gtsam_points::BundleAdjustmentFactorBase Class Reference

Base class of range-based bundle adjustment factors. More...

#include <bundle_adjustment_factor.hpp>

Inheritance diagram for gtsam_points::BundleAdjustmentFactorBase:

Collaboration diagram for gtsam_points::BundleAdjustmentFactorBase:

Public Types
using	shared_ptr = gtsam_points::shared_ptr< BundleAdjustmentFactorBase >

Public Member Functions
virtual void	add (const gtsam::Point3 &pt, const gtsam::Key &key)=0
	Assign a point to the factor.
virtual int	num_points () const =0
	Number of points assigned to the factor.
virtual void	set_scale (double scale)
	Set a constant error scale to boost the weight of the constraint.

Detailed Description

Base class of range-based bundle adjustment factors.

Member Function Documentation

add()

virtual void gtsam_points::BundleAdjustmentFactorBase::add ( const gtsam::Point3 &  pt, const gtsam::Key &  key  )

pure virtual

Assign a point to the factor.

Parameters

pt	Point
key	Key of the frame corresponding to the point

Implemented in gtsam_points::EVMBundleAdjustmentFactorBase, and gtsam_points::LsqBundleAdjustmentFactor.

num_points()

virtual int gtsam_points::BundleAdjustmentFactorBase::num_points ( ) const

pure virtual

Number of points assigned to the factor.

Returns

Number of points

Implemented in gtsam_points::EVMBundleAdjustmentFactorBase, and gtsam_points::LsqBundleAdjustmentFactor.

set_scale()

virtual void gtsam_points::BundleAdjustmentFactorBase::set_scale ( double  scale )

inlinevirtual

Set a constant error scale to boost the weight of the constraint.

Reimplemented in gtsam_points::EVMBundleAdjustmentFactorBase.

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

• /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/bundle_adjustment_factor.hpp