Detailed Description

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>
class gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >

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

The calibration is known here. i.e. the main building block for visual SLAM.

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

Public Member Functions
	MultiProjectionFactor ()
	Default constructor.
	MultiProjectionFactor (const Vector &measured, const SharedNoiseModel &model, KeySet poseKeys, Key pointKey, const std::shared_ptr< CALIBRATION > &K, std::optional< POSE > body_P_sensor={})
	Constructor TODO: Mark argument order standard (keys, measurement, parameters).
	MultiProjectionFactor (const Vector &measured, const SharedNoiseModel &model, KeySet poseKeys, Key pointKey, const std::shared_ptr< CALIBRATION > &K, bool throwCheirality, bool verboseCheirality, std::optional< POSE > body_P_sensor={})
	Constructor with exception-handling flags TODO: Mark argument order standard (keys, measurement, parameters).
	~MultiProjectionFactor () override
	Virtual destructor.
NonlinearFactor::shared_ptr	clone () const override
void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print
bool	equals (const NonlinearFactor &p, double tol=1e-9) const override
	equals
Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override
	Evaluate error h(x)-z and optionally derivatives.
Vector	evaluateError (const Pose3 &pose, const Point3 &point, OptionalJacobian< 2, 6 > H1={}, OptionalJacobian< 2, 3 > H2={}) const
const Vector &	measured () const
	return the measurements
const std::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::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.
bool	equals (const NonlinearFactor &f, double tol=1e-9) const override
	Check if two factors are equal.
size_t	dim () const override
	get the dimension of the factor (number of rows on linearization)
const SharedNoiseModel &	noiseModel () const
	access to the noise model
Vector	unwhitenedError (const Values &x, std::vector< Matrix > &H) const
	support taking in the actual vector instead of the pointer as well to get access to this version of the function from derived classes one will need to use the "using" keyword and specify that like this: public: using NoiseModelFactor::unwhitenedError;
Vector	whitenedError (const Values &c) const
	Vector of errors, whitened This is the raw error, i.e., i.e.
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.
std::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 \( b = z - h(x) = - \mathtt{error\_vector}(x) \).
shared_ptr	cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const
	Creates a shared_ptr clone of the factor with a new noise model.
double	error (const HybridValues &c) const override
	All factor types need to implement an error function.
	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.
void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print
double	error (const HybridValues &c) const override
	All factor types need to implement an error function.
virtual bool	active (const Values &c) const
	Checks whether a factor should be used based on a set of values.
virtual void	qcqpFactors (NonlinearFactorGraph costs, NonlinearEqualityConstraints constraints, size_t columnDimension=1) const
	Add this factor's QCQP cost and constraints over matrix-valued QCQP variables with the given column dimension.
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.
virtual shared_ptr	rekey (const KeyVector &new_keys) const
	Clones a factor and fully replaces its keys.
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).
Public Member Functions inherited from gtsam::Factor
virtual	~Factor ()=default
	Default destructor.
bool	empty () const
	Whether the factor is empty (involves zero variables).
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
virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys
bool	equals (const This &other, double tol=1e-9) const
	check equality
KeyVector &	keys ()
iterator	begin ()
	Iterator at beginning of involved variable keys.
iterator	end ()
	Iterator at end of involved variable keys.

Public Types
typedef NoiseModelFactor	Base
	shorthand for base class type
typedef MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >	This
	shorthand for this class
typedef std::shared_ptr< This >	shared_ptr
	shorthand for a smart pointer to a factor
Public Types inherited from gtsam::NoiseModelFactor
typedef std::shared_ptr< This >	shared_ptr
	Noise model.
Public Types inherited from gtsam::NonlinearFactor
typedef std::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
Vector	measured_
	2D measurement for each of the n views
std::shared_ptr< CALIBRATION >	K_
	shared pointer to calibration object
std::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.

Additional Inherited Members
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.
	Factor ()
	Default constructor for I/O.
template<typename CONTAINER>
	Factor (const CONTAINER &keys)
	Construct factor from container of keys.
template<typename ITERATOR>
	Factor (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys.
template<typename CONTAINER>
static Factor	FromKeys (const CONTAINER &keys)
	Construct factor from container of keys.
template<typename ITERATOR>
static Factor	FromIterators (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys.

Constructor & Destructor Documentation

◆ MultiProjectionFactor() [1/2]

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

gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::MultiProjectionFactor	(	const Vector &	measured,
		const SharedNoiseModel &	model,
		KeySet	poseKeys,
		Key	pointKey,
		const std::shared_ptr< CALIBRATION > &	K,
		std::optional< POSE >	body_P_sensor = {} )

inline

Constructor TODO: Mark argument order standard (keys, measurement, parameters).

Parameters

measured	is the 2n dimensional location of the n points in the n views (the measurements)
model	is the standard deviation (current version assumes that the uncertainty is the same for all views)
poseKeys	is the set of indices corresponding to the cameras observing the same landmark
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)

◆ MultiProjectionFactor() [2/2]

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

gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::MultiProjectionFactor	(	const Vector &	measured,
		const SharedNoiseModel &	model,
		KeySet	poseKeys,
		Key	pointKey,
		const std::shared_ptr< CALIBRATION > &	K,
		bool	throwCheirality,
		bool	verboseCheirality,
		std::optional< POSE >	body_P_sensor = {} )

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>

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

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

◆ equals()

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

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

inlineoverridevirtual

equals

Reimplemented from gtsam::NonlinearFactor.

◆ print()

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

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

inlineoverridevirtual

print

Parameters

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

Reimplemented from gtsam::Factor.

◆ unwhitenedError()

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

Vector gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::unwhitenedError	(	const Values &	x,
		OptionalMatrixVecType	H = nullptr ) const

inlineoverridevirtual

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

Implements gtsam::NoiseModelFactor.

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

/tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam_unstable/slam/MultiProjectionFactor.h

Detailed Description

Public Member Functions

Public Types

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ MultiProjectionFactor() [1/2]

◆ MultiProjectionFactor() [2/2]

Member Function Documentation

◆ clone()

◆ equals()

◆ print()

◆ unwhitenedError()