Base class for smart factors. This base class has no internal point, but it has a measurement, noise model and an optional sensor pose. This class mainly computes the derivatives and returns them as a variety of factors. The methods take a CameraSet<CAMERA> argument and the value of a point, which is kept in the derived class. More...

#include <SmartFactorBase.h>

Inheritance diagram for gtsam::SmartFactorBase< CAMERA >:

[legend]

Public Types
typedef CameraSet< CAMERA >	Cameras
	The CameraSet data structure is used to refer to a set of cameras. More...

typedef std::vector< MatrixZD, Eigen::aligned_allocator< MatrixZD > >	FBlocks

typedef Eigen::Matrix< double, ZDim, Dim >	MatrixZD

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
template<class SFM_TRACK >
void	add (const SFM_TRACK &trackToAdd)

void	add (const Z &measured, const Key &key)

void	add (const ZVector &measurements, const KeyVector &cameraKeys)
	Add a bunch of measurements, together with the camera keys. More...

Pose3	body_P_sensor () const

virtual Cameras	cameras (const Values &values) const
	Collect all cameras: important that in key order. More...

template<class POINT >
void	computeJacobians (FBlocks &Fs, Matrix &E, Vector &b, const Cameras &cameras, const POINT &point) const

template<class POINT >
void	computeJacobiansSVD (FBlocks &Fs, Matrix &Enull, Vector &b, const Cameras &cameras, const POINT &point) const

template<class ... OptArgs>
void	correctForMissingMeasurements (const Cameras &cameras, Vector &ue, OptArgs &&... optArgs) const

virtual void	correctForMissingMeasurements (const Cameras &cameras, Vector &ue, typename Cameras::FBlocks Fs=nullptr, Matrix E=nullptr) const

std::shared_ptr< RegularHessianFactor< Dim > >	createHessianFactor (const Cameras &cameras, const Point3 &point, const double lambda=0.0, bool diagonalDamping=false) const
	Linearize to a Hessianfactor. More...

std::shared_ptr< JacobianFactorQ< Dim, ZDim > >	createJacobianQFactor (const Cameras &cameras, const Point3 &point, double lambda=0.0, bool diagonalDamping=false) const
	Return Jacobians as JacobianFactorQ. More...

std::shared_ptr< JacobianFactor >	createJacobianSVDFactor (const Cameras &cameras, const Point3 &point, double lambda=0.0) const

std::shared_ptr< RegularImplicitSchurFactor< CAMERA > >	createRegularImplicitSchurFactor (const Cameras &cameras, const Point3 &point, double lambda=0.0, bool diagonalDamping=false) const
	Return Jacobians as RegularImplicitSchurFactor with raw access. More...

size_t	dim () const override
	Return the dimension (number of rows!) of the factor. More...

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

const ZVector &	measured () const
	Return the 2D measurements (ZDim, in general). More...

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

	SmartFactorBase ()
	Default Constructor, for serialization. More...

	SmartFactorBase (const SharedNoiseModel &sharedNoiseModel, std::optional< Pose3 > body_P_sensor={}, size_t expectedNumberCameras=10)
	Construct with given noise model and optional arguments. More...

template<class POINT >
double	totalReprojectionError (const Cameras &cameras, const POINT &point) const

template<class POINT , class ... OptArgs, typename = std::enable_if_t<sizeof...(OptArgs)!=0>>
Vector	unwhitenedError (const Cameras &cameras, const POINT &point, OptArgs &&... optArgs) const

template<class POINT >
Vector	unwhitenedError (const Cameras &cameras, const POINT &point, typename Cameras::FBlocks Fs=nullptr, Matrix E=nullptr) const

void	updateAugmentedHessian (const Cameras &cameras, const Point3 &point, const double lambda, bool diagonalDamping, SymmetricBlockMatrix &augmentedHessian, const KeyVector allKeys) const

template<class POINT >
Vector	whitenedError (const Cameras &cameras, const POINT &point) const

void	whitenJacobians (FBlocks &F, Matrix &E, Vector &b) const
	Whiten the Jacobians computed by computeJacobians using noiseModel_. More...

	~SmartFactorBase () override
	Virtual destructor, subclasses from NonlinearFactor. More...

Public Member Functions inherited from gtsam::NonlinearFactor
	NonlinearFactor ()

template<typename CONTAINER >
	NonlinearFactor (const CONTAINER &keys)

virtual double	error (const Values &c) const

double	error (const HybridValues &c) const override

virtual bool	active (const Values &) const

virtual std::shared_ptr< GaussianFactor >	linearize (const Values &c) const =0

virtual shared_ptr	clone () 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 ()

Static Public Member Functions
static void	FillDiagonalF (const FBlocks &Fs, Matrix &F)
	Create BIG block-diagonal matrix F from Fblocks. More...

static Matrix	PointCov (const Matrix &E)
	Computes Point Covariance P from the "point Jacobian" E. More...

Public Attributes
GTSAM_MAKE_ALIGNED_OPERATOR_NEW typedef std::shared_ptr< This >	shared_ptr
	shorthand for a smart pointer to a factor. More...

Static Public Attributes
static const int	Dim = traits<CAMERA>::dimension
	Camera dimension. More...

static const int	ZDim = traits<Z>::dimension
	Measurement dimension. More...

Protected Attributes
std::optional< Pose3 >	body_P_sensor_
	Pose of the camera in the body frame. More...

FBlocks	Fs

ZVector	measured_

SharedIsotropic	noiseModel_

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

Private Types
typedef NonlinearFactor	Base

typedef SmartFactorBase< CAMERA >	This

typedef CAMERA::Measurement	Z

typedef CAMERA::MeasurementVector	ZVector

Additional Inherited Members
Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base

typedef NonlinearFactor	This

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 CAMERA>
class gtsam::SmartFactorBase< CAMERA >

Base class for smart factors. This base class has no internal point, but it has a measurement, noise model and an optional sensor pose. This class mainly computes the derivatives and returns them as a variety of factors. The methods take a CameraSet<CAMERA> argument and the value of a point, which is kept in the derived class.

Template Parameters

CAMERA should behave like a PinholeCamera.

Definition at line 51 of file SmartFactorBase.h.

Member Typedef Documentation

◆ Base

template<class CAMERA >

typedef NonlinearFactor gtsam::SmartFactorBase< CAMERA >::Base

private

Definition at line 54 of file SmartFactorBase.h.

◆ Cameras

template<class CAMERA >

typedef CameraSet<CAMERA> gtsam::SmartFactorBase< CAMERA >::Cameras

The CameraSet data structure is used to refer to a set of cameras.

Definition at line 95 of file SmartFactorBase.h.

◆ FBlocks

template<class CAMERA >

typedef std::vector<MatrixZD, Eigen::aligned_allocator<MatrixZD> > gtsam::SmartFactorBase< CAMERA >::FBlocks

Definition at line 64 of file SmartFactorBase.h.

◆ MatrixZD

template<class CAMERA >

typedef Eigen::Matrix<double, ZDim, Dim> gtsam::SmartFactorBase< CAMERA >::MatrixZD

Definition at line 63 of file SmartFactorBase.h.

◆ This

template<class CAMERA >

typedef SmartFactorBase<CAMERA> gtsam::SmartFactorBase< CAMERA >::This

private

Definition at line 55 of file SmartFactorBase.h.

◆ Z

template<class CAMERA >

typedef CAMERA::Measurement gtsam::SmartFactorBase< CAMERA >::Z

private

Definition at line 56 of file SmartFactorBase.h.

◆ ZVector

template<class CAMERA >

typedef CAMERA::MeasurementVector gtsam::SmartFactorBase< CAMERA >::ZVector

private

Definition at line 57 of file SmartFactorBase.h.

Constructor & Destructor Documentation

◆ SmartFactorBase() [1/2]

template<class CAMERA >

gtsam::SmartFactorBase< CAMERA >::SmartFactorBase ( )

inline

Default Constructor, for serialization.

Definition at line 98 of file SmartFactorBase.h.

◆ SmartFactorBase() [2/2]

template<class CAMERA >

gtsam::SmartFactorBase< CAMERA >::SmartFactorBase	(	const SharedNoiseModel &	sharedNoiseModel,
		std::optional< Pose3 >	body_P_sensor = `{}`,
		size_t	expectedNumberCameras = `10`
	)

inline

Construct with given noise model and optional arguments.

Definition at line 101 of file SmartFactorBase.h.

◆ ~SmartFactorBase()

template<class CAMERA >

gtsam::SmartFactorBase< CAMERA >::~SmartFactorBase ( )

inlineoverride

Virtual destructor, subclasses from NonlinearFactor.

Definition at line 119 of file SmartFactorBase.h.

Member Function Documentation

◆ add() [1/3]

template<class CAMERA >

template<class SFM_TRACK >

void gtsam::SmartFactorBase< CAMERA >::add ( const SFM_TRACK & trackToAdd )

inline

Add an entire SfM_track (collection of cameras observing a single point). The noise is assumed to be the same for all measurements.

Definition at line 149 of file SmartFactorBase.h.

◆ add() [2/3]

template<class CAMERA >

void gtsam::SmartFactorBase< CAMERA >::add	(	const Z &	measured,
		const Key &	key
	)

inline

Add a new measurement and pose/camera key.

Parameters

measured	is the 2m dimensional projection of a single landmark
key	is the index corresponding to the camera observing the landmark

Definition at line 127 of file SmartFactorBase.h.

◆ add() [3/3]

template<class CAMERA >

void gtsam::SmartFactorBase< CAMERA >::add	(	const ZVector &	measurements,
		const KeyVector &	cameraKeys
	)

inline

Add a bunch of measurements, together with the camera keys.

Definition at line 137 of file SmartFactorBase.h.

◆ body_P_sensor()

template<class CAMERA >

Pose3 gtsam::SmartFactorBase< CAMERA >::body_P_sensor ( ) const

inline

Definition at line 440 of file SmartFactorBase.h.

◆ cameras()

template<class CAMERA >

virtual Cameras gtsam::SmartFactorBase< CAMERA >::cameras ( const Values & values ) const

inlinevirtual

Collect all cameras: important that in key order.

Reimplemented in gtsam::SmartProjectionPoseFactorRollingShutter< CAMERA >, gtsam::SmartProjectionRigFactor< CAMERA >, gtsam::SmartStereoProjectionFactorPP, gtsam::SmartProjectionPoseFactor< CALIBRATION >, and gtsam::SmartStereoProjectionPoseFactor.

Definition at line 163 of file SmartFactorBase.h.

◆ computeJacobians()

template<class CAMERA >

template<class POINT >

void gtsam::SmartFactorBase< CAMERA >::computeJacobians	(	FBlocks &	Fs,
		Matrix &	E,
		Vector &	b,
		const Cameras &	cameras,
		const POINT &	point
	)		const

inline

Compute F, E, and b (called below in both vanilla and SVD versions), where F is a vector of derivatives wrpt the cameras, and E the stacked derivatives with respect to the point. The value of cameras/point are passed as parameters.

Definition at line 316 of file SmartFactorBase.h.

◆ computeJacobiansSVD()

template<class CAMERA >

template<class POINT >

void gtsam::SmartFactorBase< CAMERA >::computeJacobiansSVD	(	FBlocks &	Fs,
		Matrix &	Enull,
		Vector &	b,
		const Cameras &	cameras,
		const POINT &	point
	)		const

inline

SVD version that produces smaller Jacobian matrices by doing an SVD decomposition on E, and returning the left nulkl-space of E. See JacobianFactorSVD for more documentation.

Definition at line 331 of file SmartFactorBase.h.

