gtsam  4.1.0
gtsam
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 override
 print More...
 
bool equals (const NonlinearFactor &p, double tol=1e-9) const override
 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 override
 Evaluate error h(x)-z and optionally derivatives.
 
const Point2imagePoint () 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
 
Vector unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override
 Calls the 3-key specific version of evaluateError, 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...
 
boost::shared_ptr< GaussianFactorlinearize (const Values &x) const override
 Linearize a non-linearFactorN to get a GaussianFactor, \( Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z \) Hence \( b = z - h(x) = - \mathtt{error\_vector}(x) \).
 
- 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...
 
virtual shared_ptr clone () const
 Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses. 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 Types

typedef NoiseModelFactor3< Pose3, Pose3, Vector3 > Base
 shorthand for base class type
 
typedef InvDepthFactorVariant3b 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< Pose3, Pose3, Vector3 >
typedef Pose3 X1
 
typedef Pose3 X2
 
typedef Vector3 X3
 
- 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 Attributes

Point2 measured_
 2D measurement
 
Cal3_S2::shared_ptr K_
 shared pointer to calibration object
 
- 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 Types inherited from gtsam::NoiseModelFactor3< Pose3, Pose3, Vector3 >
typedef NoiseModelFactor Base
 
typedef NoiseModelFactor3< Pose3, Pose3, Vector3 > This
 
- 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 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

◆ 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
measuredis the 2 dimensional location of point in image (the measurement)
modelis the standard deviation
poseKeyis the index of the camera pose
pointKeyis the index of the landmark
invDepthKeyis the index of inverse depth
Kshared pointer to the constant calibration

Member Function Documentation

◆ print()

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