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)

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 GeneralSFMFactor2< CALIBRATION >	This

typedef PinholeCamera< CALIBRATION >	Camera
	typedef for camera type

typedef NoiseModelFactor3< Pose3, Point3, CALIBRATION >	Base
	typedef for the base class

typedef boost::shared_ptr< This >	shared_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< 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_
	the 2D measurement

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::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

◆ GeneralSFMFactor2()

template<class CALIBRATION >

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

inline

Constructor.

Parameters

measured	is the 2 dimensional location of point in image (the measurement)
model	is the standard deviation of the measurements
poseKey	is the index of the camera
landmarkKey	is the index of the landmark
calibKey	is the index of the calibration

Member Function Documentation

◆ clone()

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.

◆ print()

template<class CALIBRATION >

void gtsam::GeneralSFMFactor2< CALIBRATION >::print	(	const std::string &	s = `"SFMFactor2"`,
		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/GeneralSFMFactor.h

Detailed Description

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

Public Member Functions

Public Types

Protected Attributes

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ GeneralSFMFactor2()

Member Function Documentation

◆ clone()

◆ print()

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