gtsam  4.0.0
gtsam
gtsam::InvDepthFactorVariant3b Class Reference

Detailed Description

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

+ Inheritance diagram for gtsam::InvDepthFactorVariant3b:

Public Member Functions

 InvDepthFactorVariant3b ()
 Default constructor.
 
 InvDepthFactorVariant3b (const Key poseKey1, const Key poseKey2, 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 ~InvDepthFactorVariant3b ()
 Virtual destructor.
 
void print (const std::string &s="InvDepthFactorVariant3", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
 print More...
 
virtual bool equals (const NonlinearFactor &p, double tol=1e-9) const
 equals
 
Vector inverseDepthError (const Pose3 &pose1, const Pose3 &pose2, const Vector3 &landmark) const
 
Vector evaluateError (const Pose3 &pose1, const Pose3 &pose2, const Vector3 &landmark, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=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::NoiseModelFactor3< Pose3, Pose3, Vector3 >
 NoiseModelFactor3 ()
 Default Constructor for I/O.
 
 NoiseModelFactor3 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3)
 Constructor. More...
 
Key key1 () const
 methods to retrieve keys
 
Key key2 () const
 
Key key3 () const
 
virtual Vector unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const
 Calls the 3-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class. More...
 

Public Types

typedef NoiseModelFactor3< Pose3, Pose3, Vector3 > Base
 shorthand for base class type
 
typedef InvDepthFactorVariant3b This
 shorthand for this class
 
typedef boost::shared_ptr< Thisshared_ptr
 shorthand for a smart pointer to a factor
 
- Public Types inherited from gtsam::NoiseModelFactor3< Pose3, Pose3, Vector3 >
typedef Pose3 X1
 
typedef Pose3 X2
 
typedef Vector3 X3
 

Protected Attributes

Point2 measured_
 2D measurement
 
Cal3_S2::shared_ptr K_
 shared pointer to calibration object
 

Friends

class boost::serialization::access
 Serialization function.
 

Additional Inherited Members

- Protected Types inherited from gtsam::NoiseModelFactor3< Pose3, Pose3, Vector3 >
typedef NoiseModelFactor Base
 
typedef NoiseModelFactor3< Pose3, Pose3, Vector3 > This
 

Constructor & Destructor Documentation

◆ InvDepthFactorVariant3b()

gtsam::InvDepthFactorVariant3b::InvDepthFactorVariant3b ( const Key  poseKey1,
const Key  poseKey2,
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
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::InvDepthFactorVariant3b::print ( const std::string &  s = "InvDepthFactorVariant3",
const KeyFormatter keyFormatter = DefaultKeyFormatter 
) const
inlinevirtual

print

Parameters
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: