Public Types | Public Member Functions | Private Member Functions | Private Attributes | Friends | List of all members
gtsam::GenericStereoFactor< POSE, LANDMARK > Class Template Reference

#include <StereoFactor.h>

Inheritance diagram for gtsam::GenericStereoFactor< POSE, LANDMARK >:
Inheritance graph
[legend]

Public Types

typedef NoiseModelFactor2< POSE, LANDMARK > Base
 typedef for base class More...
 
typedef POSE CamPose
 typedef for Pose Lie Value type More...
 
typedef boost::shared_ptr< GenericStereoFactorshared_ptr
 typedef for shared pointer to this object More...
 
typedef GenericStereoFactor< POSE, LANDMARK > This
 typedef for this class (with templates) 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< Thisshared_ptr
 
- Public Types inherited from gtsam::NonlinearFactor
typedef boost::shared_ptr< Thisshared_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 Cal3_S2Stereo::shared_ptr calibration () const
 
gtsam::NonlinearFactor::shared_ptr clone () const override
 
bool equals (const NonlinearFactor &f, double tol=1e-9) const override
 
Vector evaluateError (const Pose3 &pose, const Point3 &point, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const override
 
 GenericStereoFactor ()
 
 GenericStereoFactor (const StereoPoint2 &measured, const SharedNoiseModel &model, Key poseKey, Key landmarkKey, const Cal3_S2Stereo::shared_ptr &K, boost::optional< POSE > body_P_sensor=boost::none)
 
 GenericStereoFactor (const StereoPoint2 &measured, const SharedNoiseModel &model, Key poseKey, Key landmarkKey, const Cal3_S2Stereo::shared_ptr &K, bool throwCheirality, bool verboseCheirality, boost::optional< POSE > body_P_sensor=boost::none)
 
const StereoPoint2measured () const
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 
bool throwCheirality () const
 
bool verboseCheirality () const
 
 ~GenericStereoFactor () 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< GaussianFactorlinearize (const Values &x) const override
 
const SharedNoiseModelnoiseModel () 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 KeyVectorkeys () 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...
 
KeyVectorkeys ()
 
iterator begin ()
 
iterator end ()
 

Private Member Functions

template<class Archive >
void serialize (Archive &ar, const unsigned int)
 

Private Attributes

boost::optional< POSE > body_P_sensor_
 The pose of the sensor in the body frame. More...
 
Cal3_S2Stereo::shared_ptr K_
 shared pointer to calibration More...
 
StereoPoint2 measured_
 the measurement More...
 
bool throwCheirality_
 If true, rethrows Cheirality exceptions (default: false) More...
 
bool verboseCheirality_
 If true, prints text for Cheirality exceptions (default: false) More...
 

Friends

class boost::serialization::access
 

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)
 
- 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

template<class POSE, class LANDMARK>
class gtsam::GenericStereoFactor< POSE, LANDMARK >

Definition at line 31 of file StereoFactor.h.

Member Typedef Documentation

template<class POSE, class LANDMARK>
typedef NoiseModelFactor2<POSE, LANDMARK> gtsam::GenericStereoFactor< POSE, LANDMARK >::Base

typedef for base class

Definition at line 46 of file StereoFactor.h.

template<class POSE, class LANDMARK>
typedef POSE gtsam::GenericStereoFactor< POSE, LANDMARK >::CamPose

typedef for Pose Lie Value type

Definition at line 49 of file StereoFactor.h.

template<class POSE, class LANDMARK>
typedef boost::shared_ptr<GenericStereoFactor> gtsam::GenericStereoFactor< POSE, LANDMARK >::shared_ptr

typedef for shared pointer to this object

Definition at line 48 of file StereoFactor.h.

template<class POSE, class LANDMARK>
typedef GenericStereoFactor<POSE, LANDMARK> gtsam::GenericStereoFactor< POSE, LANDMARK >::This

typedef for this class (with templates)

Definition at line 47 of file StereoFactor.h.

Constructor & Destructor Documentation

template<class POSE, class LANDMARK>
gtsam::GenericStereoFactor< POSE, LANDMARK >::GenericStereoFactor ( )
inline

Default constructor

Definition at line 54 of file StereoFactor.h.

template<class POSE, class LANDMARK>
gtsam::GenericStereoFactor< POSE, LANDMARK >::GenericStereoFactor ( const StereoPoint2 measured,
const SharedNoiseModel model,
Key  poseKey,
Key  landmarkKey,
const Cal3_S2Stereo::shared_ptr K,
boost::optional< POSE >  body_P_sensor = boost::none 
)
inline

Constructor

Parameters
measuredis the Stereo Point measurement (u_l, u_r, v). v will be identical for left & right for rectified stereo pair
modelis the noise model in on the measurement
poseKeythe pose variable key
landmarkKeythe landmark variable key
Kthe constant calibration
body_P_sensoris the transform from body to sensor frame (default identity)

Definition at line 66 of file StereoFactor.h.

template<class POSE, class LANDMARK>
gtsam::GenericStereoFactor< POSE, LANDMARK >::GenericStereoFactor ( const StereoPoint2 measured,
const SharedNoiseModel model,
Key  poseKey,
Key  landmarkKey,
const Cal3_S2Stereo::shared_ptr K,
bool  throwCheirality,
bool  verboseCheirality,
boost::optional< POSE >  body_P_sensor = boost::none 
)
inline

Constructor with exception-handling flags

Parameters
measuredis the Stereo Point measurement (u_l, u_r, v). v will be identical for left & right for rectified stereo pair
modelis the noise model in on the measurement
poseKeythe pose variable key
landmarkKeythe landmark variable key
Kthe constant calibration
throwCheiralitydetermines whether Cheirality exceptions are rethrown
verboseCheiralitydetermines whether exceptions are printed for Cheirality
body_P_sensoris the transform from body to sensor frame (default identity)

Definition at line 83 of file StereoFactor.h.

template<class POSE, class LANDMARK>
gtsam::GenericStereoFactor< POSE, LANDMARK >::~GenericStereoFactor ( )
inlineoverride

Virtual destructor

Definition at line 91 of file StereoFactor.h.

Member Function Documentation

template<class POSE, class LANDMARK>
const Cal3_S2Stereo::shared_ptr gtsam::GenericStereoFactor< POSE, LANDMARK >::calibration ( ) const
inline

return the calibration object

Definition at line 158 of file StereoFactor.h.

template<class POSE, class LANDMARK>
gtsam::NonlinearFactor::shared_ptr gtsam::GenericStereoFactor< POSE, LANDMARK >::clone ( ) const
inlineoverridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 94 of file StereoFactor.h.

template<class POSE, class LANDMARK>
bool gtsam::GenericStereoFactor< POSE, LANDMARK >::equals ( const NonlinearFactor f,
double  tol = 1e-9 
) const
inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 113 of file StereoFactor.h.

template<class POSE, class LANDMARK>
Vector gtsam::GenericStereoFactor< POSE, LANDMARK >::evaluateError ( const Pose3 pose,
const Point3 point,
boost::optional< Matrix & >  H1 = boost::none,
boost::optional< Matrix & >  H2 = boost::none 
) const
inlineoverride

h(x)-z

Definition at line 122 of file StereoFactor.h.

template<class POSE, class LANDMARK>
const StereoPoint2& gtsam::GenericStereoFactor< POSE, LANDMARK >::measured ( ) const
inline

return the measured

Definition at line 153 of file StereoFactor.h.

template<class POSE, class LANDMARK>
void gtsam::GenericStereoFactor< POSE, LANDMARK >::print ( const std::string &  s = "",
const KeyFormatter keyFormatter = DefaultKeyFormatter 
) const
inlineoverridevirtual

print

Parameters
soptional string naming the factor
keyFormatteroptional formatter useful for printing Symbols

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 103 of file StereoFactor.h.

template<class POSE, class LANDMARK>
template<class Archive >
void gtsam::GenericStereoFactor< POSE, LANDMARK >::serialize ( Archive &  ar,
const unsigned  int 
)
inlineprivate

Definition at line 172 of file StereoFactor.h.

template<class POSE, class LANDMARK>
bool gtsam::GenericStereoFactor< POSE, LANDMARK >::throwCheirality ( ) const
inline

return flag for throwing cheirality exceptions

Definition at line 166 of file StereoFactor.h.

template<class POSE, class LANDMARK>
bool gtsam::GenericStereoFactor< POSE, LANDMARK >::verboseCheirality ( ) const
inline

return verbosity

Definition at line 163 of file StereoFactor.h.

Friends And Related Function Documentation

template<class POSE, class LANDMARK>
friend class boost::serialization::access
friend

Serialization function

Definition at line 170 of file StereoFactor.h.

Member Data Documentation

template<class POSE, class LANDMARK>
boost::optional<POSE> gtsam::GenericStereoFactor< POSE, LANDMARK >::body_P_sensor_
private

The pose of the sensor in the body frame.

Definition at line 37 of file StereoFactor.h.

template<class POSE, class LANDMARK>
Cal3_S2Stereo::shared_ptr gtsam::GenericStereoFactor< POSE, LANDMARK >::K_
private

shared pointer to calibration

Definition at line 36 of file StereoFactor.h.

template<class POSE, class LANDMARK>
StereoPoint2 gtsam::GenericStereoFactor< POSE, LANDMARK >::measured_
private

the measurement

Definition at line 35 of file StereoFactor.h.

template<class POSE, class LANDMARK>
bool gtsam::GenericStereoFactor< POSE, LANDMARK >::throwCheirality_
private

If true, rethrows Cheirality exceptions (default: false)

Definition at line 40 of file StereoFactor.h.

template<class POSE, class LANDMARK>
bool gtsam::GenericStereoFactor< POSE, LANDMARK >::verboseCheirality_
private

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

Definition at line 41 of file StereoFactor.h.


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


gtsam
Author(s):
autogenerated on Sat May 8 2021 02:58:12