#include <ProjectionFactor.h>

Inheritance diagram for gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >:

[legend]

Public Types
typedef NoiseModelFactor2< POSE, LANDMARK >	Base
	shorthand for base class type More...

typedef boost::shared_ptr< This >	shared_ptr
	shorthand for a smart pointer to a factor More...

typedef GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >	This
	shorthand for this class More...

Public Types inherited from gtsam::NoiseModelFactor2< POSE, LANDMARK >
typedef POSE	X1

typedef LANDMARK	X2

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...

Public Member Functions
const boost::shared_ptr< CALIBRATION >	calibration () const

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

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

Vector	evaluateError (const Pose3 &pose, const Point3 &point, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const override
	Evaluate error h(x)-z and optionally derivatives. More...

	GenericProjectionFactor ()
	Default constructor. More...

	GenericProjectionFactor (const Point2 &measured, const SharedNoiseModel &model, Key poseKey, Key pointKey, const boost::shared_ptr< CALIBRATION > &K, boost::optional< POSE > body_P_sensor=boost::none)

	GenericProjectionFactor (const Point2 &measured, const SharedNoiseModel &model, Key poseKey, Key pointKey, const boost::shared_ptr< CALIBRATION > &K, bool throwCheirality, bool verboseCheirality, boost::optional< POSE > body_P_sensor=boost::none)

const Point2 &	measured () const

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

bool	throwCheirality () const

bool	verboseCheirality () const

	~GenericProjectionFactor () override

Public Member Functions inherited from gtsam::NoiseModelFactor2< POSE, LANDMARK >
virtual Vector	evaluateError (const X1 &, const X2 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const =0

Key	key1 () const

Key	key2 () const

	NoiseModelFactor2 ()

	NoiseModelFactor2 (const SharedNoiseModel &noiseModel, Key j1, Key j2)

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

	~NoiseModelFactor2 () override

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

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...

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...

KeyVector &	keys ()

iterator	begin ()

iterator	end ()

Protected Attributes
boost::optional< POSE >	body_P_sensor_
	The pose of the sensor in the body frame. More...

boost::shared_ptr< CALIBRATION >	K_
	shared pointer to calibration object More...

Point2	measured_
	2D measurement More...

bool	throwCheirality_
	If true, rethrows Cheirality exceptions (default: false) More...

bool	verboseCheirality_
	If true, prints text for Cheirality exceptions (default: false) More...

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

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

Private Member Functions
template<class ARCHIVE >
void	serialize (ARCHIVE &ar, const unsigned int)

Friends
class	boost::serialization::access
	Serialization function. More...

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactor2< POSE, LANDMARK >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor2< POSE, LANDMARK >	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)

Detailed Description

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>
class gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >

Definition at line 36 of file ProjectionFactor.h.

Member Typedef Documentation

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

typedef NoiseModelFactor2<POSE, LANDMARK> gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::Base

shorthand for base class type

Definition at line 51 of file ProjectionFactor.h.

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

typedef boost::shared_ptr<This> gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::shared_ptr

shorthand for a smart pointer to a factor

Definition at line 57 of file ProjectionFactor.h.

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

typedef GenericProjectionFactor<POSE, LANDMARK, CALIBRATION> gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::This

shorthand for this class

Definition at line 54 of file ProjectionFactor.h.

Constructor & Destructor Documentation

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::GenericProjectionFactor ( )

inline

Default constructor.

Definition at line 60 of file ProjectionFactor.h.

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::GenericProjectionFactor	(	const Point2 &	measured,
		const SharedNoiseModel &	model,
		Key	poseKey,
		Key	pointKey,
		const boost::shared_ptr< CALIBRATION > &	K,
		boost::optional< POSE >	body_P_sensor = `boost::none`
	)

inline

Constructor TODO: Mark argument order standard (keys, measurement, parameters)

Parameters

measured	is the 2 dimensional location of point in image (the measurement)
model	is the standard deviation
poseKey	is the index of the camera
pointKey	is the index of the landmark
K	shared pointer to the constant calibration
body_P_sensor	is the transform from body to sensor frame (default identity)

Definition at line 74 of file ProjectionFactor.h.

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::GenericProjectionFactor	(	const Point2 &	measured,
		const SharedNoiseModel &	model,
		Key	poseKey,
		Key	pointKey,
		const boost::shared_ptr< CALIBRATION > &	K,
		bool	throwCheirality,
		bool	verboseCheirality,
		boost::optional< POSE >	body_P_sensor = `boost::none`
	)

inline

Constructor with exception-handling flags TODO: Mark argument order standard (keys, measurement, parameters)

Parameters

measured	is the 2 dimensional location of point in image (the measurement)
model	is the standard deviation
poseKey	is the index of the camera
pointKey	is the index of the landmark
K	shared pointer to 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 92 of file ProjectionFactor.h.

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::~GenericProjectionFactor ( )

inlineoverride

Virtual destructor

Definition at line 100 of file ProjectionFactor.h.

Member Function Documentation

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

const boost::shared_ptr<CALIBRATION> gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::calibration ( ) const

inline

return the calibration object

Definition at line 167 of file ProjectionFactor.h.

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

gtsam::NonlinearFactor::shared_ptr gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 103 of file ProjectionFactor.h.

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

bool gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::equals	(	const NonlinearFactor &	p,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 121 of file ProjectionFactor.h.

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

Vector gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::evaluateError	(	const Pose3 &	pose,
		const Point3 &	point,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`
	)		const

inlineoverride

Evaluate error h(x)-z and optionally derivatives.

Definition at line 131 of file ProjectionFactor.h.

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

const Point2& gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::measured ( ) const

inline

return the measurement

Definition at line 162 of file ProjectionFactor.h.

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

void gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::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::NoiseModelFactor.

Definition at line 112 of file ProjectionFactor.h.

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

template<class ARCHIVE >

void gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::serialize	(	ARCHIVE &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 182 of file ProjectionFactor.h.

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

bool gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::throwCheirality ( ) const

inline

return flag for throwing cheirality exceptions

Definition at line 175 of file ProjectionFactor.h.

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

bool gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::verboseCheirality ( ) const

inline

return verbosity

Definition at line 172 of file ProjectionFactor.h.

Friends And Related Function Documentation

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

friend class boost::serialization::access

friend

Serialization function.

Definition at line 180 of file ProjectionFactor.h.

Member Data Documentation

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

boost::optional<POSE> gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::body_P_sensor_

protected

The pose of the sensor in the body frame.

Definition at line 42 of file ProjectionFactor.h.

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

boost::shared_ptr<CALIBRATION> gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::K_

protected

shared pointer to calibration object

Definition at line 41 of file ProjectionFactor.h.

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

Point2 gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::measured_

protected

2D measurement

Definition at line 40 of file ProjectionFactor.h.

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

bool gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::throwCheirality_

protected

If true, rethrows Cheirality exceptions (default: false)

Definition at line 45 of file ProjectionFactor.h.

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>

bool gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::verboseCheirality_

protected

If true, prints text for Cheirality exceptions (default: false)

Definition at line 46 of file ProjectionFactor.h.

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

ProjectionFactor.h

Public Types

Public Member Functions

Protected Attributes

Private Member Functions

Friends

Additional Inherited Members

Detailed Description

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2> class gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>
class gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >