#include <TriangulationFactor.h>

Inheritance diagram for gtsam::TriangulationFactor< CAMERA >:

[legend]

Public Types
typedef CAMERA	Camera
	CAMERA type. More...

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

Public Types inherited from gtsam::NoiseModelFactor1< Point3 >
typedef Point3	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...

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

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

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

boost::shared_ptr< GaussianFactor >	linearize (const Values &x) const override

const Measurement &	measured () const

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

bool	throwCheirality () const

	TriangulationFactor ()
	Default constructor. More...

	TriangulationFactor (const CAMERA &camera, const Measurement &measured, const SharedNoiseModel &model, Key pointKey, bool throwCheirality=false, bool verboseCheirality=false)

bool	verboseCheirality () const

	~TriangulationFactor () override

Public Member Functions inherited from gtsam::NoiseModelFactor1< Point3 >
	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

double	error (const Values &c) 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 ()

Public Attributes
Matrix	A

VerticalBlockMatrix	Ab
	thread-safe (?) scratch memory for linearize More...

Vector	b

Protected Types
typedef NoiseModelFactor1< Point3 >	Base
	shorthand for base class type More...

typedef CAMERA::Measurement	Measurement
	shorthand for measurement type, e.g. Point2 or StereoPoint2 More...

typedef TriangulationFactor< CAMERA >	This
	shorthand for this class More...

Protected Types inherited from gtsam::NoiseModelFactor1< Point3 >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor1< Point3 >	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 Attributes
const CAMERA	camera_
	CAMERA in which this landmark was seen. More...

const Measurement	measured_
	2D measurement More...

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

const 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 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 CAMERA>
class gtsam::TriangulationFactor< CAMERA >

Definition at line 31 of file TriangulationFactor.h.

Member Typedef Documentation

template<class CAMERA>

typedef NoiseModelFactor1<Point3> gtsam::TriangulationFactor< CAMERA >::Base

protected

shorthand for base class type

Definition at line 41 of file TriangulationFactor.h.

template<class CAMERA>

typedef CAMERA gtsam::TriangulationFactor< CAMERA >::Camera

CAMERA type.

Definition at line 36 of file TriangulationFactor.h.

template<class CAMERA>

typedef CAMERA::Measurement gtsam::TriangulationFactor< CAMERA >::Measurement

protected

shorthand for measurement type, e.g. Point2 or StereoPoint2

Definition at line 47 of file TriangulationFactor.h.

template<class CAMERA>

typedef boost::shared_ptr<This> gtsam::TriangulationFactor< CAMERA >::shared_ptr

shorthand for a smart pointer to a factor

Definition at line 60 of file TriangulationFactor.h.

template<class CAMERA>

typedef TriangulationFactor<CAMERA> gtsam::TriangulationFactor< CAMERA >::This

protected

shorthand for this class

Definition at line 44 of file TriangulationFactor.h.

Constructor & Destructor Documentation

template<class CAMERA>

gtsam::TriangulationFactor< CAMERA >::TriangulationFactor ( )

inline

Default constructor.

Definition at line 63 of file TriangulationFactor.h.

template<class CAMERA>

gtsam::TriangulationFactor< CAMERA >::TriangulationFactor	(	const CAMERA &	camera,
		const Measurement &	measured,
		const SharedNoiseModel &	model,
		Key	pointKey,
		bool	throwCheirality = `false`,
		bool	verboseCheirality = `false`
	)

inline

Constructor with exception-handling flags

Parameters

camera	is the camera in which unknown landmark is seen
measured	is the 2 dimensional location of point in image (the measurement)
model	is the standard deviation
pointKey	is the index of the landmark
throwCheirality	determines whether Cheirality exceptions are rethrown
verboseCheirality	determines whether exceptions are printed for Cheirality

Definition at line 76 of file TriangulationFactor.h.

template<class CAMERA>

gtsam::TriangulationFactor< CAMERA >::~TriangulationFactor ( )

inlineoverride

Virtual destructor

Definition at line 89 of file TriangulationFactor.h.

Member Function Documentation

template<class CAMERA>

gtsam::NonlinearFactor::shared_ptr gtsam::TriangulationFactor< CAMERA >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 93 of file TriangulationFactor.h.

template<class CAMERA>

bool gtsam::TriangulationFactor< CAMERA >::equals	(	const NonlinearFactor &	p,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 112 of file TriangulationFactor.h.

template<class CAMERA>

Vector gtsam::TriangulationFactor< CAMERA >::evaluateError	(	const Point3 &	point,
		boost::optional< Matrix & >	H2 = `boost::none`
	)		const

inlineoverridevirtual

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

Implements gtsam::NoiseModelFactor1< Point3 >.

Definition at line 119 of file TriangulationFactor.h.

template<class CAMERA>

boost::shared_ptr<GaussianFactor> gtsam::TriangulationFactor< CAMERA >::linearize ( const Values & x ) const

inlineoverridevirtual

Linearize to a JacobianFactor, does not support constrained noise model ! $Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z$ Hence $b = z - h(x) = - \mathtt{error\_vector}(x)$

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 146 of file TriangulationFactor.h.

template<class CAMERA>

const Measurement& gtsam::TriangulationFactor< CAMERA >::measured ( ) const

inline

return the measurement

Definition at line 172 of file TriangulationFactor.h.

template<class CAMERA>

void gtsam::TriangulationFactor< CAMERA >::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 TriangulationFactor.h.

template<class CAMERA>

template<class ARCHIVE >

void gtsam::TriangulationFactor< CAMERA >::serialize	(	ARCHIVE &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 191 of file TriangulationFactor.h.

template<class CAMERA>

bool gtsam::TriangulationFactor< CAMERA >::throwCheirality ( ) const

inline

return flag for throwing cheirality exceptions

Definition at line 182 of file TriangulationFactor.h.

template<class CAMERA>

bool gtsam::TriangulationFactor< CAMERA >::verboseCheirality ( ) const

inline

return verbosity

Definition at line 177 of file TriangulationFactor.h.

Friends And Related Function Documentation

template<class CAMERA>

friend class boost::serialization::access

friend

Serialization function.

Definition at line 189 of file TriangulationFactor.h.

Member Data Documentation

template<class CAMERA>

Matrix gtsam::TriangulationFactor< CAMERA >::A

mutable

Definition at line 138 of file TriangulationFactor.h.

template<class CAMERA>

VerticalBlockMatrix gtsam::TriangulationFactor< CAMERA >::Ab

mutable

thread-safe (?) scratch memory for linearize

Definition at line 137 of file TriangulationFactor.h.

template<class CAMERA>

Vector gtsam::TriangulationFactor< CAMERA >::b

mutable

Definition at line 139 of file TriangulationFactor.h.

template<class CAMERA>

const CAMERA gtsam::TriangulationFactor< CAMERA >::camera_

protected

CAMERA in which this landmark was seen.

Definition at line 50 of file TriangulationFactor.h.

template<class CAMERA>

const Measurement gtsam::TriangulationFactor< CAMERA >::measured_

protected

2D measurement

Definition at line 51 of file TriangulationFactor.h.

template<class CAMERA>

const bool gtsam::TriangulationFactor< CAMERA >::throwCheirality_

protected

If true, rethrows Cheirality exceptions (default: false)

Definition at line 54 of file TriangulationFactor.h.

template<class CAMERA>

const bool gtsam::TriangulationFactor< CAMERA >::verboseCheirality_

protected

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

Definition at line 55 of file TriangulationFactor.h.

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

TriangulationFactor.h

Public Types

Public Member Functions

Public Attributes

Protected Types

Protected Attributes

Private Member Functions

Friends

Additional Inherited Members

Detailed Description

template<class CAMERA> class gtsam::TriangulationFactor< CAMERA >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<class CAMERA>
class gtsam::TriangulationFactor< CAMERA >