gtsam  4.1.0
gtsam
gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION > Class Template Reference
+ Inheritance diagram for gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >:

Public Member Functions

 MultiProjectionFactor ()
 Default constructor.
 
 MultiProjectionFactor (const Vector &measured, const SharedNoiseModel &model, KeySet poseKeys, Key pointKey, const boost::shared_ptr< CALIBRATION > &K, boost::optional< POSE > body_P_sensor=boost::none)
 Constructor TODO: Mark argument order standard (keys, measurement, parameters) More...
 
 MultiProjectionFactor (const Vector &measured, const SharedNoiseModel &model, KeySet poseKeys, Key pointKey, const boost::shared_ptr< CALIBRATION > &K, bool throwCheirality, bool verboseCheirality, boost::optional< POSE > body_P_sensor=boost::none)
 Constructor with exception-handling flags TODO: Mark argument order standard (keys, measurement, parameters) More...
 
virtual ~MultiProjectionFactor ()
 Virtual destructor.
 
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 unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override
 Evaluate error h(x)-z and optionally derivatives.
 
Vector evaluateError (const Pose3 &pose, const Point3 &point, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
 
const Vector & measured () const
 return the measurements
 
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::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...
 
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 NoiseModelFactor Base
 shorthand for base class type
 
typedef MultiProjectionFactor< 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::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

Vector measured_
 2D measurement for each of the n views
 
boost::shared_ptr< CALIBRATION > K_
 shared pointer to calibration object
 
boost::optional< POSE > body_P_sensor_
 The pose of the sensor in the body frame.
 
bool throwCheirality_
 If true, rethrows Cheirality exceptions (default: false)
 
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 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

◆ MultiProjectionFactor() [1/2]

template<class POSE , class LANDMARK , class CALIBRATION = Cal3_S2>
gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::MultiProjectionFactor ( const Vector &  measured,
const SharedNoiseModel model,
KeySet  poseKeys,
Key  pointKey,
const boost::shared_ptr< CALIBRATION > &  K,
boost::optional< POSE >  body_P_sensor = boost::none 
)
inline

Constructor TODO: Mark argument order standard (keys, measurement, parameters)

Parameters
measuredis the 2n dimensional location of the n points in the n views (the measurements)
modelis the standard deviation (current version assumes that the uncertainty is the same for all views)
poseKeysis the set of indices corresponding to the cameras observing the same landmark
pointKeyis the index of the landmark
Kshared pointer to the constant calibration
body_P_sensoris the transform from body to sensor frame (default identity)

◆ MultiProjectionFactor() [2/2]

template<class POSE , class LANDMARK , class CALIBRATION = Cal3_S2>
gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::MultiProjectionFactor ( const Vector &  measured,
const SharedNoiseModel model,
KeySet  poseKeys,
Key  pointKey,
const boost::shared_ptr< CALIBRATION > &  K,
bool  throwCheirality,
bool  verboseCheirality,
boost::optional< POSE >  body_P_sensor = boost::none 
)
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
body_P_sensoris the transform from body to sensor frame (default identity)

Member Function Documentation

◆ clone()

template<class POSE , class LANDMARK , class CALIBRATION = Cal3_S2>
NonlinearFactor::shared_ptr gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::clone ( ) const
inlineoverridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

◆ print()

template<class POSE , class LANDMARK , class CALIBRATION = Cal3_S2>
void gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::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: