Two unknowns: the pose and the landmark. Camera offset and calibration are constant. This is similar to GeneralSFMFactor, used for SLAM. More...

#include <PlanarProjectionFactor.h>

Inheritance diagram for gtsam::PlanarProjectionFactor2:

[legend]

Public Types
typedef NoiseModelFactorN< Pose2, Point3 >	Base

Public Types inherited from gtsam::NoiseModelFactorN< Pose2, Point3 >
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
NonlinearFactor::shared_ptr	clone () const override

Vector	evaluateError (const Pose2 &wTb, const Point3 &landmark, OptionalMatrixType HwTb, OptionalMatrixType Hlandmark) const override

	PlanarProjectionFactor2 ()

	PlanarProjectionFactor2 (Key poseKey, Key landmarkKey, const Point2 &measured, const Pose3 &bTc, const Cal3DS2 &calib, const SharedNoiseModel &model={})
	constructor for variable landmark, known offset and calibration More...

	~PlanarProjectionFactor2 () override

Public Member Functions inherited from gtsam::NoiseModelFactorN< Pose2, Point3 >
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

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

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

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
Pose3	bTc_

Cal3DS2	calib_

Additional Inherited Members
Static Public Attributes inherited from gtsam::NoiseModelFactorN< Pose2, Point3 >
constexpr static auto	N
	N is the number of variables (N-way factor) More...

Protected Types inherited from gtsam::NoiseModelFactorN< Pose2, Point3 >
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::PlanarProjectionFactorBase
	PlanarProjectionFactorBase ()

	PlanarProjectionFactorBase (const Point2 &measured)

Point2	predict (const Point3 &landmark, const Pose2 &wTb, const Pose3 &bTc, const Cal3DS2 &calib, OptionalJacobian< 2, 3 > Hlandmark={}, OptionalJacobian< 2, 3 > HwTb={}, OptionalJacobian< 2, 6 > HbTc={}, OptionalJacobian< 2, 9 > Hcalib={}) const

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::PlanarProjectionFactorBase
Point2	measured_

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

Two unknowns: the pose and the landmark. Camera offset and calibration are constant. This is similar to GeneralSFMFactor, used for SLAM.

Definition at line 171 of file PlanarProjectionFactor.h.

Member Typedef Documentation

◆ Base

typedef NoiseModelFactorN<Pose2, Point3> gtsam::PlanarProjectionFactor2::Base

Definition at line 174 of file PlanarProjectionFactor.h.

Constructor & Destructor Documentation

◆ PlanarProjectionFactor2() [1/2]

gtsam::PlanarProjectionFactor2::PlanarProjectionFactor2 ( )

inline

Definition at line 177 of file PlanarProjectionFactor.h.

◆ ~PlanarProjectionFactor2()

gtsam::PlanarProjectionFactor2::~PlanarProjectionFactor2 ( )

inlineoverride

Definition at line 179 of file PlanarProjectionFactor.h.

◆ PlanarProjectionFactor2() [2/2]

gtsam::PlanarProjectionFactor2::PlanarProjectionFactor2	(	Key	poseKey,
		Key	landmarkKey,
		const Point2 &	measured,
		const Pose3 &	bTc,
		const Cal3DS2 &	calib,
		const SharedNoiseModel &	model = `{}`
	)

inline

constructor for variable landmark, known offset and calibration

Parameters

poseKey	index of the robot pose2 in the z=0 plane
landmarkKey	index of the landmark point3
measured	corresponding point in the camera frame
bTc	"body to camera": constant camera offset from pose
calib	constant camera calibration
model	stddev of the measurements, ~one pixel?

Definition at line 196 of file PlanarProjectionFactor.h.

Member Function Documentation

◆ clone()

NonlinearFactor::shared_ptr gtsam::PlanarProjectionFactor2::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 182 of file PlanarProjectionFactor.h.

◆ evaluateError()

Vector gtsam::PlanarProjectionFactor2::evaluateError	(	const Pose2 &	wTb,
		const Point3 &	landmark,
		OptionalMatrixType	HwTb,
		OptionalMatrixType	Hlandmark
	)		const

inlineoverride

Parameters

wTb	"world to body": estimated pose2
landmark	estimated landmark
HwTb	jacobian
Hlandmark	jacobian

Definition at line 214 of file PlanarProjectionFactor.h.

Member Data Documentation

◆ bTc_

Pose3 gtsam::PlanarProjectionFactor2::bTc_

private

Definition at line 223 of file PlanarProjectionFactor.h.

◆ calib_

Cal3DS2 gtsam::PlanarProjectionFactor2::calib_