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

Public Member Functions
	GenericProjectionFactor ()
	Default constructor.

	GenericProjectionFactor (const Point2 &measured, const SharedNoiseModel &model, Key poseKey, Key pointKey, const boost::shared_ptr< CALIBRATION > &K, boost::optional< POSE > body_P_sensor=boost::none)
	Constructor TODO: Mark argument order standard (keys, measurement, parameters) More...

	GenericProjectionFactor (const Point2 &measured, const SharedNoiseModel &model, Key poseKey, Key pointKey, const boost::shared_ptr< CALIBRATION > &K, bool throwCheirality, bool verboseCheirality, boost::optional< POSE > body_P_sensor=boost::none)
	Constructor with exception-handling flags TODO: Mark argument order standard (keys, measurement, parameters) More...

virtual	~GenericProjectionFactor ()
	Virtual destructor.

virtual gtsam::NonlinearFactor::shared_ptr	clone () const

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

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

Vector	evaluateError (const Pose3 &pose, const Point3 &point, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	Evaluate error h(x)-z and optionally derivatives.

const Point2 &	measured () const
	return the measurement

const boost::shared_ptr< CALIBRATION >	calibration () const
	return the calibration object

bool	verboseCheirality () const
	return verbosity

bool	throwCheirality () const
	return flag for throwing cheirality exceptions

Public Member Functions inherited from gtsam::NoiseModelFactor2< POSE, LANDMARK >
	NoiseModelFactor2 ()
	Default Constructor for I/O.

	NoiseModelFactor2 (const SharedNoiseModel &noiseModel, Key j1, Key j2)
	Constructor. More...

Key	key1 () const
	methods to retrieve both keys

Key	key2 () const

virtual Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const
	Calls the 2-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class. More...

virtual Vector	evaluateError (const X1 &, const X2 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const=0
	Override this method to finish implementing a binary factor. 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)

const SharedNoiseModel &	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< GaussianFactor >	linearize (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 &) 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 KeyVector &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 KeyVector &	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

KeyVector &	keys ()

iterator	begin ()
	Iterator at beginning of involved variable keys.

iterator	end ()
	Iterator at end of involved variable keys.

Public Types
typedef NoiseModelFactor2< POSE, LANDMARK >	Base
	shorthand for base class type

typedef GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >	This
	shorthand for this class

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

Public Types inherited from gtsam::NoiseModelFactor2< POSE, LANDMARK >
typedef POSE	X1

typedef LANDMARK	X2

Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< This >	shared_ptr
	Noise model.

Public Types inherited from gtsam::NonlinearFactor
typedef boost::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::Factor
typedef KeyVector::iterator	iterator
	Iterator over keys.

typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Protected Attributes
Point2	measured_
	2D measurement

boost::shared_ptr< CALIBRATION >	K_
	shared pointer to calibration object

boost::optional< POSE >	body_P_sensor_
	The pose of the sensor in the body frame.

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

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

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

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

Friends
class	boost::serialization::access
	Serialization function.

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactor2< POSE, LANDMARK >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor2< POSE, LANDMARK >	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

◆ GenericProjectionFactor() [1/2]

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

gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::GenericProjectionFactor	(	const Point2 &	measured,
		const SharedNoiseModel &	model,
		Key	poseKey,
		Key	pointKey,
		const boost::shared_ptr< CALIBRATION > &	K,
		boost::optional< POSE >	body_P_sensor = `boost::none`
	)

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
body_P_sensor	is the transform from body to sensor frame (default identity)

◆ GenericProjectionFactor() [2/2]

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

gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::GenericProjectionFactor	(	const Point2 &	measured,
		const SharedNoiseModel &	model,
		Key	poseKey,
		Key	pointKey,
		const boost::shared_ptr< CALIBRATION > &	K,
		bool	throwCheirality,
		bool	verboseCheirality,
		boost::optional< POSE >	body_P_sensor = `boost::none`
	)

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
body_P_sensor	is the transform from body to sensor frame (default identity)

Member Function Documentation

◆ clone()

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

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

inlinevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

◆ print()

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

void gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlinevirtual

print

Parameters

s	optional string naming the factor
keyFormatter	optional formatter useful for printing Symbols

Reimplemented from gtsam::NoiseModelFactor.

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

/Users/dellaert/git/gtsam/gtsam/slam/ProjectionFactor.h

Public Member Functions

Public Types

Protected Attributes

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ GenericProjectionFactor() [1/2]

◆ GenericProjectionFactor() [2/2]

Member Function Documentation

◆ clone()

◆ print()