Class SmartFactorStereoProjectionPose

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

Class Documentation

class SmartFactorStereoProjectionPose : public mola::FactorBase

Smart factor for a set of stereo-camera observations of one point landmark. The ID of the factor is the ID of the landmark.

Public Types

using obs_tuple_list_t = std::deque<obs_tuple_t>

Public Functions

SmartFactorStereoProjectionPose() = default
SmartFactorStereoProjectionPose(double sigma_xleft, double sigma_xright, double sigma_y, BackEndBase *slam_backend, const mrpt::math::TPose3D &cameraPoseOnRobot = mrpt::math::TPose3D())
virtual std::size_t edge_count() const override

Number of entities involved in this factor: 1 for unary factors, 2 for binary, etc.

virtual mola::id_t edge_indices(const std::size_t i) const override

Access entity indices involved in this factor

void addObservation(const StereoObservation &st, const id_t observing_kf, const id_t camera_params)
inline const obs_tuple_list_t &allObservations() const

Public Members

double sigma_xleft_

Noise model

double sigma_xright_
double sigma_y_
mrpt::math::TPose3D cameraPoseOnRobot_
struct obs_tuple_t

Public Functions

inline obs_tuple_t(const StereoObservation &pt, id_t obs_kf, id_t cam_params)

Public Members

StereoObservation pixel_coords
id_t observing_kf
id_t camera_params
struct StereoObservation

Public Members

double x_left = {0}
double x_right = {0}
double y = {0}