Protected Attributes inherited from gtsam::SmartProjectionFactor< CAMERA >
SmartProjectionParams	params_

TriangulationResult	result_
	result from triangulateSafe More...

std::vector< Pose3, Eigen::aligned_allocator< Pose3 > >	cameraPosesTriangulation_
	current triangulation poses More...

Protected Attributes inherited from gtsam::SmartFactorBase< CAMERA >
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...

Private Types
typedef SmartProjectionFactor< CAMERA >	Base

typedef CAMERA::CalibrationType	CALIBRATION

typedef CAMERA::Measurement	MEASUREMENT

typedef CAMERA::MeasurementVector	MEASUREMENTS

typedef SmartProjectionRigFactor< CAMERA >	This

Static Private Attributes
static const int	DimPose = 6
	Pose3 dimension. More...

static const int	ZDim = 2
	Measurement dimension. More...

Additional Inherited Members
Static Public Member Functions inherited from gtsam::SmartFactorBase< CAMERA >
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...

Static Public Attributes inherited from gtsam::SmartFactorBase< CAMERA >
static const int	Dim = traits<CAMERA>::dimension
	Camera dimension. More...

static const int	ZDim = traits<Z>::dimension
	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)

Detailed Description

template<class CAMERA>
class gtsam::SmartProjectionRigFactor< CAMERA >

If you are using the factor, please cite: L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors, Int. Conf. on Robotics and Automation (ICRA), 2014. This factor assumes that camera calibration is fixed (but each measurement can be taken by a different camera in the rig, hence can have a different extrinsic and intrinsic calibration). The factor only constrains poses (variable dimension is 6 for each pose). This factor requires that values contains the involved poses (Pose3). If all measurements share the same calibration (i.e., are from the same camera), use SmartProjectionPoseFactor instead! If the calibration should be optimized, as well, use SmartProjectionFactor instead!

Definition at line 52 of file SmartProjectionRigFactor.h.

Member Typedef Documentation

◆ Base

template<class CAMERA>

typedef SmartProjectionFactor<CAMERA> gtsam::SmartProjectionRigFactor< CAMERA >::Base

private

Definition at line 54 of file SmartProjectionRigFactor.h.

◆ CALIBRATION

template<class CAMERA>

typedef CAMERA::CalibrationType gtsam::SmartProjectionRigFactor< CAMERA >::CALIBRATION

private

Definition at line 56 of file SmartProjectionRigFactor.h.

◆ Cameras

template<class CAMERA>

typedef CameraSet<CAMERA> gtsam::SmartProjectionRigFactor< CAMERA >::Cameras

Definition at line 78 of file SmartProjectionRigFactor.h.

◆ MEASUREMENT

template<class CAMERA>

typedef CAMERA::Measurement gtsam::SmartProjectionRigFactor< CAMERA >::MEASUREMENT

private

Definition at line 57 of file SmartProjectionRigFactor.h.

◆ MEASUREMENTS

template<class CAMERA>

typedef CAMERA::MeasurementVector gtsam::SmartProjectionRigFactor< CAMERA >::MEASUREMENTS

private

Definition at line 58 of file SmartProjectionRigFactor.h.

◆ shared_ptr

template<class CAMERA>

typedef std::shared_ptr<This> gtsam::SmartProjectionRigFactor< CAMERA >::shared_ptr

shorthand for a smart pointer to a factor

Definition at line 81 of file SmartProjectionRigFactor.h.

◆ This

template<class CAMERA>

typedef SmartProjectionRigFactor<CAMERA> gtsam::SmartProjectionRigFactor< CAMERA >::This

private

Definition at line 55 of file SmartProjectionRigFactor.h.

Constructor & Destructor Documentation

◆ SmartProjectionRigFactor() [1/2]

template<class CAMERA>

gtsam::SmartProjectionRigFactor< CAMERA >::SmartProjectionRigFactor ( )

inline

Default constructor, only for serialization.

Definition at line 84 of file SmartProjectionRigFactor.h.

◆ SmartProjectionRigFactor() [2/2]

template<class CAMERA>

gtsam::SmartProjectionRigFactor< CAMERA >::SmartProjectionRigFactor	(	const SharedNoiseModel &	sharedNoiseModel,
		const std::shared_ptr< Cameras > &	cameraRig,
		const SmartProjectionParams &	params = `SmartProjectionParams()`
	)

inline

Constructor

Parameters

sharedNoiseModel	isotropic noise model for the 2D feature measurements
cameraRig	set of cameras (fixed poses wrt body and intrinsics) in the camera rig
params	parameters for the smart projection factors

Definition at line 94 of file SmartProjectionRigFactor.h.

Member Function Documentation

◆ add() [1/2]

template<class CAMERA>

void gtsam::SmartProjectionRigFactor< CAMERA >::add	(	const MEASUREMENT &	measured,
		const Key &	poseKey,
		const size_t &	cameraId = `0`
	)

inline

add a new measurement, corresponding to an observation from pose "poseKey" and taken from the camera in the rig identified by "cameraId"

Parameters

measured	2-dimensional location of the projection of a single landmark in a single view (the measurement)
poseKey	key corresponding to the body pose of the camera taking the measurement
cameraId	ID of the camera in the rig taking the measurement (default 0)

Definition at line 120 of file SmartProjectionRigFactor.h.

◆ add() [2/2]

template<class CAMERA>

void gtsam::SmartProjectionRigFactor< CAMERA >::add	(	const MEASUREMENTS &	measurements,
		const KeyVector &	poseKeys,
		const FastVector< size_t > &	cameraIds = `FastVector<size_t>()`
	)

inline

Variant of the previous "add" function in which we include multiple measurements

Parameters

measurements	vector of the 2m dimensional location of the projection of a single landmark in the m views (the measurements)
poseKeys	keys corresponding to the body poses of the cameras taking the measurements
cameraIds	IDs of the cameras in the rig taking each measurement (same order as the measurements)

Definition at line 146 of file SmartProjectionRigFactor.h.

◆ cameraIds()

template<class CAMERA>

const FastVector<size_t>& gtsam::SmartProjectionRigFactor< CAMERA >::cameraIds ( ) const

inline

return the calibration object

Definition at line 174 of file SmartProjectionRigFactor.h.

◆ cameraRig()

template<class CAMERA>

const std::shared_ptr<Cameras>& gtsam::SmartProjectionRigFactor< CAMERA >::cameraRig ( ) const

inline

return the calibration object

Definition at line 171 of file SmartProjectionRigFactor.h.

◆ cameras()

template<class CAMERA>

Base::Cameras gtsam::SmartProjectionRigFactor< CAMERA >::cameras ( const Values & values ) const

inlineoverridevirtual

Collect all cameras involved in this factor

Parameters

values Values structure which must contain body poses corresponding to keys involved in this factor

Returns: vector of cameras

Reimplemented from gtsam::SmartFactorBase< CAMERA >.

Definition at line 209 of file SmartProjectionRigFactor.h.

◆ computeJacobiansWithTriangulatedPoint()

template<class CAMERA>

void gtsam::SmartProjectionRigFactor< CAMERA >::computeJacobiansWithTriangulatedPoint	(	typename Base::FBlocks &	Fs,
		Matrix &	E,
		Vector &	b,
		const Cameras &	cameras
	)		const

inline

Compute jacobian F, E and error vector at a given linearization point

Parameters

values Values structure which must contain camera poses corresponding to keys involved in this factor

Returns: Return arguments are the camera jacobians Fs (including the jacobian with respect to both body poses we interpolate from), the point Jacobian E, and the error vector b. Note that the jacobians are computed for a given point.

Definition at line 244 of file SmartProjectionRigFactor.h.

◆ createHessianFactor()

template<class CAMERA>

std::shared_ptr<RegularHessianFactor<DimPose> > gtsam::SmartProjectionRigFactor< CAMERA >::createHessianFactor	(	const Values &	values,
		const double &	lambda = `0.0`,
		bool	diagonalDamping = `false`
	)		const

inline

linearize and return a Hessianfactor that is an approximation of error(p)

Definition at line 262 of file SmartProjectionRigFactor.h.

◆ equals()

template<class CAMERA>

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

inlineoverridevirtual

equals

Reimplemented from gtsam::SmartProjectionFactor< CAMERA >.

Definition at line 195 of file SmartProjectionRigFactor.h.

◆ error()

template<class CAMERA>

double gtsam::SmartProjectionRigFactor< CAMERA >::error ( const Values & values ) const

inlineoverridevirtual

error calculates the error of the factor.

Reimplemented from gtsam::SmartProjectionFactor< CAMERA >.

Definition at line 227 of file SmartProjectionRigFactor.h.

◆ linearize()

template<class CAMERA>

std::shared_ptr<GaussianFactor> gtsam::SmartProjectionRigFactor< CAMERA >::linearize ( const Values & values ) const

inlineoverridevirtual

linearize

Reimplemented from gtsam::SmartProjectionFactor< CAMERA >.

Definition at line 346 of file SmartProjectionRigFactor.h.

◆ linearizeDamped()

template<class CAMERA>

std::shared_ptr<GaussianFactor> gtsam::SmartProjectionRigFactor< CAMERA >::linearizeDamped	(	const Values &	values,
		const double &	lambda = `0.0`
	)		const

inline

Linearize to Gaussian Factor (possibly adding a damping factor Lambda for LM)

Parameters

values Values structure which must contain camera poses and extrinsic pose for this factor

Returns: a Gaussian factor

Definition at line 332 of file SmartProjectionRigFactor.h.

◆ nonUniqueKeys()

template<class CAMERA>

const KeyVector& gtsam::SmartProjectionRigFactor< CAMERA >::nonUniqueKeys ( ) const

inline

return (for each observation) the (possibly non unique) keys involved in the measurements

Definition at line 168 of file SmartProjectionRigFactor.h.

◆ print()

template<class CAMERA>

void gtsam::SmartProjectionRigFactor< CAMERA >::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::SmartProjectionFactor< CAMERA >.

Definition at line 181 of file SmartProjectionRigFactor.h.

Member Data Documentation

◆ Camera

template<class CAMERA>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef CAMERA gtsam::SmartProjectionRigFactor< CAMERA >::Camera

Definition at line 77 of file SmartProjectionRigFactor.h.

◆ cameraIds_

template<class CAMERA>

FastVector<size_t> gtsam::SmartProjectionRigFactor< CAMERA >::cameraIds_

protected

vector of camera Ids (one for each observation, in the same order), identifying which camera took the measurement

Definition at line 72 of file SmartProjectionRigFactor.h.

◆ cameraRig_

template<class CAMERA>

std::shared_ptr<typename Base::Cameras> gtsam::SmartProjectionRigFactor< CAMERA >::cameraRig_

protected

cameras in the rig (fixed poses wrt body and intrinsics, for each camera)

Definition at line 68 of file SmartProjectionRigFactor.h.

◆ DimPose

template<class CAMERA>

const int gtsam::SmartProjectionRigFactor< CAMERA >::DimPose = 6

staticprivate

Pose3 dimension.

Definition at line 60 of file SmartProjectionRigFactor.h.

◆ nonUniqueKeys_

template<class CAMERA>

KeyVector gtsam::SmartProjectionRigFactor< CAMERA >::nonUniqueKeys_

protected

vector of keys (one for each observation) with potentially repeated keys

Definition at line 65 of file SmartProjectionRigFactor.h.

◆ ZDim

template<class CAMERA>

const int gtsam::SmartProjectionRigFactor< CAMERA >::ZDim = 2

staticprivate

Measurement dimension.

Definition at line 61 of file SmartProjectionRigFactor.h.

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

SmartProjectionRigFactor.h

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Private Types

Static Private Attributes

Additional Inherited Members

Detailed Description

template<class CAMERA> class gtsam::SmartProjectionRigFactor< CAMERA >

Member Typedef Documentation

◆ Base

◆ CALIBRATION

◆ Cameras

◆ MEASUREMENT

◆ MEASUREMENTS

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ SmartProjectionRigFactor() [1/2]

◆ SmartProjectionRigFactor() [2/2]

Member Function Documentation

◆ add() [1/2]

◆ add() [2/2]

◆ cameraIds()

◆ cameraRig()

◆ cameras()

◆ computeJacobiansWithTriangulatedPoint()

◆ createHessianFactor()

◆ equals()

◆ error()

◆ linearize()

◆ linearizeDamped()

◆ nonUniqueKeys()

◆ print()

Member Data Documentation

◆ Camera

◆ cameraIds_

◆ cameraRig_

◆ DimPose

◆ nonUniqueKeys_

◆ ZDim

template<class CAMERA>
class gtsam::SmartProjectionRigFactor< CAMERA >