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

Public Member Functions

 ProjectionFactorPPPC ()
 Default constructor.
 
 ProjectionFactorPPPC (const Point2 &measured, const SharedNoiseModel &model, Key poseKey, Key transformKey, Key pointKey, Key calibKey)
 Constructor TODO: Mark argument order standard (keys, measurement, parameters) More...
 
 ProjectionFactorPPPC (const Point2 &measured, const SharedNoiseModel &model, Key poseKey, Key transformKey, Key pointKey, Key calibKey, bool throwCheirality, bool verboseCheirality)
 Constructor with exception-handling flags TODO: Mark argument order standard (keys, measurement, parameters) More...
 
virtual ~ProjectionFactorPPPC ()
 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 evaluateError (const Pose3 &pose, const Pose3 &transform, const Point3 &point, const CALIBRATION &K, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none, boost::optional< Matrix & > H4=boost::none) const override
 Evaluate error h(x)-z and optionally derivatives.
 
const Point2measured () const
 return the measurement
 
bool verboseCheirality () const
 return verbosity
 
bool throwCheirality () const
 return flag for throwing cheirality exceptions
 
- Public Member Functions inherited from gtsam::NoiseModelFactor4< POSE, POSE, LANDMARK, Cal3_S2 >
 NoiseModelFactor4 ()
 Default Constructor for I/O.
 
 NoiseModelFactor4 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3, Key j4)
 Constructor. More...
 
Key key1 () const
 methods to retrieve keys
 
Key key2 () const
 
Key key3 () const
 
Key key4 () const
 
Vector unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override
 Calls the 4-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class.
 
virtual Vector evaluateError (const X1 &, const X2 &, const X3 &, const X4 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none, boost::optional< Matrix & > H4=boost::none) const=0
 Override this method to finish implementing a 4-way factor. More...
 
- 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 NoiseModelFactor4< POSE, POSE, LANDMARK, CALIBRATION > Base
 shorthand for base class type
 
typedef ProjectionFactorPPPC< 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::NoiseModelFactor4< POSE, POSE, LANDMARK, Cal3_S2 >
typedef POSE X1
 
typedef POSE X2
 
typedef LANDMARK X3
 
typedef Cal3_S2 X4
 
- 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
 
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::NoiseModelFactor4< POSE, POSE, LANDMARK, Cal3_S2 >
typedef NoiseModelFactor Base
 
typedef NoiseModelFactor4< POSE, POSE, LANDMARK, Cal3_S2This
 
- 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

◆ ProjectionFactorPPPC() [1/2]

template<class POSE , class LANDMARK , class CALIBRATION = Cal3_S2>
gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >::ProjectionFactorPPPC ( const Point2 measured,
const SharedNoiseModel model,
Key  poseKey,
Key  transformKey,
Key  pointKey,
Key  calibKey 
)
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
pointKeyis the index of the landmark
Kshared pointer to the constant calibration

◆ ProjectionFactorPPPC() [2/2]

template<class POSE , class LANDMARK , class CALIBRATION = Cal3_S2>
gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >::ProjectionFactorPPPC ( const Point2 measured,
const SharedNoiseModel model,
Key  poseKey,
Key  transformKey,
Key  pointKey,
Key  calibKey,
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>
NonlinearFactor::shared_ptr gtsam::ProjectionFactorPPPC< 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::ProjectionFactorPPPC< 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: