gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION > Class Template Reference

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.

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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