◆ correctForMissingMeasurements() [1/2]

template<class CAMERA >

template<class ... OptArgs>

void gtsam::SmartFactorBase< CAMERA >::correctForMissingMeasurements	(	const Cameras &	cameras,
		Vector &	ue,
		OptArgs &&...	optArgs
	)		const

inline

An overload of correctForMissingMeasurements. This allows end users to provide optional arguments that are l-value references to the matrices and vectors that will be used to store the results instead of pointers.

Definition at line 271 of file SmartFactorBase.h.

◆ correctForMissingMeasurements() [2/2]

template<class CAMERA >

virtual void gtsam::SmartFactorBase< CAMERA >::correctForMissingMeasurements	(	const Cameras &	cameras,
		Vector &	ue,
		typename Cameras::FBlocks *	Fs = `nullptr`,
		Matrix *	E = `nullptr`
	)		const

inlinevirtual

This corrects the Jacobians for the case in which some 2D measurement is missing (nan). In practice, this does not do anything in the monocular case, but it is implemented in the stereo version.

Reimplemented in gtsam::SmartStereoProjectionFactor.

Definition at line 259 of file SmartFactorBase.h.

◆ createHessianFactor()

template<class CAMERA >

std::shared_ptr<RegularHessianFactor<Dim> > gtsam::SmartFactorBase< CAMERA >::createHessianFactor	(	const Cameras &	cameras,
		const Point3 &	point,
		const double	lambda = `0.0`,
		bool	diagonalDamping = `false`
	)		const

inline

Linearize to a Hessianfactor.

Definition at line 347 of file SmartFactorBase.h.

◆ createJacobianQFactor()

template<class CAMERA >

std::shared_ptr<JacobianFactorQ<Dim, ZDim> > gtsam::SmartFactorBase< CAMERA >::createJacobianQFactor	(	const Cameras &	cameras,
		const Point3 &	point,
		double	lambda = `0.0`,
		bool	diagonalDamping = `false`
	)		const

inline

Return Jacobians as JacobianFactorQ.

Definition at line 400 of file SmartFactorBase.h.

◆ createJacobianSVDFactor()

template<class CAMERA >

std::shared_ptr<JacobianFactor> gtsam::SmartFactorBase< CAMERA >::createJacobianSVDFactor	(	const Cameras &	cameras,
		const Point3 &	point,
		double	lambda = `0.0`
	)		const

inline

Return Jacobians as JacobianFactorSVD. TODO(dellaert): lambda is currently ignored

Definition at line 417 of file SmartFactorBase.h.

◆ createRegularImplicitSchurFactor()

template<class CAMERA >

std::shared_ptr<RegularImplicitSchurFactor<CAMERA> > gtsam::SmartFactorBase< CAMERA >::createRegularImplicitSchurFactor	(	const Cameras &	cameras,
		const Point3 &	point,
		double	lambda = `0.0`,
		bool	diagonalDamping = `false`
	)		const

inline

Return Jacobians as RegularImplicitSchurFactor with raw access.

Definition at line 387 of file SmartFactorBase.h.

◆ dim()

template<class CAMERA >

size_t gtsam::SmartFactorBase< CAMERA >::dim ( ) const

inlineoverridevirtual

Return the dimension (number of rows!) of the factor.

Implements gtsam::NonlinearFactor.

Definition at line 157 of file SmartFactorBase.h.

◆ equals()

template<class CAMERA >

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

inlineoverridevirtual

equals

Reimplemented from gtsam::NonlinearFactor.

Reimplemented in gtsam::SmartProjectionPoseFactorRollingShutter< CAMERA >, gtsam::SmartProjectionRigFactor< CAMERA >, gtsam::SmartProjectionFactor< CAMERA >, and gtsam::SmartProjectionFactor< PinholePose< CALIBRATION > >.

Definition at line 189 of file SmartFactorBase.h.

◆ FillDiagonalF()

template<class CAMERA >

static void gtsam::SmartFactorBase< CAMERA >::FillDiagonalF	(	const FBlocks &	Fs,
		Matrix &	F
	)

inlinestatic

Create BIG block-diagonal matrix F from Fblocks.

Definition at line 431 of file SmartFactorBase.h.

◆ measured()

template<class CAMERA >

const ZVector& gtsam::SmartFactorBase< CAMERA >::measured ( ) const

inline

Return the 2D measurements (ZDim, in general).

Definition at line 160 of file SmartFactorBase.h.

◆ PointCov()

template<class CAMERA >

static Matrix gtsam::SmartFactorBase< CAMERA >::PointCov ( const Matrix & E )

inlinestatic

Computes Point Covariance P from the "point Jacobian" E.

Definition at line 305 of file SmartFactorBase.h.

◆ print()

template<class CAMERA >

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

inlineoverridevirtual

print

Parameters

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

Reimplemented from gtsam::NonlinearFactor.

Reimplemented in gtsam::SmartProjectionPoseFactorRollingShutter< CAMERA >, gtsam::SmartProjectionRigFactor< CAMERA >, gtsam::SmartProjectionFactor< CAMERA >, and gtsam::SmartProjectionFactor< PinholePose< CALIBRATION > >.

Definition at line 176 of file SmartFactorBase.h.

◆ totalReprojectionError()

template<class CAMERA >

template<class POINT >

double gtsam::SmartFactorBase< CAMERA >::totalReprojectionError	(	const Cameras &	cameras,
		const POINT &	point
	)		const

inline

Calculate the error of the factor. This is the log-likelihood, e.g. $0.5(h(x)-z)^2/\sigma^2$ in case of Gaussian. In this class, we take the raw prediction error $ h(x)-z $ , ask the noise model to transform it to $(h(x)-z)^2/\sigma^2$ , and then multiply by 0.5. Will be used in "error(Values)" function required by NonlinearFactor base class

Definition at line 298 of file SmartFactorBase.h.

◆ unwhitenedError() [1/2]

template<class CAMERA >

template<class POINT , class ... OptArgs, typename = std::enable_if_t<sizeof...(OptArgs)!=0>>

Vector gtsam::SmartFactorBase< CAMERA >::unwhitenedError	(	const Cameras &	cameras,
		const POINT &	point,
		OptArgs &&...	optArgs
	)		const

inline

An overload of unwhitenedError. This allows end users to provide optional arguments that are l-value references to the matrices and vectors that will be used to store the results instead of pointers.

Definition at line 248 of file SmartFactorBase.h.

◆ unwhitenedError() [2/2]

template<class CAMERA >

template<class POINT >

Vector gtsam::SmartFactorBase< CAMERA >::unwhitenedError	(	const Cameras &	cameras,
		const POINT &	point,
		typename Cameras::FBlocks *	Fs = `nullptr`,
		Matrix *	E = `nullptr`
	)		const

inline

Compute reprojection errors [h(x)-z] = [cameras.project(p)-z] and derivatives. This is the error before the noise model is applied. The templated version described above must finally get resolved to this function.

Definition at line 209 of file SmartFactorBase.h.

◆ updateAugmentedHessian()

template<class CAMERA >

void gtsam::SmartFactorBase< CAMERA >::updateAugmentedHessian	(	const Cameras &	cameras,
		const Point3 &	point,
		const double	lambda,
		bool	diagonalDamping,
		SymmetricBlockMatrix &	augmentedHessian,
		const KeyVector	allKeys
	)		const

inline

Add the contribution of the smart factor to a pre-allocated Hessian, using sparse linear algebra. More efficient than the creation of the Hessian without preallocation of the SymmetricBlockMatrix

Definition at line 367 of file SmartFactorBase.h.

◆ whitenedError()

template<class CAMERA >

template<class POINT >

Vector gtsam::SmartFactorBase< CAMERA >::whitenedError	(	const Cameras &	cameras,
		const POINT &	point
	)		const

inline

Calculate vector of re-projection errors [h(x)-z] = [cameras.project(p) - z], with the noise model applied.

