Detailed Description

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

Inheritance diagram for gtsam::InvDepthFactorVariant3a:

Public Member Functions
	InvDepthFactorVariant3a ()
	Default constructor.

	InvDepthFactorVariant3a (const Key poseKey, const Key landmarkKey, const Point2 &measured, const Cal3_S2::shared_ptr &K, const SharedNoiseModel &model)
	Constructor TODO: Mark argument order standard (keys, measurement, parameters) More...

virtual	~InvDepthFactorVariant3a ()
	Virtual destructor.

void	print (const std::string &s="InvDepthFactorVariant3a", 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

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 InvDepthFactorVariant3a	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

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactor2< Pose3, Vector3 >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor2< Pose3, Vector3 >	This

Constructor & Destructor Documentation

gtsam::InvDepthFactorVariant3a::InvDepthFactorVariant3a	(	const Key	poseKey,
		const Key	landmarkKey,
		const Point2 &	measured,
		const Cal3_S2::shared_ptr &	K,
		const SharedNoiseModel &	model
	)

inline

Constructor TODO: Mark argument order standard (keys, measurement, parameters)

Parameters

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

void gtsam::InvDepthFactorVariant3a::print	(	const std::string &	s = `"InvDepthFactorVariant3a"`,
		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: