gtsam::RobustSmartProjectionPoseFactor< CALIBRATION > Class Template Reference

#include <robust_smart_projection_pose_factor.h>

Inheritance diagram for gtsam::RobustSmartProjectionPoseFactor< CALIBRATION >:

Public Member Functions
	RobustSmartProjectionPoseFactor ()
	RobustSmartProjectionPoseFactor (const SharedNoiseModel &sharedNoiseModel, const boost::shared_ptr< CALIBRATION > K, const boost::optional< Pose3 > body_P_sensor, const SmartProjectionParams &params=SmartProjectionParams(), const bool rotation_only_fallback=false, const bool robust=true, const double huber_k=1.0)
boost::shared_ptr< NonlinearFactor >	PrunedCopy (const std::unordered_set< gtsam::Key > &keys_to_remove) const final
boost::shared_ptr< GaussianFactor >	linearize (const Values &values) const override
bool	useForRotationOnly (const gtsam::TriangulationResult &result) const
double	error (const Values &values) const override
double	serialized_error (const Values &values) const
TriangulationResult	serialized_point (const Values &values) const
bool	robust () const
double	noise_inv_sigma () const
double	robustLoss (const double mahal_distance) const
bool	valid (const Values &values) const
Public Member Functions inherited from gtsam::CumulativeFactor
virtual	~CumulativeFactor ()=default

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

Constructor & Destructor Documentation

RobustSmartProjectionPoseFactor() [1/2]

template<class CALIBRATION >

gtsam::RobustSmartProjectionPoseFactor< CALIBRATION >::RobustSmartProjectionPoseFactor ( )

inline

RobustSmartProjectionPoseFactor() [2/2]

template<class CALIBRATION >

gtsam::RobustSmartProjectionPoseFactor< CALIBRATION >::RobustSmartProjectionPoseFactor ( const SharedNoiseModel &  sharedNoiseModel, const boost::shared_ptr< CALIBRATION >  K, const boost::optional< Pose3 >  body_P_sensor, const SmartProjectionParams &  params = SmartProjectionParams(), const bool  rotation_only_fallback = false, const bool  robust = true, const double  huber_k = 1.0  )

inline

Constructor

Parameters

sharedNoiseModel	isotropic noise model for the 2D feature measurements
K	(fixed) calibration, assumed to be the same for all cameras
params	parameters for the smart projection factors

Member Function Documentation

error()

template<class CALIBRATION >

double gtsam::RobustSmartProjectionPoseFactor< CALIBRATION >::error ( const Values &  values ) const

inlineoverride

linearize()

template<class CALIBRATION >

boost::shared_ptr<GaussianFactor> gtsam::RobustSmartProjectionPoseFactor< CALIBRATION >::linearize ( const Values &  values ) const

inlineoverride

noise_inv_sigma()

template<class CALIBRATION >

double gtsam::RobustSmartProjectionPoseFactor< CALIBRATION >::noise_inv_sigma ( ) const

inline

PrunedCopy()

template<class CALIBRATION >

boost::shared_ptr<NonlinearFactor> gtsam::RobustSmartProjectionPoseFactor< CALIBRATION >::PrunedCopy ( const std::unordered_set< gtsam::Key > &  keys_to_remove ) const

inlinefinalvirtual

Implements gtsam::CumulativeFactor.

robust()

template<class CALIBRATION >

bool gtsam::RobustSmartProjectionPoseFactor< CALIBRATION >::robust ( ) const

inline

robustLoss()

template<class CALIBRATION >

double gtsam::RobustSmartProjectionPoseFactor< CALIBRATION >::robustLoss ( const double  mahal_distance ) const

inline

serialized_error()

template<class CALIBRATION >

double gtsam::RobustSmartProjectionPoseFactor< CALIBRATION >::serialized_error ( const Values &  values ) const

inline

serialized_point()

template<class CALIBRATION >

TriangulationResult gtsam::RobustSmartProjectionPoseFactor< CALIBRATION >::serialized_point ( const Values &  values ) const

inline

useForRotationOnly()

template<class CALIBRATION >

bool gtsam::RobustSmartProjectionPoseFactor< CALIBRATION >::useForRotationOnly ( const gtsam::TriangulationResult &  result ) const

inline

valid()

template<class CALIBRATION >

bool gtsam::RobustSmartProjectionPoseFactor< CALIBRATION >::valid ( const Values &  values ) const

inline

Friends And Related Function Documentation

boost::serialization::access

template<class CALIBRATION >

friend class boost::serialization::access

friend

Serialization function.

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

• localization/graph_factors/include/graph_factors/robust_smart_projection_pose_factor.h