gtsam  4.0.0
gtsam::InvDepthFactorVariant2 Class Reference

Detailed Description

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

+ Inheritance diagram for gtsam::InvDepthFactorVariant2:

Public Member Functions

 InvDepthFactorVariant2 ()
 Default constructor.
 InvDepthFactorVariant2 (const Key poseKey, const Key landmarkKey, const Point2 &measured, const Cal3_S2::shared_ptr &K, const Point3 referencePoint, const SharedNoiseModel &model)
 Constructor. More...
virtual ~InvDepthFactorVariant2 ()
 Virtual destructor.
void print (const std::string &s="InvDepthFactorVariant2", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
 print More...
virtual bool equals (const NonlinearFactor &p, double tol=1e-9) const
Vector inverseDepthError (const Pose3 &pose, const Vector3 &landmark) const
Vector evaluateError (const Pose3 &pose, const Vector3 &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
const Point3referencePoint () const
 return the calibration object
- Public Member Functions inherited from gtsam::NoiseModelFactor2< Pose3, Vector3 >
 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, Vector3 > Base
 shorthand for base class type
typedef InvDepthFactorVariant2 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, Vector3 >
typedef Pose3 X1
typedef Vector3 X2

Protected Attributes

Point2 measured_
 2D measurement
Cal3_S2::shared_ptr K_
 shared pointer to calibration object
Point3 referencePoint_
 the reference point/origin for this landmark


class boost::serialization::access
 Serialization function.

Additional Inherited Members

- Protected Types inherited from gtsam::NoiseModelFactor2< Pose3, Vector3 >
typedef NoiseModelFactor Base
typedef NoiseModelFactor2< Pose3, Vector3 > This

Constructor & Destructor Documentation

◆ InvDepthFactorVariant2()

gtsam::InvDepthFactorVariant2::InvDepthFactorVariant2 ( const Key  poseKey,
const Key  landmarkKey,
const Point2 measured,
const Cal3_S2::shared_ptr K,
const Point3  referencePoint,
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::InvDepthFactorVariant2::print ( const std::string &  s = "InvDepthFactorVariant2",
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: