gtsam::InverseDepthProjectionFactor Class Reference

#include <inverse_depth_projection_factor.h>

Inheritance diagram for gtsam::InverseDepthProjectionFactor:

Public Types
typedef NoiseModelFactor3< Pose3, vision_common::InverseDepthMeasurement, Pose3 >	Base
typedef boost::shared_ptr< InverseDepthProjectionFactor >	shared_ptr
typedef InverseDepthProjectionFactor	This

Public Member Functions
	InverseDepthProjectionFactor ()
	InverseDepthProjectionFactor (const Point2 &measured, const SharedNoiseModel &model, Key sourcePoseKey, Key inverseDepthMeasurementKey, Key targetPoseKey)
	InverseDepthProjectionFactor (const Point2 &measured, const SharedNoiseModel &model, Key sourcePoseKey, Key inverseDepthCameraPoseKey, Key targetPoseKey, bool verboseCheirality)
virtual	~InverseDepthProjectionFactor ()
virtual NonlinearFactor::shared_ptr	clone () const
void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
bool	equals (const NonlinearFactor &p, double tol=1e-9) const override
Vector	evaluateError (const Pose3 &world_T_source, const vision_common::InverseDepthMeasurement &inverseDepthMeasurement, const Pose3 &world_T_target, boost::optional< Matrix & > d_projected_point_d_world_T_source=boost::none, boost::optional< Matrix & > d_projected_point_d_inverse_depth=boost::none, boost::optional< Matrix & > d_projected_point_d_world_T_target=boost::none) const override
	Evaluate error h(x)-z and optionally derivatives. More...
const Point2 &	measured () const
bool	verboseCheirality () const

Protected Attributes
Point2	measured_
bool	verboseCheirality_

Friends
class	boost::serialization::access
	Serialization function. More...

Detailed Description

Non-linear factor for a constraint derived from a 2D measurement. The calibration is known and the landmark point is represented using the inverse depth parameterization.

Member Typedef Documentation

Base

typedef NoiseModelFactor3<Pose3, vision_common::InverseDepthMeasurement, Pose3> gtsam::InverseDepthProjectionFactor::Base

shared_ptr

typedef boost::shared_ptr<InverseDepthProjectionFactor> gtsam::InverseDepthProjectionFactor::shared_ptr

This

typedef InverseDepthProjectionFactor gtsam::InverseDepthProjectionFactor::This

Constructor & Destructor Documentation

InverseDepthProjectionFactor() [1/3]

gtsam::InverseDepthProjectionFactor::InverseDepthProjectionFactor ( )

inline

InverseDepthProjectionFactor() [2/3]

gtsam::InverseDepthProjectionFactor::InverseDepthProjectionFactor ( const Point2 &  measured, const SharedNoiseModel &  model, Key  sourcePoseKey, Key  inverseDepthMeasurementKey, Key  targetPoseKey  )

inline

Constructor

Parameters

measured	is the 2 dimensional location of point in image (the measurement)
model	is the standard deviation
sourcePoseKey	is the index of the source camera
inverseDepthMeasurementKey	is the index of the inverse depth measurement
targetPoseKey	is the index of the target camera

InverseDepthProjectionFactor() [3/3]

gtsam::InverseDepthProjectionFactor::InverseDepthProjectionFactor ( const Point2 &  measured, const SharedNoiseModel &  model, Key  sourcePoseKey, Key  inverseDepthCameraPoseKey, Key  targetPoseKey, bool  verboseCheirality  )

inline

Constructor with exception-handling flags

Parameters

measured	is the 2 dimensional location of point in image (the measurement)
model	is the standard deviation
sourcePoseKey	is the index of the source camera
inverseDepthMeasurementKey	is the index of the inverse depth measurement
targetPoseKey	is the index of the target camera
verboseCheirality	determines whether exceptions are printed for Cheirality

~InverseDepthProjectionFactor()

virtual gtsam::InverseDepthProjectionFactor::~InverseDepthProjectionFactor ( )

inlinevirtual

Member Function Documentation

clone()

virtual NonlinearFactor::shared_ptr gtsam::InverseDepthProjectionFactor::clone ( ) const

inlinevirtual

Returns

a deep copy of this factor

equals()

bool gtsam::InverseDepthProjectionFactor::equals ( const NonlinearFactor &  p, double  tol = 1e-9  ) const

inlineoverride

evaluateError()

Vector gtsam::InverseDepthProjectionFactor::evaluateError ( const Pose3 &  world_T_source, const vision_common::InverseDepthMeasurement &  inverseDepthMeasurement, const Pose3 &  world_T_target, boost::optional< Matrix & >  d_projected_point_d_world_T_source = boost::none, boost::optional< Matrix & >  d_projected_point_d_inverse_depth = boost::none, boost::optional< Matrix & >  d_projected_point_d_world_T_target = boost::none  ) const

inlineoverride

Evaluate error h(x)-z and optionally derivatives.

measured()

const Point2& gtsam::InverseDepthProjectionFactor::measured ( ) const

inline

print()

void gtsam::InverseDepthProjectionFactor::print ( const std::string &  s = "", const KeyFormatter &  keyFormatter = DefaultKeyFormatter  ) const

inlineoverride

print

Parameters

s	optional string naming the factor
keyFormatter	optional formatter useful for printing Symbols

verboseCheirality()

bool gtsam::InverseDepthProjectionFactor::verboseCheirality ( ) const

inline

Friends And Related Function Documentation

boost::serialization::access

friend class boost::serialization::access

friend

Serialization function.

Member Data Documentation

measured_

Point2 gtsam::InverseDepthProjectionFactor::measured_

protected

verboseCheirality_

bool gtsam::InverseDepthProjectionFactor::verboseCheirality_

protected

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The documentation for this class was generated from the following file:

• localization/graph_factors/include/graph_factors/inverse_depth_projection_factor.h