gtsam  4.1.0
gtsam
gtsam::TriangulationFactor< CAMERA > Class Template Reference
+ Inheritance diagram for gtsam::TriangulationFactor< CAMERA >:

Public Member Functions

 TriangulationFactor ()
 Default constructor.
 
 TriangulationFactor (const CAMERA &camera, const Measurement &measured, const SharedNoiseModel &model, Key pointKey, bool throwCheirality=false, bool verboseCheirality=false)
 Constructor with exception-handling flags. More...
 
virtual ~TriangulationFactor ()
 Virtual destructor.
 
gtsam::NonlinearFactor::shared_ptr clone () const override
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 print More...
 
bool equals (const NonlinearFactor &p, double tol=1e-9) const override
 equals
 
Vector evaluateError (const Point3 &point, boost::optional< Matrix & > H2=boost::none) const override
 Evaluate error h(x)-z and optionally derivatives.
 
boost::shared_ptr< GaussianFactorlinearize (const Values &x) const override
 Linearize to a JacobianFactor, does not support constrained noise model ! \( Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z \) Hence \( b = z - h(x) = - \mathtt{error\_vector}(x) \).
 
const Measurementmeasured () const
 return the measurement
 
bool verboseCheirality () const
 return verbosity
 
bool throwCheirality () const
 return flag for throwing cheirality exceptions
 
- Public Member Functions inherited from gtsam::NoiseModelFactor1< Point3 >
 NoiseModelFactor1 ()
 Default constructor for I/O only.
 
 NoiseModelFactor1 (const SharedNoiseModel &noiseModel, Key key1)
 Constructor. More...
 
virtual ~NoiseModelFactor1 ()
 
Key key () const
 
Vector unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override
 Calls the 1-key specific version of evaluateError below, which is pure virtual so must be implemented in the derived class.
 
- Public Member Functions inherited from gtsam::NoiseModelFactor
 NoiseModelFactor ()
 Default constructor for I/O only.
 
virtual ~NoiseModelFactor ()
 Destructor.
 
template<typename CONTAINER >
 NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)
 Constructor.
 
size_t dim () const override
 get the dimension of the factor (number of rows on linearization)
 
const SharedNoiseModelnoiseModel () const
 access to the noise model
 
Vector whitenedError (const Values &c) const
 Vector of errors, whitened This is the raw error, i.e., i.e. More...
 
Vector unweightedWhitenedError (const Values &c) const
 Vector of errors, whitened, but unweighted by any loss function.
 
double weight (const Values &c) const
 Compute the effective weight of the factor from the noise model.
 
double error (const Values &c) const override
 Calculate the error of the factor. More...
 
- Public Member Functions inherited from gtsam::NonlinearFactor
 NonlinearFactor ()
 Default constructor for I/O only.
 
template<typename CONTAINER >
 NonlinearFactor (const CONTAINER &keys)
 Constructor from a collection of the keys involved in this factor.
 
virtual ~NonlinearFactor ()
 Destructor.
 
virtual bool active (const Values &) const
 Checks whether a factor should be used based on a set of values. More...
 
shared_ptr rekey (const std::map< Key, Key > &rekey_mapping) const
 Creates a shared_ptr clone of the factor with different keys using a map from old->new keys.
 
shared_ptr rekey (const KeyVector &new_keys) const
 Clones a factor and fully replaces its keys. More...
 
- Public Member Functions inherited from gtsam::Factor
Key front () const
 First key.
 
Key back () const
 Last key.
 
const_iterator find (Key key) const
 find
 
const KeyVectorkeys () const
 Access the factor's involved variable keys.
 
const_iterator begin () const
 Iterator at beginning of involved variable keys.
 
const_iterator end () const
 Iterator at end of involved variable keys.
 
size_t size () const
 
void print (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
 print
 
void printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
 print only keys
 
KeyVectorkeys ()
 
iterator begin ()
 Iterator at beginning of involved variable keys.
 
iterator end ()
 Iterator at end of involved variable keys.
 

