Public Types | Public Member Functions | Public Attributes | Protected Types | Protected Attributes | List of all members
gtsam::TriangulationFactor< CAMERA > Class Template Reference

#include <TriangulationFactor.h>

Inheritance diagram for gtsam::TriangulationFactor< CAMERA >:
Inheritance graph
[legend]

Public Types

using Camera = CAMERA
 CAMERA type. More...
 
using shared_ptr = std::shared_ptr< This >
 shorthand for a smart pointer to a factor More...
 
- Public Types inherited from gtsam::NoiseModelFactorN< Point3 >
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

gtsam::NonlinearFactor::shared_ptr clone () const override
 
bool equals (const NonlinearFactor &p, double tol=1e-9) const override
 equals More...
 
Vector evaluateError (const Point3 &point, OptionalMatrixType H2) const override
 Evaluate error h(x)-z and optionally derivatives. More...
 
std::shared_ptr< GaussianFactorlinearize (const Values &x) const override
 
const Measurementmeasured () const
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 
bool throwCheirality () const
 
 TriangulationFactor ()
 Default constructor. More...
 
 TriangulationFactor (const CAMERA &camera, const Measurement &measured, const SharedNoiseModel &model, Key pointKey, bool throwCheirality=false, bool verboseCheirality=false)
 
bool verboseCheirality () const
 
 ~TriangulationFactor () override
 
- Public Member Functions inherited from gtsam::NoiseModelFactorN< Point3 >
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
 
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 ()
 

Public Attributes

Matrix A
 
VerticalBlockMatrix Ab
 thread-safe (?) scratch memory for linearize More...
 
Vector b
 

Protected Types

using Base = NoiseModelFactorN< Point3 >
 shorthand for base class type More...
 
using Measurement = typename CAMERA::Measurement
 shorthand for measurement type, e.g. Point2 or StereoPoint2 More...
 
using This = TriangulationFactor< CAMERA >
 shorthand for this class More...
 
- Protected Types inherited from gtsam::NoiseModelFactorN< Point3 >
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 Attributes

const CAMERA camera_
 CAMERA in which this landmark was seen. More...
 
const Measurement measured_
 2D measurement More...
 
const bool throwCheirality_
 If true, rethrows Cheirality exceptions (default: false) More...
 
const 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 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 CAMERA>
class gtsam::TriangulationFactor< CAMERA >

Non-linear factor for a constraint derived from a 2D measurement. The calibration and pose are assumed known.

Definition at line 31 of file TriangulationFactor.h.

Member Typedef Documentation

◆ Base

template<class CAMERA>
using gtsam::TriangulationFactor< CAMERA >::Base = NoiseModelFactorN<Point3>
protected

shorthand for base class type

Definition at line 41 of file TriangulationFactor.h.

◆ Camera

template<class CAMERA>
using gtsam::TriangulationFactor< CAMERA >::Camera = CAMERA

CAMERA type.

Definition at line 36 of file TriangulationFactor.h.

◆ Measurement

template<class CAMERA>
using gtsam::TriangulationFactor< CAMERA >::Measurement = typename CAMERA::Measurement
protected

shorthand for measurement type, e.g. Point2 or StereoPoint2

Definition at line 47 of file TriangulationFactor.h.

◆ shared_ptr

template<class CAMERA>
using gtsam::TriangulationFactor< CAMERA >::shared_ptr = std::shared_ptr<This>

shorthand for a smart pointer to a factor

Definition at line 61 of file TriangulationFactor.h.

◆ This

template<class CAMERA>
using gtsam::TriangulationFactor< CAMERA >::This = TriangulationFactor<CAMERA>
protected

shorthand for this class

Definition at line 44 of file TriangulationFactor.h.

Constructor & Destructor Documentation

◆ TriangulationFactor() [1/2]

template<class CAMERA>
gtsam::TriangulationFactor< CAMERA >::TriangulationFactor ( )
inline

Default constructor.

Definition at line 67 of file TriangulationFactor.h.

◆ TriangulationFactor() [2/2]

template<class CAMERA>
gtsam::TriangulationFactor< CAMERA >::TriangulationFactor ( const CAMERA &  camera,
const Measurement measured,
const SharedNoiseModel model,
Key  pointKey,
bool  throwCheirality = false,
bool  verboseCheirality = false 
)
inline

Constructor with exception-handling flags

Parameters
camerais the camera in which unknown landmark is seen
measuredis the 2 dimensional location of point in image (the measurement)
modelis the standard deviation
pointKeyis the index of the landmark
throwCheiralitydetermines whether Cheirality exceptions are rethrown
verboseCheiralitydetermines whether exceptions are printed for Cheirality

Definition at line 80 of file TriangulationFactor.h.

◆ ~TriangulationFactor()

template<class CAMERA>
gtsam::TriangulationFactor< CAMERA >::~TriangulationFactor ( )
inlineoverride

Virtual destructor

Definition at line 93 of file TriangulationFactor.h.

Member Function Documentation

◆ clone()

template<class CAMERA>
gtsam::NonlinearFactor::shared_ptr gtsam::TriangulationFactor< CAMERA >::clone ( ) const
inlineoverridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 97 of file TriangulationFactor.h.

◆ equals()

template<class CAMERA>
bool gtsam::TriangulationFactor< CAMERA >::equals ( const NonlinearFactor p,
double  tol = 1e-9 
) const
inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 116 of file TriangulationFactor.h.

◆ evaluateError()

template<class CAMERA>
Vector gtsam::TriangulationFactor< CAMERA >::evaluateError ( const Point3 point,
OptionalMatrixType  H2 
) const
inlineoverride

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

Definition at line 123 of file TriangulationFactor.h.

◆ linearize()

template<class CAMERA>
std::shared_ptr<GaussianFactor> gtsam::TriangulationFactor< CAMERA >::linearize ( const Values x) const
inlineoverridevirtual

Linearize to a JacobianFactor, does not support constrained noise model ! $ Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z $ Hence $ b = z - h(x) = - \mathtt{error\_vector}(x) $

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 149 of file TriangulationFactor.h.

◆ measured()

template<class CAMERA>
const Measurement& gtsam::TriangulationFactor< CAMERA >::measured ( ) const
inline

return the measurement

Definition at line 175 of file TriangulationFactor.h.

◆ print()

template<class CAMERA>
void gtsam::TriangulationFactor< CAMERA >::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 107 of file TriangulationFactor.h.

◆ throwCheirality()

template<class CAMERA>
bool gtsam::TriangulationFactor< CAMERA >::throwCheirality ( ) const
inline

return flag for throwing cheirality exceptions

Definition at line 185 of file TriangulationFactor.h.

◆ verboseCheirality()

template<class CAMERA>
bool gtsam::TriangulationFactor< CAMERA >::verboseCheirality ( ) const
inline

return verbosity

Definition at line 180 of file TriangulationFactor.h.

Member Data Documentation

◆ A

template<class CAMERA>
Matrix gtsam::TriangulationFactor< CAMERA >::A
mutable

Definition at line 141 of file TriangulationFactor.h.

◆ Ab

template<class CAMERA>
VerticalBlockMatrix gtsam::TriangulationFactor< CAMERA >::Ab
mutable

thread-safe (?) scratch memory for linearize

Definition at line 140 of file TriangulationFactor.h.

◆ b

template<class CAMERA>
Vector gtsam::TriangulationFactor< CAMERA >::b
mutable

Definition at line 142 of file TriangulationFactor.h.

◆ camera_

template<class CAMERA>
const CAMERA gtsam::TriangulationFactor< CAMERA >::camera_
protected

CAMERA in which this landmark was seen.

Definition at line 50 of file TriangulationFactor.h.

◆ measured_

template<class CAMERA>
const Measurement gtsam::TriangulationFactor< CAMERA >::measured_
protected

2D measurement

Definition at line 51 of file TriangulationFactor.h.

◆ throwCheirality_

template<class CAMERA>
const bool gtsam::TriangulationFactor< CAMERA >::throwCheirality_
protected

If true, rethrows Cheirality exceptions (default: false)

Definition at line 54 of file TriangulationFactor.h.

◆ verboseCheirality_

template<class CAMERA>
const bool gtsam::TriangulationFactor< CAMERA >::verboseCheirality_
protected

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

Definition at line 55 of file TriangulationFactor.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:47:15