gtsam  4.0.0
gtsam::InvDepthFactorVariant1 Class Reference

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
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 Point2imagePoint () 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< Thisshared_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


class boost::serialization::access
 Serialization function.

Additional Inherited Members

- Protected Types inherited from gtsam::NoiseModelFactor2< Pose3, Vector6 >
typedef NoiseModelFactor Base
typedef NoiseModelFactor2< Pose3, Vector6 > This

Constructor & Destructor Documentation

◆ InvDepthFactorVariant1()

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


poseKeyis the index of the camera pose
pointKeyis the index of the landmark
measuredis the 2 dimensional location of point in image (the measurement)
Kshared pointer to the constant calibration
modelis the standard deviation

Member Function Documentation

◆ print()

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


soptional string naming the factor
keyFormatteroptional formatter useful for printing Symbols

Reimplemented from gtsam::NoiseModelFactor.

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