#include <InvDepthFactor3.h>

Inheritance diagram for gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >:

[legend]

Public Types
typedef NoiseModelFactor3< POSE, LANDMARK, INVDEPTH >	Base
	shorthand for base class type More...

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

typedef InvDepthFactor3< POSE, LANDMARK, INVDEPTH >	This
	shorthand for this class More...

Public Types inherited from gtsam::NoiseModelFactorN< POSE, LANDMARK, INVDEPTH >
using	ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type

Public Types inherited from gtsam::NoiseModelFactor
typedef std::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::NonlinearFactor
typedef std::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 Cal3_S2::shared_ptr	calibration () const

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

Vector	evaluateError (const POSE &pose, const Vector5 &point, const INVDEPTH &invDepth, OptionalMatrixType H1, OptionalMatrixType H2, OptionalMatrixType H3) const override
	Evaluate error h(x)-z and optionally derivatives. More...

const Point2 &	imagePoint () const

	InvDepthFactor3 ()
	Default constructor. More...

	InvDepthFactor3 (const Point2 &measured, const SharedNoiseModel &model, const Key poseKey, Key pointKey, Key invDepthKey, const Cal3_S2::shared_ptr &K)

void	print (const std::string &s="InvDepthFactor3", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override

	~InvDepthFactor3 () override

Public Member Functions inherited from gtsam::NoiseModelFactorN< POSE, LANDMARK, INVDEPTH >
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

double	error (const Values &c) const override

std::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

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 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...

bool	equals (const This &other, double tol=1e-9) const
	check equality More...

KeyVector &	keys ()

iterator	begin ()

iterator	end ()

Protected Attributes
std::shared_ptr< Cal3_S2 >	K_
	shared pointer to calibration object More...

Point2	measured_
	2D measurement More...

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

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

Additional Inherited Members
Static Public Attributes inherited from gtsam::NoiseModelFactorN< POSE, LANDMARK, INVDEPTH >
constexpr static auto	N
	N is the number of variables (N-way factor) More...

Protected Types inherited from gtsam::NoiseModelFactorN< POSE, LANDMARK, INVDEPTH >
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)

Detailed Description

template<class POSE, class LANDMARK, class INVDEPTH>
class gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >

Ternary factor representing a visual measurement that includes inverse depth

Definition at line 27 of file InvDepthFactor3.h.

Member Typedef Documentation

◆ Base

template<class POSE , class LANDMARK , class INVDEPTH >

typedef NoiseModelFactor3<POSE, LANDMARK, INVDEPTH> gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::Base

shorthand for base class type

Definition at line 37 of file InvDepthFactor3.h.

◆ shared_ptr

template<class POSE , class LANDMARK , class INVDEPTH >

typedef std::shared_ptr<This> gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::shared_ptr

shorthand for a smart pointer to a factor

Definition at line 46 of file InvDepthFactor3.h.

◆ This

template<class POSE , class LANDMARK , class INVDEPTH >

typedef InvDepthFactor3<POSE, LANDMARK, INVDEPTH> gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::This

shorthand for this class

Definition at line 43 of file InvDepthFactor3.h.

Constructor & Destructor Documentation

◆ InvDepthFactor3() [1/2]

template<class POSE , class LANDMARK , class INVDEPTH >

gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::InvDepthFactor3 ( )

inline

Default constructor.

Definition at line 49 of file InvDepthFactor3.h.

◆ InvDepthFactor3() [2/2]

template<class POSE , class LANDMARK , class INVDEPTH >

gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::InvDepthFactor3	(	const Point2 &	measured,
		const SharedNoiseModel &	model,
		const Key	poseKey,
		Key	pointKey,
		Key	invDepthKey,
		const Cal3_S2::shared_ptr &	K
	)

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 pose
pointKey	is the index of the landmark
invDepthKey	is the index of inverse depth
K	shared pointer to the constant calibration

Definition at line 63 of file InvDepthFactor3.h.

◆ ~InvDepthFactor3()

template<class POSE , class LANDMARK , class INVDEPTH >

gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::~InvDepthFactor3 ( )

inlineoverride

Virtual destructor

Definition at line 68 of file InvDepthFactor3.h.

Member Function Documentation

◆ calibration()

template<class POSE , class LANDMARK , class INVDEPTH >

const Cal3_S2::shared_ptr gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::calibration ( ) const

inline

return the calibration object

Definition at line 110 of file InvDepthFactor3.h.

◆ equals()

template<class POSE , class LANDMARK , class INVDEPTH >

bool gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::equals	(	const NonlinearFactor &	p,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 82 of file InvDepthFactor3.h.

◆ evaluateError()

template<class POSE , class LANDMARK , class INVDEPTH >

Vector gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::evaluateError	(	const POSE &	pose,
		const Vector5 &	point,
		const INVDEPTH &	invDepth,
		OptionalMatrixType	H1,
		OptionalMatrixType	H2,
		OptionalMatrixType	H3
	)		const

inlineoverride

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

Definition at line 88 of file InvDepthFactor3.h.

◆ imagePoint()

template<class POSE , class LANDMARK , class INVDEPTH >

const Point2& gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::imagePoint ( ) const

inline

return the measurement

Definition at line 105 of file InvDepthFactor3.h.

◆ print()

template<class POSE , class LANDMARK , class INVDEPTH >

void gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::print	(	const std::string &	s = `"InvDepthFactor3< POSE, LANDMARK, INVDEPTH >"`,
		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 75 of file InvDepthFactor3.h.

Member Data Documentation

◆ K_

template<class POSE , class LANDMARK , class INVDEPTH >

std::shared_ptr<Cal3_S2> gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::K_

protected

shared pointer to calibration object

Definition at line 32 of file InvDepthFactor3.h.

◆ measured_

template<class POSE , class LANDMARK , class INVDEPTH >

Point2 gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >::measured_

protected

2D measurement

Definition at line 31 of file InvDepthFactor3.h.

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

InvDepthFactor3.h

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<class POSE, class LANDMARK, class INVDEPTH> class gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >

Member Typedef Documentation

◆ Base

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ InvDepthFactor3() [1/2]

◆ InvDepthFactor3() [2/2]

◆ ~InvDepthFactor3()

Member Function Documentation

◆ calibration()

◆ equals()

◆ evaluateError()

◆ imagePoint()

◆ print()

Member Data Documentation

◆ K_

◆ measured_

template<class POSE, class LANDMARK, class INVDEPTH>
class gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >