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 Point2 &	imagePoint () 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< This >	shared_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

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

Member Function Documentation

print()

void gtsam::InvDepthFactorVariant3b::print ( const std::string &  s = "InvDepthFactorVariant3", 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.

---

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

• /Users/dellaert/git/gtsam/gtsam_unstable/slam/InvDepthFactorVariant3.h
• /Users/dellaert/git/gtsam/gtsam_unstable/gtsam_unstable.h