#include <ProjectionFactorPPPC.h>

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

[legend]

Public Types
typedef NoiseModelFactor4< POSE, POSE, LANDMARK, CALIBRATION >	Base
	shorthand for base class type More...

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

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

Public Types inherited from gtsam::NoiseModelFactor4< POSE, POSE, LANDMARK, CALIBRATION >
typedef POSE	X1

typedef POSE	X2

typedef LANDMARK	X3

typedef CALIBRATION	X4

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
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 Pose3 &transform, const Point3 &point, const CALIBRATION &K, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none, boost::optional< Matrix & > H4=boost::none) const override
	Evaluate error h(x)-z and optionally derivatives. More...

const Point2 &	measured () const

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

	ProjectionFactorPPPC ()
	Default constructor. More...

	ProjectionFactorPPPC (const Point2 &measured, const SharedNoiseModel &model, Key poseKey, Key transformKey, Key pointKey, Key calibKey)

	ProjectionFactorPPPC (const Point2 &measured, const SharedNoiseModel &model, Key poseKey, Key transformKey, Key pointKey, Key calibKey, bool throwCheirality, bool verboseCheirality)

bool	throwCheirality () const

bool	verboseCheirality () const

	~ProjectionFactorPPPC () override

Public Member Functions inherited from gtsam::NoiseModelFactor4< POSE, POSE, LANDMARK, CALIBRATION >
virtual Vector	evaluateError (const X1 &, const X2 &, const X3 &, const X4 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none, boost::optional< Matrix & > H4=boost::none) const =0

Key	key1 () const

Key	key2 () const

Key	key3 () const

Key	key4 () const

	NoiseModelFactor4 ()

	NoiseModelFactor4 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3, Key j4)

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

	~NoiseModelFactor4 () 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
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::NoiseModelFactor4< POSE, POSE, LANDMARK, CALIBRATION >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor4< POSE, POSE, LANDMARK, CALIBRATION >	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::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >

Definition at line 34 of file ProjectionFactorPPPC.h.

Member Typedef Documentation

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

typedef NoiseModelFactor4<POSE, POSE, LANDMARK, CALIBRATION> gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >::Base

shorthand for base class type

Definition at line 46 of file ProjectionFactorPPPC.h.

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

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

shorthand for a smart pointer to a factor

Definition at line 52 of file ProjectionFactorPPPC.h.

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

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

shorthand for this class

Definition at line 49 of file ProjectionFactorPPPC.h.

Constructor & Destructor Documentation

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

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

inline

Default constructor.

Definition at line 55 of file ProjectionFactorPPPC.h.

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

gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >::ProjectionFactorPPPC	(	const Point2 &	measured,
		const SharedNoiseModel &	model,
		Key	poseKey,
		Key	transformKey,
		Key	pointKey,
		Key	calibKey
	)

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

Definition at line 68 of file ProjectionFactorPPPC.h.

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

gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >::ProjectionFactorPPPC	(	const Point2 &	measured,
		const SharedNoiseModel &	model,
		Key	poseKey,
		Key	transformKey,
		Key	pointKey,
		Key	calibKey,
		bool	throwCheirality,
		bool	verboseCheirality
	)

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

Definition at line 84 of file ProjectionFactorPPPC.h.

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

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

inlineoverride

Virtual destructor

Definition at line 91 of file ProjectionFactorPPPC.h.

Member Function Documentation

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

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

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 94 of file ProjectionFactorPPPC.h.

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

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

inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 110 of file ProjectionFactorPPPC.h.

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

Vector gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >::evaluateError	(	const Pose3 &	pose,
		const Pose3 &	transform,
		const Point3 &	point,
		const CALIBRATION &	K,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`,
		boost::optional< Matrix & >	H3 = `boost::none`,
		boost::optional< Matrix & >	H4 = `boost::none`
	)		const

inlineoverride

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

Definition at line 118 of file ProjectionFactorPPPC.h.

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

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

inline

return the measurement

Definition at line 150 of file ProjectionFactorPPPC.h.

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

void gtsam::ProjectionFactorPPPC< 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 103 of file ProjectionFactorPPPC.h.

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

template<class ARCHIVE >

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

inlineprivate

Definition at line 165 of file ProjectionFactorPPPC.h.

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

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

inline

return flag for throwing cheirality exceptions

Definition at line 158 of file ProjectionFactorPPPC.h.

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

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

inline

return verbosity

Definition at line 155 of file ProjectionFactorPPPC.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 163 of file ProjectionFactorPPPC.h.

Member Data Documentation

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

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

protected

2D measurement

Definition at line 37 of file ProjectionFactorPPPC.h.

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

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

protected

If true, rethrows Cheirality exceptions (default: false)

Definition at line 40 of file ProjectionFactorPPPC.h.

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

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

protected

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

Definition at line 41 of file ProjectionFactorPPPC.h.

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

ProjectionFactorPPPC.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::ProjectionFactorPPPC< 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::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >