#include <loc_projection_factor.h>

Inheritance diagram for gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >:

Public Types
typedef NoiseModelFactor1< POSE >	Base
	shorthand for base class type More...

typedef LocProjectionFactor< POSE, LANDMARK, CALIBRATION >	This
	shorthand for this class More...

typedef boost::shared_ptr< This >	shared_ptr
	shorthand for a smart pointer to a factor More...

Public Member Functions
	LocProjectionFactor ()
	Default constructor. More...

	LocProjectionFactor (const Point2 &measured, const LANDMARK &landmark_point, const SharedNoiseModel &model, Key poseKey, const boost::shared_ptr< CALIBRATION > &K, boost::optional< POSE > body_P_sensor=boost::none)

	LocProjectionFactor (const Point2 &measured, const LANDMARK &landmark_point, const SharedNoiseModel &model, Key poseKey, const boost::shared_ptr< CALIBRATION > &K, bool throwCheirality, bool verboseCheirality, boost::optional< POSE > body_P_sensor=boost::none)

virtual	~LocProjectionFactor ()

virtual NonlinearFactor::shared_ptr	clone () const

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

virtual bool	equals (const NonlinearFactor &p, double tol=1e-9) const
	equals More...

Vector	evaluateError (const Pose3 &pose, boost::optional< Matrix & > H1=boost::none) const
	Evaluate error h(x)-z and optionally derivatives. More...

bool	cheiralityError (const Pose3 &pose) const

const Point2 &	measured () const

const LANDMARK &	landmark_point () const

LANDMARK &	landmark_point ()

const boost::shared_ptr< CALIBRATION >	calibration () const

bool	verboseCheirality () const

bool	throwCheirality () const

boost::optional< POSE >	body_P_sensor () const

Protected Attributes
Point2	measured_
	2D measurement More...

LANDMARK	landmark_point_
	Landmark point. More...

boost::shared_ptr< CALIBRATION >	K_
	shared pointer to calibration object More...

boost::optional< POSE >	body_P_sensor_
	The pose of the sensor in the body frame. More...

bool	throwCheirality_

bool	verboseCheirality_

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

Detailed Description

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
class gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >

Non-linear factor for a constraint derived from a 2D measurement. The calibration and landmark point are known here. Adapted from gtsam GenericProjectionFactor.

Member Typedef Documentation

◆ Base

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

typedef NoiseModelFactor1<POSE> gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >::Base

shorthand for base class type

◆ shared_ptr

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

typedef boost::shared_ptr<This> gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >::shared_ptr

shorthand for a smart pointer to a factor

◆ This

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

typedef LocProjectionFactor<POSE, LANDMARK, CALIBRATION> gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >::This

shorthand for this class

Constructor & Destructor Documentation

◆ LocProjectionFactor() [1/3]

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >::LocProjectionFactor ( )

inline

Default constructor.

◆ LocProjectionFactor() [2/3]

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >::LocProjectionFactor	(	const Point2 &	measured,
		const LANDMARK &	landmark_point,
		const SharedNoiseModel &	model,
		Key	poseKey,
		const boost::shared_ptr< CALIBRATION > &	K,
		boost::optional< POSE >	body_P_sensor = `boost::none`
	)

inline

Constructor

Parameters

measured	is the 2 dimensional location of point in image (the measurement)
model	is the standard deviation
poseKey	is the index of the camera
pointKey	is the index of the landmark
K	shared pointer to the constant calibration
body_P_sensor	is the transform from body to sensor frame (default identity)

◆ LocProjectionFactor() [3/3]

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >::LocProjectionFactor	(	const Point2 &	measured,
		const LANDMARK &	landmark_point,
		const SharedNoiseModel &	model,
		Key	poseKey,
		const boost::shared_ptr< CALIBRATION > &	K,
		bool	throwCheirality,
		bool	verboseCheirality,
		boost::optional< POSE >	body_P_sensor = `boost::none`
	)

inline

Constructor with exception-handling flags

Parameters

measured	is the 2 dimensional location of point in image (the measurement)
model	is the standard deviation
poseKey	is the index of the camera
pointKey	is the index of the landmark
K	shared pointer to the constant calibration
throwCheirality	determines whether Cheirality exceptions are rethrown
verboseCheirality	determines whether exceptions are printed for Cheirality
body_P_sensor	is the transform from body to sensor frame (default identity)

◆ ~LocProjectionFactor()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

virtual gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >::~LocProjectionFactor ( )

inlinevirtual

Virtual destructor

Member Function Documentation

◆ body_P_sensor()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

boost::optional<POSE> gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >::body_P_sensor ( ) const

inline

◆ calibration()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

const boost::shared_ptr<CALIBRATION> gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >::calibration ( ) const

inline

return the calibration object

◆ cheiralityError()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

bool gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >::cheiralityError ( const Pose3 & pose ) const

inline

◆ clone()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

virtual NonlinearFactor::shared_ptr gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >::clone ( ) const

inlinevirtual

Returns: a deep copy of this factor

◆ equals()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

virtual bool gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >::equals	(	const NonlinearFactor &	p,
		double	tol = `1e-9`
	)		const

inlinevirtual

equals

◆ evaluateError()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

Vector gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >::evaluateError	(	const Pose3 &	pose,
		boost::optional< Matrix & >	H1 = `boost::none`
	)		const

inline

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

◆ landmark_point() [1/2]

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

LANDMARK& gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >::landmark_point ( )

inline

◆ landmark_point() [2/2]

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

const LANDMARK& gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >::landmark_point ( ) const

inline

◆ measured()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

const Point2& gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >::measured ( ) const

inline

return the measurement

◆ print()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

void gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inline

print

Parameters

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

◆ throwCheirality()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

bool gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >::throwCheirality ( ) const

inline

return flag for throwing cheirality exceptions

◆ verboseCheirality()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

bool gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >::verboseCheirality ( ) const

inline

return verbosity

Friends And Related Function Documentation

◆ boost::serialization::access

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

friend class boost::serialization::access

friend

Serialization function.

Member Data Documentation

◆ body_P_sensor_

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

boost::optional<POSE> gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >::body_P_sensor_

protected

The pose of the sensor in the body frame.

◆ K_

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

boost::shared_ptr<CALIBRATION> gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >::K_

protected

shared pointer to calibration object

◆ landmark_point_

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

LANDMARK gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >::landmark_point_

protected

Landmark point.

◆ measured_

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

Point2 gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >::measured_

protected

2D measurement

◆ throwCheirality_

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

bool gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >::throwCheirality_

protected

If true, rethrows Cheirality exceptions (default: false)

◆ verboseCheirality_

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>

bool gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >::verboseCheirality_

protected

If true, prints text for Cheirality exceptions (default: false)

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

localization/graph_factors/include/graph_factors/loc_projection_factor.h

Public Types

Public Member Functions

Protected Attributes

Friends

Detailed Description

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2> class gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >

Member Typedef Documentation

◆ Base

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ LocProjectionFactor() [1/3]

◆ LocProjectionFactor() [2/3]

◆ LocProjectionFactor() [3/3]

◆ ~LocProjectionFactor()

Member Function Documentation

◆ body_P_sensor()

◆ calibration()

◆ cheiralityError()

◆ clone()

◆ equals()

◆ evaluateError()

◆ landmark_point() [1/2]

◆ landmark_point() [2/2]

◆ measured()

◆ print()

◆ throwCheirality()

◆ verboseCheirality()

Friends And Related Function Documentation

◆ boost::serialization::access

Member Data Documentation

◆ body_P_sensor_

◆ K_

◆ landmark_point_

◆ measured_

◆ throwCheirality_

◆ verboseCheirality_

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
class gtsam::LocProjectionFactor< POSE, LANDMARK, CALIBRATION >