#include <EssentialMatrixFactor.h>

Inheritance diagram for gtsam::EssentialMatrixFactor:

[legend]

Public Member Functions
gtsam::NonlinearFactor::shared_ptr	clone () const override

	EssentialMatrixFactor (Key key, const Point2 &pA, const Point2 &pB, const SharedNoiseModel &model)

template<class CALIBRATION >
	EssentialMatrixFactor (Key key, const Point2 &pA, const Point2 &pB, const SharedNoiseModel &model, boost::shared_ptr< CALIBRATION > K)

Vector	evaluateError (const EssentialMatrix &E, boost::optional< Matrix & > H=boost::none) const override
	vector of errors returns 1D vector More...

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

Public Member Functions inherited from gtsam::NoiseModelFactor1< EssentialMatrix >
	NoiseModelFactor1 ()

	NoiseModelFactor1 (const SharedNoiseModel &noiseModel, Key key1)

	~NoiseModelFactor1 () override

Key	key () const

Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override

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 Values &c) const override

boost::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

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)

virtual	~NonlinearFactor ()

virtual bool	active (const Values &) const

shared_ptr	rekey (const std::map< Key, Key > &rekey_mapping) const

shared_ptr	rekey (const KeyVector &new_keys) const

Public Member Functions inherited from gtsam::Factor
virtual	~Factor ()=default
	Default destructor. More...

KeyVector &	keys ()

iterator	begin ()

iterator	end ()

virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys 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

Private Types
typedef NoiseModelFactor1< EssentialMatrix >	Base

typedef EssentialMatrixFactor	This

Private Attributes
Vector3	vA_

Vector3	vB_
	Homogeneous versions, in ideal coordinates. More...

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactor1< EssentialMatrix >
typedef EssentialMatrix	X

Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::NonlinearFactor
typedef boost::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...

Protected Types inherited from gtsam::NoiseModelFactor1< EssentialMatrix >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor1< EssentialMatrix >	This

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)

bool	equals (const This &other, double tol=1e-9) const
	check equality More...

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

Factor that evaluates epipolar error p'Ep for given essential matrix

Definition at line 20 of file EssentialMatrixFactor.h.

Member Typedef Documentation

typedef NoiseModelFactor1<EssentialMatrix> gtsam::EssentialMatrixFactor::Base

private

Definition at line 24 of file EssentialMatrixFactor.h.

typedef EssentialMatrixFactor gtsam::EssentialMatrixFactor::This

private

Definition at line 25 of file EssentialMatrixFactor.h.

Constructor & Destructor Documentation

gtsam::EssentialMatrixFactor::EssentialMatrixFactor	(	Key	key,
		const Point2 &	pA,
		const Point2 &	pB,
		const SharedNoiseModel &	model
	)

inline

Constructor

Parameters

key	Essential Matrix variable key
pA	point in first camera, in calibrated coordinates
pB	point in second camera, in calibrated coordinates
model	noise model is about dot product in ideal, homogeneous coordinates

Definition at line 36 of file EssentialMatrixFactor.h.

template<class CALIBRATION >

gtsam::EssentialMatrixFactor::EssentialMatrixFactor	(	Key	key,
		const Point2 &	pA,
		const Point2 &	pB,
		const SharedNoiseModel &	model,
		boost::shared_ptr< CALIBRATION >	K
	)

inline

Constructor

Parameters

key	Essential Matrix variable key
pA	point in first camera, in pixel coordinates
pB	point in second camera, in pixel coordinates
model	noise model is about dot product in ideal, homogeneous coordinates
K	calibration object, will be used only in constructor

Definition at line 52 of file EssentialMatrixFactor.h.

Member Function Documentation

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

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 61 of file EssentialMatrixFactor.h.

Vector gtsam::EssentialMatrixFactor::evaluateError	(	const EssentialMatrix &	E,
		boost::optional< Matrix & >	H = `boost::none`
	)		const

inlineoverridevirtual

vector of errors returns 1D vector

Implements gtsam::NoiseModelFactor1< EssentialMatrix >.

Definition at line 76 of file EssentialMatrixFactor.h.

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

inlineoverridevirtual

print

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 67 of file EssentialMatrixFactor.h.

Member Data Documentation

Vector3 gtsam::EssentialMatrixFactor::vA_

private

Definition at line 22 of file EssentialMatrixFactor.h.

Vector3 gtsam::EssentialMatrixFactor::vB_

private

Homogeneous versions, in ideal coordinates.

Definition at line 22 of file EssentialMatrixFactor.h.

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

EssentialMatrixFactor.h

Public Member Functions

Private Types

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation