Go to the documentation of this file.
30 template<
class CAMERA>
63 using NoiseModelFactor1<Point3>::evaluateError;
85 throw std::invalid_argument(
86 "TriangulationFactor must be created with "
88 +
"-dimensional noise model.");
97 return std::static_pointer_cast<gtsam::NonlinearFactor>(
108 std::cout <<
s <<
"TriangulationFactor,";
116 const This *
e =
dynamic_cast<const This*
>(&
p);
129 std::cout <<
e.what() <<
": Landmark "
134 return camera_.defaultErrorWhenTriangulatingBehindCamera();
151 return std::shared_ptr<JacobianFactor>();
170 return std::make_shared<JacobianFactor>(this->
keys_, Ab);
190 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
191 friend class boost::serialization::access;
193 template<
class ARCHIVE>
194 void serialize(ARCHIVE & ar,
const unsigned int ) {
195 ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(
Base);
196 ar & BOOST_SERIALIZATION_NVP(
camera_);
std::shared_ptr< This > shared_ptr
TriangulationFactor(const CAMERA &camera, const Measurement &measured, const SharedNoiseModel &model, Key pointKey, bool throwCheirality=false, bool verboseCheirality=false)
const std::vector< size_t > dimensions
const gtsam::Key pointKey
bool verboseCheirality() const
Array< double, 1, 3 > e(1./3., 0.5, 2.)
const bool throwCheirality_
If true, rethrows Cheirality exceptions (default: false)
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SharedNoiseModel noiseModel_
std::shared_ptr< Factor > shared_ptr
A shared_ptr to this class.
virtual bool active(const Values &) const
Calibrated camera for which only pose is unknown.
const Measurement & measured() const
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
TriangulationFactor< CAMERA > This
shorthand for this class
const CAMERA camera_
CAMERA in which this landmark was seen.
Vector evaluateError(const Point3 &point, OptionalMatrixType H2) const override
Evaluate error h(x)-z and optionally derivatives.
const bool verboseCheirality_
If true, prints text for Cheirality exceptions (default: false)
GenericMeasurement< Point2, Point2 > Measurement
const Measurement measured_
2D measurement
TriangulationFactor()
Default constructor.
gtsam::NonlinearFactor::shared_ptr clone() const override
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
void print(const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
bool equals(const NonlinearFactor &p, double tol=1e-9) const override
equals
bool equals(const NonlinearFactor &f, double tol=1e-9) const override
void print(const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
noiseModel::Base::shared_ptr SharedNoiseModel
#define EIGEN_MAKE_ALIGNED_OPERATOR_NEW
noiseModel::Diagonal::shared_ptr model
Non-linear factor base classes.
std::shared_ptr< GaussianFactor > linearize(const Values &x) const override
typename CAMERA::Measurement Measurement
shorthand for measurement type, e.g. Point2 or StereoPoint2
KeyVector keys_
The keys involved in this factor.
VerticalBlockMatrix Ab
thread-safe (?) scratch memory for linearize
bool throwCheirality() const
void Print(const CONTAINER &keys, const string &s, const KeyFormatter &keyFormatter)
DenseIndex rows() const
Row size.
Matrix * OptionalMatrixType
~TriangulationFactor() override
static const CalibratedCamera camera(kDefaultPose)
std::uint64_t Key
Integer nonlinear key type.
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:42:54