gtsam  3.2.0
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gtsam::GeneralSFMFactor2< CALIBRATION > Class Template Reference

Detailed Description

template<class CALIBRATION>
class gtsam::GeneralSFMFactor2< CALIBRATION >

Non-linear factor for a constraint derived from a 2D measurement.

Compared to GeneralSFMFactor, it is a ternary-factor because the calibration is isolated from camera..

+ Inheritance diagram for gtsam::GeneralSFMFactor2< CALIBRATION >:

Public Member Functions

 GeneralSFMFactor2 (const Point2 &measured, const SharedNoiseModel &model, Key poseKey, Key landmarkKey, Key calibKey)
 Constructor. More...
 
 GeneralSFMFactor2 ()
 default constructor
 
virtual ~GeneralSFMFactor2 ()
 destructor
 
virtual
gtsam::NonlinearFactor::shared_ptr 
clone () const
 
void print (const std::string &s="SFMFactor2", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
 print More...
 
bool equals (const NonlinearFactor &p, double tol=1e-9) const
 equals
 
Vector evaluateError (const Pose3 &pose3, const Point3 &point, const CALIBRATION &calib, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none) const
 h(x)-z
 
const Point2 measured () const
 return the measured
 
- Public Member Functions inherited from gtsam::NoiseModelFactor3< Pose3, Point3, CALIBRATION >
 NoiseModelFactor3 ()
 Default Constructor for I/O.
 
 NoiseModelFactor3 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3)
 Constructor. More...
 
Key key1 () const
 methods to retrieve keys
 
Key key2 () const
 
Key key3 () const
 
virtual Vector unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const
 Calls the 3-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class. More...
 
- Public Member Functions inherited from gtsam::NoiseModelFactor
 NoiseModelFactor ()
 Default constructor for I/O only.
 
virtual ~NoiseModelFactor ()
 Destructor.
 
template<typename CONTAINER >
 NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)
 Constructor.
 
virtual size_t dim () const
 get the dimension of the factor (number of rows on linearization)
 
SharedNoiseModel get_noiseModel () const
 access to the noise model
 
Vector whitenedError (const Values &c) const
 Vector of errors, whitened This is the raw error, i.e., i.e. More...
 
virtual double error (const Values &c) const
 Calculate the error of the factor. More...
 
boost::shared_ptr< GaussianFactorlinearize (const Values &x) const
 Linearize a non-linearFactorN to get a GaussianFactor, \( Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z \) Hence \( b = z - h(x) = - \mathtt{error\_vector}(x) \).
 
- Public Member Functions inherited from gtsam::NonlinearFactor
 NonlinearFactor ()
 Default constructor for I/O only.
 
template<typename CONTAINER >
 NonlinearFactor (const CONTAINER &keys)
 Constructor from a collection of the keys involved in this factor.
 
virtual ~NonlinearFactor ()
 Destructor.
 
virtual bool active (const Values &c) const
 Checks whether a factor should be used based on a set of values. More...
 
shared_ptr rekey (const std::map< Key, Key > &rekey_mapping) const
 Creates a shared_ptr clone of the factor with different keys using a map from old->new keys.
 
shared_ptr rekey (const std::vector< Key > &new_keys) const
 Clones a factor and fully replaces its keys. More...
 
- Public Member Functions inherited from gtsam::Factor
Key front () const
 First key.
 
Key back () const
 Last key.
 
const_iterator find (Key key) const
 find
 
const FastVector< Key > & keys () const
 Access the factor's involved variable keys.
 
const_iterator begin () const
 Iterator at beginning of involved variable keys.
 
const_iterator end () const
 Iterator at end of involved variable keys.
 
size_t size () const
 
void print (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
 print
 
void printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
 print only keys
 
FastVector< Key > & keys ()
 
iterator begin ()
 Iterator at beginning of involved variable keys.
 
iterator end ()
 Iterator at end of involved variable keys.
 

Public Types

typedef GeneralSFMFactor2
< CALIBRATION > 
This
 
typedef PinholeCamera
< CALIBRATION > 
Camera
 typedef for camera type
 
typedef NoiseModelFactor3
< Pose3, Point3, CALIBRATION > 
Base
 typedef for the base class
 
typedef Point2 Measurement
 typedef for the measurement
 
typedef boost::shared_ptr< Thisshared_ptr
 
- Public Types inherited from gtsam::NoiseModelFactor3< Pose3, Point3, CALIBRATION >
typedef Pose3 X1
 
typedef Point3 X2
 
typedef CALIBRATION X3
 
- Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< Thisshared_ptr
 Noise model.
 
- Public Types inherited from gtsam::NonlinearFactor
typedef boost::shared_ptr< Thisshared_ptr
 
- Public Types inherited from gtsam::Factor
typedef FastVector< Key >::iterator iterator
 Iterator over keys.
 
typedef FastVector< Key >
::const_iterator 
const_iterator
 Const iterator over keys.
 

Protected Attributes

Point2 measured_
 the 2D measurement
 
- Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel noiseModel_
 
- Protected Attributes inherited from gtsam::Factor
FastVector< Keykeys_
 The keys involved in this factor.
 

Friends

class boost::serialization::access
 Serialization function.
 

Additional Inherited Members

- Protected Types inherited from gtsam::NoiseModelFactor3< Pose3, Point3, CALIBRATION >
typedef NoiseModelFactor Base
 
typedef NoiseModelFactor3
< Pose3, Point3, 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)
 Constructor - only for subclasses, as this does not set keys.
 
- Protected Member Functions inherited from gtsam::Factor
 Factor ()
 Default constructor for I/O.
 
template<typename CONTAINER >
 Factor (const CONTAINER &keys)
 Construct factor from container of keys. More...
 
template<typename ITERATOR >
 Factor (ITERATOR first, ITERATOR last)
 Construct factor from iterator keys. More...
 
bool equals (const This &other, double tol=1e-9) const
 check equality
 
- Static Protected Member Functions inherited from gtsam::Factor
template<typename CONTAINER >
static Factor FromKeys (const CONTAINER &keys)
 Construct factor from container of keys. More...
 
template<typename ITERATOR >
static Factor FromIterators (ITERATOR first, ITERATOR last)
 Construct factor from iterator keys. More...
 

Constructor & Destructor Documentation

template<class CALIBRATION >
gtsam::GeneralSFMFactor2< CALIBRATION >::GeneralSFMFactor2 ( const Point2 measured,
const SharedNoiseModel model,
Key  poseKey,
Key  landmarkKey,
Key  calibKey 
)
inline

Constructor.

Parameters
measuredis the 2 dimensional location of point in image (the measurement)
modelis the standard deviation of the measurements
poseKeyis the index of the camera
landmarkKeyis the index of the landmark
calibKeyis the index of the calibration

Member Function Documentation

template<class CALIBRATION >
virtual gtsam::NonlinearFactor::shared_ptr gtsam::GeneralSFMFactor2< CALIBRATION >::clone ( ) const
inlinevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

template<class CALIBRATION >
void gtsam::GeneralSFMFactor2< CALIBRATION >::print ( const std::string &  s = "SFMFactor2",
const KeyFormatter keyFormatter = DefaultKeyFormatter 
) const
inlinevirtual

print

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

Reimplemented from gtsam::NoiseModelFactor.


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