Public Types | Public Member Functions | Private Attributes | List of all members
gtsam::GenericStereoFactor< POSE, LANDMARK > Class Template Reference

#include <StereoFactor.h>

Inheritance diagram for gtsam::GenericStereoFactor< POSE, LANDMARK >:
Inheritance graph
[legend]

Public Types

typedef NoiseModelFactorN< POSE, LANDMARK > Base
 typedef for base class More...
 
typedef POSE CamPose
 typedef for Pose Lie Value type More...
 
typedef std::shared_ptr< GenericStereoFactorshared_ptr
 typedef for shared pointer to this object More...
 
typedef GenericStereoFactor< POSE, LANDMARK > This
 typedef for this class (with templates) More...
 
- Public Types inherited from gtsam::NoiseModelFactorN< POSE, LANDMARK >
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

const std::optional< POSE > & body_P_sensor () const
 
const Cal3_S2Stereo::shared_ptr calibration () const
 
gtsam::NonlinearFactor::shared_ptr clone () const override
 
bool equals (const NonlinearFactor &f, double tol=1e-9) const override
 
Vector evaluateError (const Pose3 &pose, const Point3 &point, OptionalMatrixType H1, OptionalMatrixType H2) const override
 
 GenericStereoFactor ()
 
 GenericStereoFactor (const StereoPoint2 &measured, const SharedNoiseModel &model, Key poseKey, Key landmarkKey, const Cal3_S2Stereo::shared_ptr &K, bool throwCheirality, bool verboseCheirality, std::optional< POSE > body_P_sensor={})
 
 GenericStereoFactor (const StereoPoint2 &measured, const SharedNoiseModel &model, Key poseKey, Key landmarkKey, const Cal3_S2Stereo::shared_ptr &K, std::optional< POSE > body_P_sensor={})
 
const StereoPoint2measured () const
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 
bool throwCheirality () const
 
bool verboseCheirality () const
 
 ~GenericStereoFactor () override
 
- Public Member Functions inherited from gtsam::NoiseModelFactorN< POSE, LANDMARK >
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 Values &c) const override
 
std::shared_ptr< GaussianFactorlinearize (const Values &x) 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 ()
 

Private Attributes

std::optional< POSE > body_P_sensor_
 The pose of the sensor in the body frame. More...
 
Cal3_S2Stereo::shared_ptr K_
 shared pointer to calibration More...
 
StereoPoint2 measured_
 the measurement More...
 
bool throwCheirality_
 If true, rethrows Cheirality exceptions (default: false) More...
 
bool verboseCheirality_
 If true, prints text for Cheirality exceptions (default: false) More...
 

Additional Inherited Members

- Protected Types inherited from gtsam::NoiseModelFactorN< POSE, LANDMARK >
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)
 
- Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel noiseModel_
 
- Protected Attributes inherited from gtsam::Factor
KeyVector keys_
 The keys involved in this factor. More...
 

Detailed Description

template<class POSE, class LANDMARK>
class gtsam::GenericStereoFactor< POSE, LANDMARK >

A Generic Stereo Factor

Definition at line 32 of file StereoFactor.h.

Member Typedef Documentation

◆ Base

template<class POSE , class LANDMARK >
typedef NoiseModelFactorN<POSE, LANDMARK> gtsam::GenericStereoFactor< POSE, LANDMARK >::Base

typedef for base class

Definition at line 47 of file StereoFactor.h.

◆ CamPose

template<class POSE , class LANDMARK >
typedef POSE gtsam::GenericStereoFactor< POSE, LANDMARK >::CamPose

typedef for Pose Lie Value type

Definition at line 50 of file StereoFactor.h.

◆ shared_ptr

template<class POSE , class LANDMARK >
typedef std::shared_ptr<GenericStereoFactor> gtsam::GenericStereoFactor< POSE, LANDMARK >::shared_ptr

typedef for shared pointer to this object

Definition at line 49 of file StereoFactor.h.

◆ This

template<class POSE , class LANDMARK >
typedef GenericStereoFactor<POSE, LANDMARK> gtsam::GenericStereoFactor< POSE, LANDMARK >::This

typedef for this class (with templates)

Definition at line 48 of file StereoFactor.h.

Constructor & Destructor Documentation

◆ GenericStereoFactor() [1/3]

template<class POSE , class LANDMARK >
gtsam::GenericStereoFactor< POSE, LANDMARK >::GenericStereoFactor ( )
inline

Default constructor

Definition at line 58 of file StereoFactor.h.

◆ GenericStereoFactor() [2/3]

template<class POSE , class LANDMARK >
gtsam::GenericStereoFactor< POSE, LANDMARK >::GenericStereoFactor ( const StereoPoint2 measured,
const SharedNoiseModel model,
Key  poseKey,
Key  landmarkKey,
const Cal3_S2Stereo::shared_ptr K,
std::optional< POSE >  body_P_sensor = {} 
)
inline

Constructor

Parameters
measuredis the Stereo Point measurement (u_l, u_r, v). v will be identical for left & right for rectified stereo pair
modelis the noise model in on the measurement
poseKeythe pose variable key
landmarkKeythe landmark variable key
Kthe constant calibration
body_P_sensoris the transform from body to sensor frame (default identity)

Definition at line 70 of file StereoFactor.h.

