gtsam  4.0.0
gtsam
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 Point2measured () 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< Thisshared_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
measuredis the 2 dimensional location of point in image (the measurement)
modelis the standard deviation
poseKeyis the index of the camera
transformKeyis the index of the body-camera transform
pointKeyis the index of the landmark
Kshared 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
measuredis the 2 dimensional location of point in image (the measurement)
modelis the standard deviation
poseKeyis the index of the camera
pointKeyis the index of the landmark
Kshared pointer to the constant calibration
throwCheiralitydetermines whether Cheirality exceptions are rethrown
verboseCheiralitydetermines 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
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: