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50 std::vector<std::shared_ptr<Cal3_S2Stereo>>
K_all_;
83 const std::shared_ptr<Cal3_S2Stereo>&
K);
95 const std::vector<std::shared_ptr<Cal3_S2Stereo>>& Ks);
108 const std::shared_ptr<Cal3_S2Stereo>&
K);
127 inline std::vector<std::shared_ptr<Cal3_S2Stereo>>
calibration()
const {
141 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
142 friend class boost::serialization::access;
144 template <
class ARCHIVE>
145 void serialize(ARCHIVE& ar,
const unsigned int ) {
146 ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(
Base);
147 ar& BOOST_SERIALIZATION_NVP(K_all_);
156 :
public Testable<SmartStereoProjectionPoseFactor> {};
static Y add(const Y &y1, const Y &y2)
Array< double, 1, 3 > e(1./3., 0.5, 2.)
static const SmartProjectionParams params
static Pose3 body_P_sensor(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0))
FastVector< Key > KeyVector
Define collection type once and for all - also used in wrappers.
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
SmartProjectionParams SmartStereoProjectionParams
void print(const Matrix &A, const string &s, ostream &stream)
std::shared_ptr< This > shared_ptr
shorthand for a smart pointer to a factor
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
std::vector< std::shared_ptr< Cal3_S2Stereo > > calibration() const
CameraSet< Camera > Cameras
noiseModel::Base::shared_ptr SharedNoiseModel
#define EIGEN_MAKE_ALIGNED_OPERATOR_NEW
SmartStereoProjectionPoseFactor This
shorthand for this class
Smart stereo factor on StereoCameras (pose)
std::vector< double > measurements
std::vector< std::shared_ptr< Cal3_S2Stereo > > K_all_
shared pointer to calibration object (one for each camera)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef SmartStereoProjectionFactor Base
shorthand for base class type
std::uint64_t Key
Integer nonlinear key type.
gtsam
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autogenerated on Fri Nov 1 2024 03:35:31