◆ GenericStereoFactor() [3/3]

template<class POSE , class LANDMARK >
gtsam::GenericStereoFactor< POSE, LANDMARK >::GenericStereoFactor ( const StereoPoint2 measured,
const SharedNoiseModel model,
Key  poseKey,
Key  landmarkKey,
const Cal3_S2Stereo::shared_ptr K,
bool  throwCheirality,
bool  verboseCheirality,
std::optional< POSE >  body_P_sensor = {} 
)
inline

Constructor with exception-handling flags

Parameters
measuredis the Stereo Point measurement (u_l, u_r, v). v will be identical for left & right for rectified stereo pair
modelis the noise model in on the measurement
poseKeythe pose variable key
landmarkKeythe landmark variable key
Kthe constant calibration
throwCheiralitydetermines whether Cheirality exceptions are rethrown
verboseCheiralitydetermines whether exceptions are printed for Cheirality
body_P_sensoris the transform from body to sensor frame (default identity)

Definition at line 87 of file StereoFactor.h.

◆ ~GenericStereoFactor()

template<class POSE , class LANDMARK >
gtsam::GenericStereoFactor< POSE, LANDMARK >::~GenericStereoFactor ( )
inlineoverride

Virtual destructor

Definition at line 95 of file StereoFactor.h.

Member Function Documentation

◆ body_P_sensor()

template<class POSE , class LANDMARK >
const std::optional<POSE>& gtsam::GenericStereoFactor< POSE, LANDMARK >::body_P_sensor ( ) const
inline

return the (optional) sensor pose with respect to the vehicle frame

Definition at line 173 of file StereoFactor.h.

◆ calibration()

template<class POSE , class LANDMARK >
const Cal3_S2Stereo::shared_ptr gtsam::GenericStereoFactor< POSE, LANDMARK >::calibration ( ) const
inline

return the calibration object

Definition at line 162 of file StereoFactor.h.

◆ clone()

template<class POSE , class LANDMARK >
gtsam::NonlinearFactor::shared_ptr gtsam::GenericStereoFactor< POSE, LANDMARK >::clone ( ) const
inlineoverridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 98 of file StereoFactor.h.

◆ equals()

template<class POSE , class LANDMARK >
bool gtsam::GenericStereoFactor< POSE, LANDMARK >::equals ( const NonlinearFactor f,
double  tol = 1e-9 
) const
inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 117 of file StereoFactor.h.

◆ evaluateError()

template<class POSE , class LANDMARK >
Vector gtsam::GenericStereoFactor< POSE, LANDMARK >::evaluateError ( const Pose3 pose,
const Point3 point,
OptionalMatrixType  H1,
OptionalMatrixType  H2 
) const
inlineoverride

h(x)-z

Definition at line 126 of file StereoFactor.h.

◆ measured()

template<class POSE , class LANDMARK >
const StereoPoint2& gtsam::GenericStereoFactor< POSE, LANDMARK >::measured ( ) const
inline

return the measured

Definition at line 157 of file StereoFactor.h.

◆ print()

template<class POSE , class LANDMARK >
void gtsam::GenericStereoFactor< POSE, LANDMARK >::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 StereoFactor.h.

◆ throwCheirality()

template<class POSE , class LANDMARK >
bool gtsam::GenericStereoFactor< POSE, LANDMARK >::throwCheirality ( ) const
inline

return flag for throwing cheirality exceptions

Definition at line 170 of file StereoFactor.h.

◆ verboseCheirality()

template<class POSE , class LANDMARK >
bool gtsam::GenericStereoFactor< POSE, LANDMARK >::verboseCheirality ( ) const
inline

return verbosity

Definition at line 167 of file StereoFactor.h.

Member Data Documentation

◆ body_P_sensor_

template<class POSE , class LANDMARK >
std::optional<POSE> gtsam::GenericStereoFactor< POSE, LANDMARK >::body_P_sensor_
private

The pose of the sensor in the body frame.

Definition at line 38 of file StereoFactor.h.

◆ K_

template<class POSE , class LANDMARK >
Cal3_S2Stereo::shared_ptr gtsam::GenericStereoFactor< POSE, LANDMARK >::K_
private

shared pointer to calibration

Definition at line 37 of file StereoFactor.h.

◆ measured_

template<class POSE , class LANDMARK >
StereoPoint2 gtsam::GenericStereoFactor< POSE, LANDMARK >::measured_
private

the measurement

Definition at line 36 of file StereoFactor.h.

◆ throwCheirality_

template<class POSE , class LANDMARK >
bool gtsam::GenericStereoFactor< POSE, LANDMARK >::throwCheirality_
private

If true, rethrows Cheirality exceptions (default: false)

Definition at line 41 of file StereoFactor.h.

◆ verboseCheirality_

template<class POSE , class LANDMARK >
bool gtsam::GenericStereoFactor< POSE, LANDMARK >::verboseCheirality_
private

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

Definition at line 42 of file StereoFactor.h.


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


gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:51:33