Detailed Description

Binary factor that optimizes for E and inverse depth d: assumes measurement in image 2 is perfect, and returns re-projection error in image 1 This version takes an extrinsic rotation to allow for omni-directional rigs.

Inheritance diagram for gtsam::EssentialMatrixFactor3:

Public Member Functions
	EssentialMatrixFactor3 (Key key1, Key key2, const Point2 &pA, const Point2 &pB, const Rot3 &cRb, const SharedNoiseModel &model)
	Constructor. More...

template<class CALIBRATION >
	EssentialMatrixFactor3 (Key key1, Key key2, const Point2 &pA, const Point2 &pB, const Rot3 &cRb, const SharedNoiseModel &model, boost::shared_ptr< CALIBRATION > K)
	Constructor. More...

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

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

Vector	evaluateError (const EssentialMatrix &E, const double &d, boost::optional< Matrix & > DE=boost::none, boost::optional< Matrix & > Dd=boost::none) const
	Override this method to finish implementing a binary factor. More...

Public Member Functions inherited from gtsam::EssentialMatrixFactor2
	EssentialMatrixFactor2 (Key key1, Key key2, const Point2 &pA, const Point2 &pB, const SharedNoiseModel &model)
	Constructor. More...

template<class CALIBRATION >
	EssentialMatrixFactor2 (Key key1, Key key2, const Point2 &pA, const Point2 &pB, const SharedNoiseModel &model, boost::shared_ptr< CALIBRATION > K)
	Constructor. More...

Public Member Functions inherited from gtsam::NoiseModelFactor2< EssentialMatrix, double >
	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...

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 bool	equals (const NonlinearFactor &f, double tol=1e-9) const
	Check if two factors are equal.

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
KeyVector &	keys ()

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

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

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

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< EssentialMatrix, double >
typedef EssentialMatrix	X1

typedef double	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< EssentialMatrix, double >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor2< EssentialMatrix, double >	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

◆ EssentialMatrixFactor3() [1/2]

gtsam::EssentialMatrixFactor3::EssentialMatrixFactor3	(	Key	key1,
		Key	key2,
		const Point2 &	pA,
		const Point2 &	pB,
		const Rot3 &	cRb,
		const SharedNoiseModel &	model
	)

inline

Constructor.

Parameters

key1	Essential Matrix variable key
key2	Inverse depth variable key
pA	point in first camera, in calibrated coordinates
pB	point in second camera, in calibrated coordinates
bRc	extra rotation between "body" and "camera" frame
model	noise model should be in calibrated coordinates, as well

◆ EssentialMatrixFactor3() [2/2]

template<class CALIBRATION >

gtsam::EssentialMatrixFactor3::EssentialMatrixFactor3	(	Key	key1,
		Key	key2,
		const Point2 &	pA,
		const Point2 &	pB,
		const Rot3 &	cRb,
		const SharedNoiseModel &	model,
		boost::shared_ptr< CALIBRATION >	K
	)

inline

Constructor.

Parameters

key1	Essential Matrix variable key
key2	Inverse depth variable key
pA	point in first camera, in pixel coordinates
pB	point in second camera, in pixel coordinates
K	calibration object, will be used only in constructor
model	noise model should be in pixels, as well

Member Function Documentation

◆ clone()

virtual gtsam::NonlinearFactor::shared_ptr gtsam::EssentialMatrixFactor3::clone ( ) const

inlinevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::EssentialMatrixFactor2.

◆ evaluateError()

Vector gtsam::EssentialMatrixFactor3::evaluateError	(	const EssentialMatrix &	,
		const double &	,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`
	)		const

inlinevirtual

Override this method to finish implementing a binary factor.

If any of the optional Matrix reference arguments are specified, it should compute both the function evaluation and its derivative(s) in X1 (and/or X2).