Detailed Description

Binary factor representing a visual measurement using an inverse-depth parameterization.

Inheritance diagram for gtsam::InvDepthFactorVariant1:

Public Member Functions
	InvDepthFactorVariant1 ()
	Default constructor.

	InvDepthFactorVariant1 (const Key poseKey, const Key landmarkKey, const Point2 &measured, const Cal3_S2::shared_ptr &K, const SharedNoiseModel &model)
	Constructor. More...

virtual	~InvDepthFactorVariant1 ()
	Virtual destructor.

void	print (const std::string &s="InvDepthFactorVariant1", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	print More...

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

Vector	inverseDepthError (const Pose3 &pose, const Vector6 &landmark) const

Vector	evaluateError (const Pose3 &pose, const Vector6 &landmark, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	Evaluate error h(x)-z and optionally derivatives.

const Point2 &	imagePoint () const
	return the measurement

const Cal3_S2::shared_ptr	calibration () const
	return the calibration object

Public Member Functions inherited from gtsam::NoiseModelFactor2< Pose3, Vector6 >
	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 Types
typedef NoiseModelFactor2< Pose3, Vector6 >	Base
	shorthand for base class type

typedef InvDepthFactorVariant1	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< Pose3, Vector6 >
typedef Pose3	X1

typedef Vector6	X2

Protected Attributes
Point2	measured_
	2D measurement

Cal3_S2::shared_ptr	K_
	shared pointer to calibration object

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactor2< Pose3, Vector6 >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor2< Pose3, Vector6 >	This

Constructor & Destructor Documentation

gtsam::InvDepthFactorVariant1::InvDepthFactorVariant1	(	const Key	poseKey,
		const Key	landmarkKey,
		const Point2 &	measured,
		const Cal3_S2::shared_ptr &	K,
		const SharedNoiseModel &	model
	)

inline

Constructor.

Parameters

poseKey	is the index of the camera pose
pointKey	is the index of the landmark
measured	is the 2 dimensional location of point in image (the measurement)
K	shared pointer to the constant calibration
model	is the standard deviation

void gtsam::InvDepthFactorVariant1::print	(	const std::string &	s = `"InvDepthFactorVariant1"`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlinevirtual

print

Parameters

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

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