#include <MultiProjectionFactor.h>

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

Collaboration diagram for gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >:

Public Types
typedef NoiseModelFactor	Base
	shorthand for base class type

typedef MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >	This
	shorthand for this class

typedef std::shared_ptr< This >	shared_ptr
	shorthand for a smart pointer to a factor

typedef KeyVector::iterator	iterator
	Iterator over keys.

typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Public Member Functions
	MultiProjectionFactor ()
	Default constructor.

	MultiProjectionFactor (const Vector &measured, const SharedNoiseModel &model, KeySet poseKeys, Key pointKey, const std::shared_ptr< CALIBRATION > &K, std::optional< POSE > body_P_sensor={})

	MultiProjectionFactor (const Vector &measured, const SharedNoiseModel &model, KeySet poseKeys, Key pointKey, const std::shared_ptr< CALIBRATION > &K, bool throwCheirality, bool verboseCheirality, std::optional< POSE > body_P_sensor={})

	~MultiProjectionFactor () override

NonlinearFactor::shared_ptr	clone () const override

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

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

Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override
	Evaluate error h(x)-z and optionally derivatives.

Vector	evaluateError (const Pose3 &pose, const Point3 &point, OptionalJacobian< 2, 6 > H1={}, OptionalJacobian< 2, 3 > H2={}) const

const Vector &	measured () const

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

bool	verboseCheirality () const

bool	throwCheirality () const

size_t	dim () const override

const SharedNoiseModel &	noiseModel () const
	access to the noise model

Vector	unwhitenedError (const Values &x, std::vector< Matrix > &H) const

Vector	whitenedError (const Values &c) const

Vector	unweightedWhitenedError (const Values &c) const

double	weight (const Values &c) const

double	error (const Values &c) const override

std::shared_ptr< GaussianFactor >	linearize (const Values &x) const override

shared_ptr	cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const

Testable
bool	equals (const This &other, double tol=1e-9) const
	check equality

virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys

Standard Interface
double	error (const HybridValues &c) const override

virtual bool	active (const Values &) const

virtual shared_ptr	rekey (const std::map< Key, Key > &rekey_mapping) const

virtual shared_ptr	rekey (const KeyVector &new_keys) const

virtual bool	sendable () const

Standard Interface
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 KeyVector &	keys () const
	Access the factor's involved variable keys.

const_iterator	begin () const

const_iterator	end () const

size_t	size () const

Advanced Interface
KeyVector &	keys ()

iterator	begin ()

iterator	end ()

Static Protected Member Functions
Standard Constructors
template<typename CONTAINER >
static Factor	FromKeys (const CONTAINER &keys)

template<typename ITERATOR >
static Factor	FromIterators (ITERATOR first, ITERATOR last)

Protected Attributes
Vector	measured_
	2D measurement for each of the n views

std::shared_ptr< CALIBRATION >	K_
	shared pointer to calibration object

std::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)

SharedNoiseModel	noiseModel_

KeyVector	keys_
	The keys involved in this factor.

Detailed Description

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>
class gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >

Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here. i.e. the main building block for visual SLAM.

Constructor & Destructor Documentation

◆ MultiProjectionFactor() [1/2]

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

gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::MultiProjectionFactor	(	const Vector &	measured,
		const SharedNoiseModel &	model,
		KeySet	poseKeys,
		Key	pointKey,
		const std::shared_ptr< CALIBRATION > &	K,
		std::optional< POSE >	body_P_sensor = `{}`
	)

inline

Constructor TODO: Mark argument order standard (keys, measurement, parameters)

Parameters

measured	is the 2n dimensional location of the n points in the n views (the measurements)
model	is the standard deviation (current version assumes that the uncertainty is the same for all views)
poseKeys	is the set of indices corresponding to the cameras observing the same landmark
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)

◆ MultiProjectionFactor() [2/2]

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

gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::MultiProjectionFactor	(	const Vector &	measured,
		const SharedNoiseModel &	model,
		KeySet	poseKeys,
		Key	pointKey,
		const std::shared_ptr< CALIBRATION > &	K,
		bool	throwCheirality,
		bool	verboseCheirality,
		std::optional< POSE >	body_P_sensor = `{}`
	)

inline

Constructor with exception-handling flags TODO: Mark argument order standard (keys, measurement, parameters)

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)

◆ ~MultiProjectionFactor()

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

gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::~MultiProjectionFactor ( )

inlineoverride

Virtual destructor

Member Function Documentation

◆ active()

virtual bool gtsam::NonlinearFactor::active ( const Values & ) const

inlinevirtualinherited

Checks whether a factor should be used based on a set of values. This is primarily used to implement inequality constraints that require a variable active set. For all others, the default implementation returning true solves this problem.

In an inequality/bounding constraint, this active() returns true when the constraint is NOT fulfilled.

Returns: true if the constraint is active

Reimplemented in gtsam::BoundingConstraint2< VALUE1, VALUE2 >, gtsam::AntiFactor, and gtsam::BoundingConstraint1< VALUE >.

◆ begin() [1/2]

const_iterator gtsam::Factor::begin ( ) const

inlineinherited

Iterator at beginning of involved variable keys

◆ begin() [2/2]

iterator gtsam::Factor::begin ( )

inlineinherited

Iterator at beginning of involved variable keys

◆ calibration()

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

const std::shared_ptr<CALIBRATION> gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::calibration ( ) const

inline

return the calibration object

◆ clone()

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

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

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

◆ cloneWithNewNoiseModel()

shared_ptr gtsam::NoiseModelFactor::cloneWithNewNoiseModel ( const SharedNoiseModel newNoise ) const

inherited

Creates a shared_ptr clone of the factor with a new noise model

◆ dim()

size_t gtsam::NoiseModelFactor::dim ( ) const

inlineoverridevirtualinherited

get the dimension of the factor (number of rows on linearization)

Implements gtsam::NonlinearFactor.

◆ end() [1/2]

const_iterator gtsam::Factor::end ( ) const

inlineinherited

Iterator at end of involved variable keys

◆ end() [2/2]

iterator gtsam::Factor::end ( )

inlineinherited

Iterator at end of involved variable keys

◆ error() [1/2]

double gtsam::NonlinearFactor::error ( const HybridValues & c ) const

overridevirtualinherited

All factor types need to implement an error function. In factor graphs, this is the negative log-likelihood.

Reimplemented from gtsam::Factor.

◆ error() [2/2]

double gtsam::NoiseModelFactor::error ( const Values & c ) const

overridevirtualinherited

Calculate the error of the factor. This is the log-likelihood, e.g. \( 0.5(h(x)-z)^2/\sigma^2 \) in case of Gaussian. In this class, we take the raw prediction error \( h(x)-z \), ask the noise model to transform it to \( (h(x)-z)^2/\sigma^2 \), and then multiply by 0.5.

Reimplemented from gtsam::NonlinearFactor.

◆ FromIterators()

template<typename ITERATOR >

static Factor gtsam::Factor::FromIterators	(	ITERATOR	first,
		ITERATOR	last
	)

inlinestaticprotectedinherited

Construct factor from iterator keys. This is called internally from derived factor static factor methods, as a workaround for not being able to call the protected constructors above.

◆ FromKeys()

template<typename CONTAINER >

static Factor gtsam::Factor::FromKeys ( const CONTAINER & keys )

inlinestaticprotectedinherited

Construct factor from container of keys. This is called internally from derived factor static factor methods, as a workaround for not being able to call the protected constructors above.

◆ keys()

KeyVector& gtsam::Factor::keys ( )

inlineinherited

Returns: keys involved in this factor

◆ linearize()

std::shared_ptr<GaussianFactor> gtsam::NoiseModelFactor::linearize ( const Values & x ) const

overridevirtualinherited

Linearize a non-linearFactorN to get a GaussianFactor, \( Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z \) Hence \( b = z - h(x) = - \mathtt{error\_vector}(x) \)

Implements gtsam::NonlinearFactor.

Reimplemented in gtsam::TriangulationFactor< CAMERA >, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::ExpressionFactor< BearingRange< A1, A2 > >, and gtsam::ExpressionFactor< double >.

◆ measured()

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

const Vector& gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >::measured ( ) const

inline

return the measurements

◆ print()

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

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

inlineoverridevirtual

print

Parameters

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

Reimplemented from gtsam::NoiseModelFactor.

◆ rekey() [1/2]

virtual shared_ptr gtsam::NonlinearFactor::rekey ( const std::map< Key, Key > & rekey_mapping ) const

virtualinherited

Creates a shared_ptr clone of the factor with different keys using a map from old->new keys

Reimplemented in gtsam::LinearContainerFactor.

◆ rekey() [2/2]

virtual shared_ptr gtsam::NonlinearFactor::rekey ( const KeyVector & new_keys ) const

virtualinherited

Clones a factor and fully replaces its keys

Parameters

new_keys is the full replacement set of keys

Reimplemented in gtsam::LinearContainerFactor.

◆ sendable()

virtual bool gtsam::NonlinearFactor::sendable ( ) const

inlinevirtualinherited

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)

Reimplemented in gtsam::CustomFactor.

◆ size()

size_t gtsam::Factor::size ( ) const

inlineinherited

Returns: the number of variables involved in this factor

◆ throwCheirality()

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

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

inline

return flag for throwing cheirality exceptions

◆ unweightedWhitenedError()

Vector gtsam::NoiseModelFactor::unweightedWhitenedError ( const Values & c ) const

inherited

Vector of errors, whitened, but unweighted by any loss function

◆ unwhitenedError()

Vector gtsam::NoiseModelFactor::unwhitenedError	(	const Values &	x,
		std::vector< Matrix > &	H
	)		const

inlineinherited

support taking in the actual vector instead of the pointer as well to get access to this version of the function from derived classes one will need to use the "using" keyword and specify that like this: public: using NoiseModelFactor::unwhitenedError;

◆ verboseCheirality()

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

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

inline

return verbosity

◆ weight()

double gtsam::NoiseModelFactor::weight ( const Values & c ) const

inherited

Compute the effective weight of the factor from the noise model.

◆ whitenedError()

Vector gtsam::NoiseModelFactor::whitenedError ( const Values & c ) const

inherited

Vector of errors, whitened This is the raw error, i.e., i.e. \( (h(x)-z)/\sigma \) in case of a Gaussian

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

/home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam_unstable/slam/MultiProjectionFactor.h

Public Types

Public Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2> class gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >

Constructor & Destructor Documentation

◆ MultiProjectionFactor() [1/2]

◆ MultiProjectionFactor() [2/2]

◆ ~MultiProjectionFactor()

Member Function Documentation

◆ active()

◆ begin() [1/2]

◆ begin() [2/2]

◆ calibration()

◆ clone()

◆ cloneWithNewNoiseModel()

◆ dim()

◆ end() [1/2]

◆ end() [2/2]

◆ error() [1/2]

◆ error() [2/2]

◆ FromIterators()

◆ FromKeys()

◆ keys()

◆ linearize()

◆ measured()

◆ print()

◆ rekey() [1/2]

◆ rekey() [2/2]

◆ sendable()

◆ size()

◆ throwCheirality()

◆ unweightedWhitenedError()

◆ unwhitenedError()

◆ verboseCheirality()

◆ weight()

◆ whitenedError()

template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>
class gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >