Inheritance diagram for gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >:

Public Member Functions
	ProjectionFactorPPP ()
	Default constructor.

	ProjectionFactorPPP (const Point2 &measured, const SharedNoiseModel &model, Key poseKey, Key transformKey, Key pointKey, const boost::shared_ptr< CALIBRATION > &K)
	Constructor TODO: Mark argument order standard (keys, measurement, parameters) More...

	ProjectionFactorPPP (const Point2 &measured, const SharedNoiseModel &model, Key poseKey, Key transformKey, Key pointKey, const boost::shared_ptr< CALIBRATION > &K, bool throwCheirality, bool verboseCheirality)
	Constructor with exception-handling flags TODO: Mark argument order standard (keys, measurement, parameters) More...

virtual	~ProjectionFactorPPP ()
	Virtual destructor.

virtual NonlinearFactor::shared_ptr	clone () const

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	print More...

virtual bool	equals (const NonlinearFactor &p, double tol=1e-9) const
	equals

Vector	evaluateError (const Pose3 &pose, const Pose3 &transform, const Point3 &point, 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 &	measured () const
	return the measurement

const boost::shared_ptr< CALIBRATION >	calibration () const
	return the calibration object

bool	verboseCheirality () const
	return verbosity

bool	throwCheirality () const
	return flag for throwing cheirality exceptions

Public Member Functions inherited from gtsam::NoiseModelFactor3< POSE, POSE, LANDMARK >
	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...

virtual Vector	evaluateError (const X1 &, const X2 &, const X3 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none) const=0
	Override this method to finish implementing a trinary factor. More...

Public Types
typedef NoiseModelFactor3< POSE, POSE, LANDMARK >	Base
	shorthand for base class type

typedef ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >	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< POSE, POSE, LANDMARK >
typedef POSE	X1

typedef POSE	X2

typedef LANDMARK	X3

Protected Attributes
Point2	measured_
	2D measurement

boost::shared_ptr< CALIBRATION >	K_
	shared pointer to calibration object

bool	throwCheirality_
	If true, rethrows Cheirality exceptions (default: false)

bool	verboseCheirality_
	If true, prints text for Cheirality exceptions (default: false)

Friends
class	boost::serialization::access
	Serialization function.

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactor3< POSE, POSE, LANDMARK >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor3< POSE, POSE, LANDMARK >	This

Constructor & Destructor Documentation

◆ ProjectionFactorPPP() [1/2]

template<class POSE , class LANDMARK , class CALIBRATION = Cal3_S2>

gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >::ProjectionFactorPPP	(	const Point2 &	measured,
		const SharedNoiseModel &	model,
		Key	poseKey,
		Key	transformKey,
		Key	pointKey,
		const boost::shared_ptr< CALIBRATION > &	K
	)

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
transformKey	is the index of the body-camera transform
pointKey	is the index of the landmark
K	shared pointer to the constant calibration

◆ ProjectionFactorPPP() [2/2]

template<class POSE , class LANDMARK , class CALIBRATION = Cal3_S2>

gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >::ProjectionFactorPPP	(	const Point2 &	measured,
		const SharedNoiseModel &	model,
		Key	poseKey,
		Key	transformKey,
		Key	pointKey,
		const boost::shared_ptr< CALIBRATION > &	K,
		bool	throwCheirality,
		bool	verboseCheirality
	)

inline

Constructor with exception-handling flags 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
pointKey	is the index of the landmark
K	shared pointer to the constant calibration
throwCheirality	determines whether Cheirality exceptions are rethrown
verboseCheirality	determines whether exceptions are printed for Cheirality

Member Function Documentation

◆ clone()

template<class POSE , class LANDMARK , class CALIBRATION = Cal3_S2>

virtual NonlinearFactor::shared_ptr gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >::clone ( ) const

inlinevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

◆ print()

template<class POSE , class LANDMARK , class CALIBRATION = Cal3_S2>

void gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >::print	(	const std::string &	s = `""`,
		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/ProjectionFactorPPP.h
/Users/dellaert/git/gtsam/gtsam_unstable/gtsam_unstable.h

Public Member Functions

Public Types

Protected Attributes

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ ProjectionFactorPPP() [1/2]

◆ ProjectionFactorPPP() [2/2]

Member Function Documentation

◆ clone()

◆ print()