#include <GeneralSFMFactor.h>

Inheritance diagram for gtsam::GeneralSFMFactor2< CALIBRATION >:

[legend]

Public Types
typedef NoiseModelFactorN< Pose3, Point3, CALIBRATION >	Base
	typedef for the base class More...

typedef PinholeCamera< CALIBRATION >	Camera
	typedef for camera type More...

typedef std::shared_ptr< This >	shared_ptr

typedef GeneralSFMFactor2< CALIBRATION >	This

Public Types inherited from gtsam::NoiseModelFactorN< Pose3, Point3, CALIBRATION >
using	ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type

Public Types inherited from gtsam::NoiseModelFactor
typedef std::shared_ptr< This >	shared_ptr

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
gtsam::NonlinearFactor::shared_ptr	clone () const override

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

Vector	evaluateError (const Pose3 &pose3, const Point3 &point, const CALIBRATION &calib, OptionalMatrixType H1, OptionalMatrixType H2, OptionalMatrixType H3) const override

	GeneralSFMFactor2 (const Point2 &measured, const SharedNoiseModel &model, Key poseKey, Key landmarkKey, Key calibKey)

const Point2	measured () const

void	print (const std::string &s="SFMFactor2", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override

Public Member Functions inherited from gtsam::NoiseModelFactorN< Pose3, Point3, CALIBRATION >
Key	key () const

virtual Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const =0

Vector	unwhitenedError (const Values &x, std::vector< Matrix > &H) 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 HybridValues &c) const override

virtual double	error (const Values &c) const

double	error (const Values &c) const override

std::shared_ptr< GaussianFactor >	linearize (const Values &x) const override

const SharedNoiseModel &	noiseModel () 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 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 ()

Protected Attributes
Point2	measured_
	the 2D measurement More...

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Static Private Attributes
static const int	DimK = FixedDimension<CALIBRATION>::value

Additional Inherited Members
Static Public Attributes inherited from gtsam::NoiseModelFactorN< Pose3, Point3, CALIBRATION >
constexpr static auto	N
	N is the number of variables (N-way factor) More...

Protected Types inherited from gtsam::NoiseModelFactorN< Pose3, Point3, CALIBRATION >
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 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 CALIBRATION>
class gtsam::GeneralSFMFactor2< CALIBRATION >

Non-linear factor for a constraint derived from a 2D measurement. Compared to GeneralSFMFactor, it is a ternary-factor because the calibration is isolated from camera..

Definition at line 208 of file GeneralSFMFactor.h.

Member Typedef Documentation

◆ Base

template<class CALIBRATION >

typedef NoiseModelFactorN<Pose3, Point3, CALIBRATION> gtsam::GeneralSFMFactor2< CALIBRATION >::Base

typedef for the base class

Definition at line 221 of file GeneralSFMFactor.h.

◆ Camera

template<class CALIBRATION >

typedef PinholeCamera<CALIBRATION> gtsam::GeneralSFMFactor2< CALIBRATION >::Camera

typedef for camera type

Definition at line 220 of file GeneralSFMFactor.h.

◆ shared_ptr

template<class CALIBRATION >

typedef std::shared_ptr<This> gtsam::GeneralSFMFactor2< CALIBRATION >::shared_ptr

Definition at line 224 of file GeneralSFMFactor.h.

◆ This

template<class CALIBRATION >

typedef GeneralSFMFactor2<CALIBRATION> gtsam::GeneralSFMFactor2< CALIBRATION >::This

Definition at line 219 of file GeneralSFMFactor.h.

Constructor & Destructor Documentation

◆ GeneralSFMFactor2()

template<class CALIBRATION >

gtsam::GeneralSFMFactor2< CALIBRATION >::GeneralSFMFactor2	(	const Point2 &	measured,
		const SharedNoiseModel &	model,
		Key	poseKey,
		Key	landmarkKey,
		Key	calibKey
	)

inline

Constructor

Parameters

measured	is the 2 dimensional location of point in image (the measurement)
model	is the standard deviation of the measurements
poseKey	is the index of the camera
landmarkKey	is the index of the landmark
calibKey	is the index of the calibration

Definition at line 234 of file GeneralSFMFactor.h.

Member Function Documentation

◆ clone()

template<class CALIBRATION >

gtsam::NonlinearFactor::shared_ptr gtsam::GeneralSFMFactor2< CALIBRATION >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 241 of file GeneralSFMFactor.h.

◆ equals()

template<class CALIBRATION >

bool gtsam::GeneralSFMFactor2< CALIBRATION >::equals	(	const NonlinearFactor &	p,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 258 of file GeneralSFMFactor.h.

◆ evaluateError()

template<class CALIBRATION >

Vector gtsam::GeneralSFMFactor2< CALIBRATION >::evaluateError	(	const Pose3 &	pose3,
		const Point3 &	point,
		const CALIBRATION &	calib,
		OptionalMatrixType	H1,
		OptionalMatrixType	H2,
		OptionalMatrixType	H3
	)		const

inlineoverride

h(x)-z

Definition at line 264 of file GeneralSFMFactor.h.

◆ measured()

template<class CALIBRATION >

const Point2 gtsam::GeneralSFMFactor2< CALIBRATION >::measured ( ) const

inline

return the measured

Definition at line 281 of file GeneralSFMFactor.h.

◆ print()

template<class CALIBRATION >

void gtsam::GeneralSFMFactor2< CALIBRATION >::print	(	const std::string &	s = `"SFMFactor2"`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

print

Parameters

s	optional string naming the factor
keyFormatter	optional formatter useful for printing Symbols

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 250 of file GeneralSFMFactor.h.

Member Data Documentation

◆ DimK

template<class CALIBRATION >

const int gtsam::GeneralSFMFactor2< CALIBRATION >::DimK = FixedDimension<CALIBRATION>::value

staticprivate

Definition at line 211 of file GeneralSFMFactor.h.

◆ measured_

template<class CALIBRATION >

Point2 gtsam::GeneralSFMFactor2< CALIBRATION >::measured_

protected

the 2D measurement

Definition at line 215 of file GeneralSFMFactor.h.

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

GeneralSFMFactor.h

Public Types

Public Member Functions

Protected Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

template<class CALIBRATION> class gtsam::GeneralSFMFactor2< CALIBRATION >

Member Typedef Documentation

◆ Base

◆ Camera

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ GeneralSFMFactor2()

Member Function Documentation

◆ clone()

◆ equals()

◆ evaluateError()

◆ measured()

◆ print()

Member Data Documentation

◆ DimK

◆ measured_

template<class CALIBRATION>
class gtsam::GeneralSFMFactor2< CALIBRATION >