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
	equals
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 Point2 &	imagePoint () const
	return the measurement
const Cal3_S2::shared_ptr	calibration () const
	return the calibration object
const Point3 &	referencePoint () 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< This >	shared_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

Friends
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  )

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

Member Function Documentation

print()

void gtsam::InvDepthFactorVariant2::print ( const std::string &  s = "InvDepthFactorVariant2", 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.

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

• /Users/dellaert/git/gtsam/gtsam_unstable/slam/InvDepthFactorVariant2.h
• /Users/dellaert/git/gtsam/gtsam_unstable/gtsam_unstable.h