gtsam 4.2.0
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gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION > Class Template Reference

Detailed Description

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

Non-linear factor for a constraint derived from a 2D measurement.

The calibration is known here. The main building block for visual SLAM.

+ Inheritance diagram for gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >:

Public Member Functions

 GenericProjectionFactor ()
 Default constructor.
 
 GenericProjectionFactor (const Point2 &measured, const SharedNoiseModel &model, Key poseKey, 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)
 
 GenericProjectionFactor (const Point2 &measured, const SharedNoiseModel &model, Key poseKey, 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)
 
 ~GenericProjectionFactor () override
 Virtual destructor.
 
gtsam::NonlinearFactor::shared_ptr clone () const override
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 print
 
bool equals (const NonlinearFactor &p, double tol=1e-9) const override
 equals
 
Vector evaluateError (const Pose3 &pose, const Point3 &point, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const override
 Evaluate error h(x)-z and optionally derivatives.
 
const Point2measured () const
 return the measurement
 
const boost::shared_ptr< CALIBRATION > calibration () const
 return the calibration object
 
const boost::optional< POSE > & body_P_sensor () const
 return the (optional) sensor pose with respect to the vehicle frame
 
bool verboseCheirality () const
 return verbosity
 
bool throwCheirality () const
 return flag for throwing cheirality exceptions
 
- Public Member Functions inherited from gtsam::NoiseModelFactorN< ValueTypes >
template<int I = 1>
Key key () const
 Returns a key.
 
 NoiseModelFactorN ()
 Default Constructor for I/O.
 
 NoiseModelFactorN (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys)
 Constructor.
 
template<typename CONTAINER = std::initializer_list<Key>, typename = IsContainerOfKeys<CONTAINER>>
 NoiseModelFactorN (const SharedNoiseModel &noiseModel, CONTAINER keys)
 Constructor.
 
Vector unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override
 This implements the unwhitenedError virtual function by calling the n-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class.
 
virtual Vector evaluateError (const ValueTypes &... x, OptionalMatrix< ValueTypes >... H) const =0
 Override evaluateError to finish implementing an n-way factor.
 
Vector evaluateError (const ValueTypes &... x) const
 No-Jacobians requested function overload.
 
template<typename... OptionalJacArgs, typename = IndexIsValid<sizeof...(OptionalJacArgs) + 1>>
Vector evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const
 Some (but not all) optional Jacobians are omitted (function overload)
 
Key key1 () const
 
template<int I = 2>
Key key2 () const
 
template<int I = 3>
Key key3 () const
 
template<int I = 4>
Key key4 () const
 
template<int I = 5>
Key key5 () const
 
template<int I = 6>
Key key6 () const
 
- Public Member Functions inherited from gtsam::NoiseModelFactor
 NoiseModelFactor ()
 Default constructor for I/O only.
 
 ~NoiseModelFactor () override
 Destructor.
 
template<typename CONTAINER >
 NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)
 Constructor.
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 Print.
 
bool equals (const NonlinearFactor &f, double tol=1e-9) const override
 Check if two factors are equal.
 
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.
 
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.
 
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 \( b = z - h(x) = - \mathtt{error\_vector}(x) \).
 
shared_ptr cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const
 Creates a shared_ptr clone of the factor with a new noise model.
 
- 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.
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 print
 
virtual ~NonlinearFactor ()
 Destructor.
 
double error (const HybridValues &c) const override
 All factor types need to implement an error function.
 
virtual bool active (const Values &) const
 Checks whether a factor should be used based on a set of values.
 
virtual 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.
 
virtual shared_ptr rekey (const KeyVector &new_keys) const
 Clones a factor and fully replaces its keys.
 
virtual bool sendable () const
 Should the factor be evaluated in the same thread as the caller This is to enable factors that has shared states (like the Python GIL lock)
 
- Public Member Functions inherited from gtsam::Factor
virtual ~Factor ()=default
 Default destructor.
 
bool empty () const
 Whether the factor is empty (involves zero variables).
 
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
 
virtual void printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
 print only keys
 
bool equals (const This &other, double tol=1e-9) const
 check equality
 
KeyVectorkeys ()
 
iterator begin ()
 Iterator at beginning of involved variable keys.
 
iterator end ()
 Iterator at end of involved variable keys.
 

Public Types

typedef NoiseModelFactorN< POSE, LANDMARK > Base
 shorthand for base class type
 
typedef GenericProjectionFactor< 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::NoiseModelFactorN< ValueTypes >
enum  { N = sizeof...(ValueTypes) }
 N is the number of variables (N-way factor)
 
template<int I, typename = IndexIsValid<I>>
using ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type
 The type of the I'th template param can be obtained as ValueType.
 
- 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
 
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::NoiseModelFactorN< ValueTypes >
using Base = NoiseModelFactor
 
using This = NoiseModelFactorN< ValueTypes... >
 
template<typename T >
using OptionalMatrix = boost::optional< Matrix & >
 
template<typename T >
using KeyType = Key
 
template<typename From , typename To >
using IsConvertible = typename std::enable_if< std::is_convertible< From, To >::value, void >::type
 
template<int I>
using IndexIsValid = typename std::enable_if<(I >=1) &&(I<=N), void >::type
 
template<typename Container >
using ContainerElementType = typename std::decay< decltype(*std::declval< Container >().begin())>::type
 
template<typename Container >
using IsContainerOfKeys = IsConvertible< ContainerElementType< Container >, Key >
 
- 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.
 
template<typename ITERATOR >
 Factor (ITERATOR first, ITERATOR last)
 Construct factor from iterator keys.
 
- Static Protected Member Functions inherited from gtsam::Factor
template<typename CONTAINER >
static Factor FromKeys (const CONTAINER &keys)
 Construct factor from container of keys.
 
template<typename ITERATOR >
static Factor FromIterators (ITERATOR first, ITERATOR last)
 Construct factor from iterator keys.
 

Constructor & Destructor Documentation

◆ GenericProjectionFactor() [1/2]

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::GenericProjectionFactor ( const Point2 measured,
const SharedNoiseModel model,
Key  poseKey,
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 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
body_P_sensoris the transform from body to sensor frame (default identity)

◆ GenericProjectionFactor() [2/2]

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::GenericProjectionFactor ( const Point2 measured,
const SharedNoiseModel model,
Key  poseKey,
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 = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
gtsam::NonlinearFactor::shared_ptr gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::clone ( ) const
inlineoverridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

◆ equals()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
bool gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >::equals ( const NonlinearFactor p,
double  tol = 1e-9 
) const
inlineoverridevirtual

equals

Reimplemented from gtsam::NonlinearFactor.

◆ print()

template<class POSE = Pose3, class LANDMARK = Point3, class CALIBRATION = Cal3_S2>
void gtsam::GenericProjectionFactor< 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::Factor.


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