#include <StereoFactor.h>
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< GenericStereoFactor > | shared_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< 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 | |
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 StereoPoint2 & | measured () 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< 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 () |
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... | |
Definition at line 32 of file StereoFactor.h.
typedef NoiseModelFactorN<POSE, LANDMARK> gtsam::GenericStereoFactor< POSE, LANDMARK >::Base |
typedef for base class
Definition at line 47 of file StereoFactor.h.
typedef POSE gtsam::GenericStereoFactor< POSE, LANDMARK >::CamPose |
typedef for Pose Lie Value type
Definition at line 50 of file StereoFactor.h.
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.
typedef GenericStereoFactor<POSE, LANDMARK> gtsam::GenericStereoFactor< POSE, LANDMARK >::This |
typedef for this class (with templates)
Definition at line 48 of file StereoFactor.h.
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inline |
Default constructor
Definition at line 58 of file StereoFactor.h.
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inline |
Constructor
measured | is the Stereo Point measurement (u_l, u_r, v). v will be identical for left & right for rectified stereo pair |
model | is the noise model in on the measurement |
poseKey | the pose variable key |
landmarkKey | the landmark variable key |
K | the constant calibration |
body_P_sensor | is the transform from body to sensor frame (default identity) |
Definition at line 70 of file StereoFactor.h.
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inline |
Constructor with exception-handling flags
measured | is the Stereo Point measurement (u_l, u_r, v). v will be identical for left & right for rectified stereo pair |
model | is the noise model in on the measurement |
poseKey | the pose variable key |
landmarkKey | the landmark variable key |
K | the constant calibration |
throwCheirality | determines whether Cheirality exceptions are rethrown |
verboseCheirality | determines whether exceptions are printed for Cheirality |
body_P_sensor | is the transform from body to sensor frame (default identity) |
Definition at line 87 of file StereoFactor.h.
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inlineoverride |
Virtual destructor
Definition at line 95 of file StereoFactor.h.
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inline |
return the (optional) sensor pose with respect to the vehicle frame
Definition at line 173 of file StereoFactor.h.
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inline |
return the calibration object
Definition at line 162 of file StereoFactor.h.
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inlineoverridevirtual |
Reimplemented from gtsam::NonlinearFactor.
Definition at line 98 of file StereoFactor.h.
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inlineoverridevirtual |
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inlineoverride |
h(x)-z
Definition at line 126 of file StereoFactor.h.
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inline |
return the measured
Definition at line 157 of file StereoFactor.h.
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inlineoverridevirtual |
s | optional string naming the factor |
keyFormatter | optional formatter useful for printing Symbols |
Reimplemented from gtsam::NoiseModelFactor.
Definition at line 107 of file StereoFactor.h.
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inline |
return flag for throwing cheirality exceptions
Definition at line 170 of file StereoFactor.h.
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inline |
return verbosity
Definition at line 167 of file StereoFactor.h.
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private |
The pose of the sensor in the body frame.
Definition at line 38 of file StereoFactor.h.
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private |
shared pointer to calibration
Definition at line 37 of file StereoFactor.h.
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private |
the measurement
Definition at line 36 of file StereoFactor.h.
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private |
If true, rethrows Cheirality exceptions (default: false)
Definition at line 41 of file StereoFactor.h.
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private |
If true, prints text for Cheirality exceptions (default: false)
Definition at line 42 of file StereoFactor.h.