gtsam  4.0.0
gtsam::InvDepthFactorVariant3a Class Reference

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
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
- 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< 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


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

◆ InvDepthFactorVariant3a()

gtsam::InvDepthFactorVariant3a::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)

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

Member Function Documentation

◆ print()

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