Definition at line 282 of file SmartFactorBase.h.

◆ whitenJacobians()

template<class CAMERA >

void gtsam::SmartFactorBase< CAMERA >::whitenJacobians	(	FBlocks &	F,
		Matrix &	E,
		Vector &	b
	)		const

inline

Whiten the Jacobians computed by computeJacobians using noiseModel_.

Definition at line 378 of file SmartFactorBase.h.

Member Data Documentation

◆ body_P_sensor_

template<class CAMERA >

std::optional<Pose3> gtsam::SmartFactorBase< CAMERA >::body_P_sensor_

protected

Pose of the camera in the body frame.

Definition at line 83 of file SmartFactorBase.h.

◆ Dim

template<class CAMERA >

const int gtsam::SmartFactorBase< CAMERA >::Dim = traits<CAMERA>::dimension

static

Camera dimension.

Definition at line 61 of file SmartFactorBase.h.

◆ Fs

template<class CAMERA >

FBlocks gtsam::SmartFactorBase< CAMERA >::Fs

mutableprotected

Definition at line 86 of file SmartFactorBase.h.

◆ measured_

template<class CAMERA >

ZVector gtsam::SmartFactorBase< CAMERA >::measured_

protected

Measurements for each of the m views. We keep a copy of the measurements for I/O and computing the error. The order is kept the same as the keys that we use to create the factor.

Definition at line 80 of file SmartFactorBase.h.

◆ noiseModel_

template<class CAMERA >

SharedIsotropic gtsam::SmartFactorBase< CAMERA >::noiseModel_

protected

As of Feb 22, 2015, the noise model is the same for all measurements and is isotropic. This allows for moving most calculations of Schur complement etc. to be easily moved to CameraSet, and also agrees pragmatically with what is normally done.

Definition at line 73 of file SmartFactorBase.h.

◆ shared_ptr

template<class CAMERA >

GTSAM_MAKE_ALIGNED_OPERATOR_NEW typedef std::shared_ptr<This> gtsam::SmartFactorBase< CAMERA >::shared_ptr

shorthand for a smart pointer to a factor.

Definition at line 92 of file SmartFactorBase.h.

◆ ZDim

template<class CAMERA >

const int gtsam::SmartFactorBase< CAMERA >::ZDim = traits<Z>::dimension

static

Measurement dimension.

Definition at line 62 of file SmartFactorBase.h.

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

SmartFactorBase.h

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Attributes

Private Types

Additional Inherited Members

Detailed Description

template<class CAMERA> class gtsam::SmartFactorBase< CAMERA >

Member Typedef Documentation

◆ Base

◆ Cameras

◆ FBlocks

◆ MatrixZD

◆ This

◆ Z

◆ ZVector

Constructor & Destructor Documentation

◆ SmartFactorBase() [1/2]

◆ SmartFactorBase() [2/2]

◆ ~SmartFactorBase()

Member Function Documentation

◆ add() [1/3]

◆ add() [2/3]

◆ add() [3/3]

◆ body_P_sensor()

◆ cameras()

◆ computeJacobians()

◆ computeJacobiansSVD()

◆ correctForMissingMeasurements() [1/2]

◆ correctForMissingMeasurements() [2/2]

◆ createHessianFactor()

◆ createJacobianQFactor()

◆ createJacobianSVDFactor()

◆ createRegularImplicitSchurFactor()

◆ dim()

◆ equals()

◆ FillDiagonalF()

◆ measured()

◆ PointCov()

◆ print()

◆ totalReprojectionError()

◆ unwhitenedError() [1/2]

◆ unwhitenedError() [2/2]

◆ updateAugmentedHessian()

◆ whitenedError()

◆ whitenJacobians()

Member Data Documentation

◆ body_P_sensor_

◆ Dim

◆ Fs

◆ measured_

◆ noiseModel_

◆ shared_ptr

◆ ZDim

template<class CAMERA>
class gtsam::SmartFactorBase< CAMERA >