gtsam::ShonanFactor< d > Class Template Reference
Detailed Description
template<size_t d>
class gtsam::ShonanFactor< d >
class gtsam::ShonanFactor< d >
ShonanFactor is a BetweenFactor that moves in SO(p), but will land on the SO(d) sub-manifold of SO(p) at the global minimum.
It projects the SO(p) matrices down to a Stiefel manifold of p*d matrices.
Inheritance diagram for gtsam::ShonanFactor< d >:
Public Member Functions | |
Constructor | |
| ShonanFactor (Key j1, Key j2, const Rot &R12, size_t p, const SharedNoiseModel &model=nullptr, const boost::shared_ptr< Matrix > &G=nullptr) | |
| Constructor. More... | |
Testable | |
| void | print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| print with optional string More... | |
| bool | equals (const NonlinearFactor &expected, double tol=1e-9) const override |
| assert equality up to a tolerance More... | |
NoiseModelFactor2 methods | |
| Vector | evaluateError (const SOn &Q1, const SOn &Q2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const override |
| Error is Frobenius norm between Q1*P*R12 and Q2*P, where P=[I_3x3;0] projects down from SO(p) to the Stiefel manifold of px3 matrices. More... | |
| Public Member Functions inherited from gtsam::NoiseModelFactor2< SOn, SOn > | |
| 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 |
| Vector | unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override |
| 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. | |
| ~NoiseModelFactor () override | |
| Destructor. | |
| template<typename CONTAINER > | |
| NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys) | |
| Constructor. | |
| void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| Print. More... | |
| bool | equals (const NonlinearFactor &f, double tol=1e-9) const override |
| Check if two factors are equal. More... | |
| size_t | dim () const override |
| get the dimension of the factor (number of rows on linearization) More... | |
| const SharedNoiseModel & | noiseModel () const |
| access to the noise model | |
| virtual Vector | unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const =0 |
| Error function without the NoiseModel, \( z-h(x) \). More... | |
| Vector | whitenedError (const Values &c) const |
| Vector of errors, whitened This is the raw error, i.e., i.e. More... | |
| Vector | unweightedWhitenedError (const Values &c) const |
| Vector of errors, whitened, but unweighted by any loss function. | |
| double | weight (const Values &c) const |
| Compute the effective weight of the factor from the noise model. | |
| double | error (const Values &c) const override |
| Calculate the error of the factor. More... | |
| boost::shared_ptr< GaussianFactor > | linearize (const Values &x) const override |
| Linearize a non-linearFactorN to get a GaussianFactor, \( Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z \) Hence \( b = z - h(x) = - \mathtt{error\_vector}(x) \). More... | |
| shared_ptr | cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const |
| Creates a shared_ptr clone of the factor with a new noise model. | |
| 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... | |
| virtual shared_ptr | clone () const |
| Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses. More... | |
| virtual 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. More... | |
| virtual shared_ptr | rekey (const KeyVector &new_keys) const |
| Clones a factor and fully replaces its keys. More... | |
| virtual bool | sendable () const |
| Should the factor be evaluated in the same thread as the caller This is to enable factors that has shared states (like the Python GIL lock) More... | |
| Public Member Functions inherited from gtsam::Factor | |
| virtual | ~Factor ()=default |
| Default destructor. | |
| KeyVector & | keys () |
| iterator | begin () |
| Iterator at beginning of involved variable keys. | |
| iterator | end () |
| Iterator at end of involved variable keys. | |
| virtual void | printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const |
| print only keys More... | |
| 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 |
Additional Inherited Members | |
| Public Types inherited from gtsam::NoiseModelFactor2< SOn, SOn > | |
| typedef SOn | X1 |
| typedef SOn | 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 Types inherited from gtsam::NoiseModelFactor2< SOn, SOn > | |
| typedef NoiseModelFactor | Base |
| typedef NoiseModelFactor2< SOn, SOn > | 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... | |
| Protected Attributes inherited from gtsam::NoiseModelFactor | |
| SharedNoiseModel | noiseModel_ |
| Protected Attributes inherited from gtsam::Factor | |
| KeyVector | keys_ |
| The keys involved in this factor. | |
Constructor & Destructor Documentation
◆ ShonanFactor()
template<size_t d>
| gtsam::ShonanFactor< d >::ShonanFactor | ( | Key | j1, |
| Key | j2, | ||
| const Rot & | R12, | ||
| size_t | p, | ||
| const SharedNoiseModel & | model = nullptr, |
||
| const boost::shared_ptr< Matrix > & | G = nullptr |
||
| ) |
Constructor.
Note we convert to d*p-dimensional noise model. To save memory and mallocs, pass in the vectorized Lie algebra generators: G = boost::make_shared<Matrix>(SOn::VectorizedGenerators(p));
Member Function Documentation
◆ equals()
template<size_t d>
|
overridevirtual |
assert equality up to a tolerance
Reimplemented from gtsam::NoiseModelFactor.
◆ evaluateError()
template<size_t d>
|
overridevirtual |
Error is Frobenius norm between Q1*P*R12 and Q2*P, where P=[I_3x3;0] projects down from SO(p) to the Stiefel manifold of px3 matrices.
Implements gtsam::NoiseModelFactor2< SOn, SOn >.
◆ print()
template<size_t d>
|
overridevirtual |
print with optional string
Reimplemented from gtsam::NoiseModelFactor.
The documentation for this class was generated from the following files:
- /Users/dellaert/git/github/gtsam/sfm/ShonanFactor.h
- /Users/dellaert/git/github/gtsam/sfm/ShonanFactor.cpp
