Public Member Functions | Private Types | Private Attributes | List of all members
gtsam::BilinearAngleTranslationFactor Class Reference

#include <TranslationFactor.h>

Inheritance diagram for gtsam::BilinearAngleTranslationFactor:
Inheritance graph
[legend]

Public Member Functions

 BilinearAngleTranslationFactor ()
 default constructor More...
 
 BilinearAngleTranslationFactor (Key a, Key b, Key scale_key, const Unit3 &w_aZb, const SharedNoiseModel &noiseModel)
 
Vector evaluateError (const Point3 &Ta, const Point3 &Tb, const Vector1 &scale, OptionalMatrixType H1, OptionalMatrixType H2, OptionalMatrixType H3) const override
 Calculate error: (scale * (Tb - Ta) - measurement) where Tb and Ta are Point3 translations and measurement is the Unit3 translation direction from a to b. More...
 
- Public Member Functions inherited from gtsam::NoiseModelFactorN< Point3, Point3, Vector1 >
Key key () const
 
virtual Vector unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const =0
 
Vector unwhitenedError (const Values &x, std::vector< Matrix > &H) const
 
 ~NoiseModelFactorN () override
 
 NoiseModelFactorN ()
 Default Constructor for I/O. More...
 
 NoiseModelFactorN (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys)
 
 NoiseModelFactorN (const SharedNoiseModel &noiseModel, CONTAINER keys)
 
Vector unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override
 
virtual Vector evaluateError (const ValueTypes &... x, OptionalMatrixTypeT< ValueTypes >... H) const=0
 
Vector evaluateError (const ValueTypes &... x, MatrixTypeT< ValueTypes > &... H) const
 
Vector evaluateError (const ValueTypes &... x) const
 
AreAllMatrixRefs< Vector, OptionalJacArgs... > evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const
 
AreAllMatrixPtrs< Vector, OptionalJacArgs... > evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const
 
Key key1 () const
 
Key key2 () const
 
Key key3 () const
 
Key key4 () const
 
Key key5 () const
 
Key key6 () const
 
- 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
 
std::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)
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 
Vector unweightedWhitenedError (const Values &c) const
 
Vector unwhitenedError (const Values &x, std::vector< Matrix > &H) 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)
 
double error (const HybridValues &c) const override
 
virtual bool active (const Values &) const
 
virtual shared_ptr clone () const
 
virtual shared_ptr rekey (const std::map< Key, Key > &rekey_mapping) const
 
virtual shared_ptr rekey (const KeyVector &new_keys) const
 
virtual bool sendable () const
 
- Public Member Functions inherited from gtsam::Factor
virtual ~Factor ()=default
 Default destructor. More...
 
bool empty () const
 Whether the factor is empty (involves zero variables). 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...
 
bool equals (const This &other, double tol=1e-9) const
 check equality More...
 
KeyVectorkeys ()
 
iterator begin ()
 
iterator end ()
 

Private Types

typedef NoiseModelFactorN< Point3, Point3, Vector1Base
 

Private Attributes

Point3 measured_w_aZb_
 

Additional Inherited Members

- Public Types inherited from gtsam::NoiseModelFactorN< Point3, Point3, Vector1 >
using ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type
 
- Public Types inherited from gtsam::NoiseModelFactor
typedef std::shared_ptr< Thisshared_ptr
 
- Public Types inherited from gtsam::NonlinearFactor
typedef std::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...
 
- Static Public Attributes inherited from gtsam::NoiseModelFactorN< Point3, Point3, Vector1 >
constexpr static auto N
 N is the number of variables (N-way factor) More...
 
- Protected Types inherited from gtsam::NoiseModelFactorN< Point3, Point3, Vector1 >
using Base = NoiseModelFactor
 
using KeyType = Key
 
using MatrixTypeT = Matrix
 
using OptionalMatrixTypeT = Matrix *
 
using This = NoiseModelFactorN< ValueTypes... >
 
using IsConvertible = typename std::enable_if< std::is_convertible< From, To >::value, void >::type
 
using IndexIsValid = typename std::enable_if<(I >=1) &&(I<=N), void >::type
 
using ContainerElementType = typename std::decay< decltype(*std::declval< Container >().begin())>::type
 
using IsContainerOfKeys = IsConvertible< ContainerElementType< Container >, Key >
 
using AreAllMatrixRefs = std::enable_if_t<(... &&std::is_convertible< Args, Matrix & >::value), Ret >
 
using IsMatrixPointer = std::is_same< typename std::decay_t< Arg >, Matrix * >
 
using IsNullpointer = std::is_same< typename std::decay_t< Arg >, std::nullptr_t >
 
using AreAllMatrixPtrs = std::enable_if_t<(... &&(IsMatrixPointer< Args >::value||IsNullpointer< Args >::value)), Ret >
 
- 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)
 
- 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

Binary factor for a relative translation direction measurement w_aZb. The measurement equation is w_aZb = scale * (Tb - Ta) i.e., w_aZb is the translation direction from frame A to B, in world coordinates.

Instead of normalizing the Tb - Ta vector, we multiply it by a scalar which is also jointly optimized. This is inspired by the work on BATA (Zhuang et al, CVPR 2018).

Definition at line 104 of file TranslationFactor.h.

Member Typedef Documentation

◆ Base

Definition at line 107 of file TranslationFactor.h.

Constructor & Destructor Documentation

◆ BilinearAngleTranslationFactor() [1/2]

gtsam::BilinearAngleTranslationFactor::BilinearAngleTranslationFactor ( )
inline

default constructor

Definition at line 112 of file TranslationFactor.h.

◆ BilinearAngleTranslationFactor() [2/2]

gtsam::BilinearAngleTranslationFactor::BilinearAngleTranslationFactor ( Key  a,
Key  b,
Key  scale_key,
const Unit3 w_aZb,
const SharedNoiseModel noiseModel 
)
inline

Definition at line 114 of file TranslationFactor.h.

Member Function Documentation

◆ evaluateError()

Vector gtsam::BilinearAngleTranslationFactor::evaluateError ( const Point3 Ta,
const Point3 Tb,
const Vector1 scale,
OptionalMatrixType  H1,
OptionalMatrixType  H2,
OptionalMatrixType  H3 
) const
inlineoverride

Calculate error: (scale * (Tb - Ta) - measurement) where Tb and Ta are Point3 translations and measurement is the Unit3 translation direction from a to b.

Parameters
Tatranslation for key a
Tbtranslation for key b
H1optional jacobian in Ta
H2optional jacobian in Tb
Returns
* Vector

Definition at line 133 of file TranslationFactor.h.

Member Data Documentation

◆ measured_w_aZb_

Point3 gtsam::BilinearAngleTranslationFactor::measured_w_aZb_
private

Definition at line 108 of file TranslationFactor.h.


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


gtsam
Author(s):
autogenerated on Sun Dec 22 2024 04:23:32