Public Attributes

VerticalBlockMatrix Ab
 thread-safe (?) scratch memory for linearize
 
Matrix A
 
Vector b
 

Public Types

typedef CAMERA Camera
 CAMERA type.
 
typedef boost::shared_ptr< Thisshared_ptr
 shorthand for a smart pointer to a factor
 
- Public Types inherited from gtsam::NoiseModelFactor1< Point3 >
typedef Point3 X
 
- Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< Thisshared_ptr
 Noise model.
 
- Public Types inherited from gtsam::NonlinearFactor
typedef boost::shared_ptr< Thisshared_ptr
 
- Public Types inherited from gtsam::Factor
typedef KeyVector::iterator iterator
 Iterator over keys.
 
typedef KeyVector::const_iterator const_iterator
 Const iterator over keys.
 

Protected Types

typedef NoiseModelFactor1< Point3Base
 shorthand for base class type
 
typedef TriangulationFactor< CAMERA > This
 shorthand for this class
 
typedef CAMERA::Measurement Measurement
 shorthand for measurement type, e.g. Point2 or StereoPoint2
 
- Protected Types inherited from gtsam::NoiseModelFactor1< Point3 >
typedef NoiseModelFactor Base
 
typedef NoiseModelFactor1< Point3This
 
- Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor Base
 
typedef NoiseModelFactor This
 
- Protected Types inherited from gtsam::NonlinearFactor
typedef Factor Base
 
typedef NonlinearFactor This
 

Protected Attributes

const CAMERA camera_
 CAMERA in which this landmark was seen.
 
const Measurement measured_
 2D measurement
 
const bool throwCheirality_
 If true, rethrows Cheirality exceptions (default: false)
 
const bool verboseCheirality_
 If true, prints text for Cheirality exceptions (default: false)
 
- Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel noiseModel_
 
- Protected Attributes inherited from gtsam::Factor
KeyVector keys_
 The keys involved in this factor.
 

Friends

class boost::serialization::access
 Serialization function.
 

Additional Inherited Members

- Protected Member Functions inherited from gtsam::NoiseModelFactor
 NoiseModelFactor (const SharedNoiseModel &noiseModel)
 Constructor - only for subclasses, as this does not set keys.
 
- Protected Member Functions inherited from gtsam::Factor
 Factor ()
 Default constructor for I/O.
 
template<typename CONTAINER >
 Factor (const CONTAINER &keys)
 Construct factor from container of keys. More...
 
template<typename ITERATOR >
 Factor (ITERATOR first, ITERATOR last)
 Construct factor from iterator keys. More...
 
bool equals (const This &other, double tol=1e-9) const
 check equality
 
- Static Protected Member Functions inherited from gtsam::Factor
template<typename CONTAINER >
static Factor FromKeys (const CONTAINER &keys)
 Construct factor from container of keys. More...
 
template<typename ITERATOR >
static Factor FromIterators (ITERATOR first, ITERATOR last)
 Construct factor from iterator keys. More...
 

Constructor & Destructor Documentation

◆ TriangulationFactor()

template<class CAMERA >
gtsam::TriangulationFactor< CAMERA >::TriangulationFactor ( const CAMERA &  camera,
const Measurement measured,
const SharedNoiseModel model,
Key  pointKey,
bool  throwCheirality = false,
bool  verboseCheirality = false 
)
inline

Constructor with exception-handling flags.

Parameters
camerais the camera in which unknown landmark is seen
measuredis the 2 dimensional location of point in image (the measurement)
modelis the standard deviation
pointKeyis the index of the landmark
throwCheiralitydetermines whether Cheirality exceptions are rethrown
verboseCheiralitydetermines whether exceptions are printed for Cheirality

Member Function Documentation

◆ clone()

template<class CAMERA >
gtsam::NonlinearFactor::shared_ptr gtsam::TriangulationFactor< CAMERA >::clone ( ) const
inlineoverridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

◆ print()

template<class CAMERA >
void gtsam::TriangulationFactor< CAMERA >::print ( const std::string &  s = "",
const KeyFormatter keyFormatter = DefaultKeyFormatter 
) const
inlineoverridevirtual

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 file: