Edge EVM factor that minimizes lambda_0 + lambda_1. More...
#include <bundle_adjustment_factor_evm.hpp>
Inheritance diagram for gtsam_points::EdgeEVMFactor:
Collaboration diagram for gtsam_points::EdgeEVMFactor:
Public Types | |
| using | shared_ptr = gtsam_points::shared_ptr< EdgeEVMFactor > |
 Public Types inherited from gtsam_points::EVMBundleAdjustmentFactorBase | |
| using | shared_ptr = gtsam_points::shared_ptr< EVMBundleAdjustmentFactorBase > |
| Public Types inherited from gtsam_points::BundleAdjustmentFactorBase | |
| using | shared_ptr = gtsam_points::shared_ptr< BundleAdjustmentFactorBase > |
Public Member Functions | |
| virtual void | print (const std::string &s="", const gtsam::KeyFormatter &keyFormatter=gtsam::DefaultKeyFormatter) const override |
| Print the factor information. | |
| virtual double | error (const gtsam::Values &c) const override |
| virtual gtsam::GaussianFactor::shared_ptr | linearize (const gtsam::Values &c) const override |
| Public Member Functions inherited from gtsam_points::EVMBundleAdjustmentFactorBase | |
| virtual size_t | dim () const override |
| virtual void | add (const gtsam::Point3 &pt, const gtsam::Key &key) override |
| Assign a point to the factor. | |
| virtual int | num_points () const override |
| Number of points assigned to this factor. | |
| virtual void | set_scale (double scale) override |
| Set a constant error scaling factor to boost the weight of the factor. | |
Additional Inherited Members | |
| Protected Member Functions inherited from gtsam_points::EVMBundleAdjustmentFactorBase | |
| template<int k> | |
| double | calc_eigenvalue (const std::vector< Eigen::Vector3d > &transed_points, Eigen::MatrixXd *H=nullptr, Eigen::MatrixXd *J=nullptr) const |
| Eigen::MatrixXd | calc_pose_derivatives (const std::vector< Eigen::Vector3d > &transed_points) const |
| gtsam::GaussianFactor::shared_ptr | compose_factor (const Eigen::MatrixXd &H, const Eigen::MatrixXd &J, double error) const |
| Protected Attributes inherited from gtsam_points::EVMBundleAdjustmentFactorBase | |
| double | error_scale |
| std::vector< gtsam::Key > | keys |
| std::vector< gtsam::Point3 > | points |
| std::unordered_map< gtsam::Key, int > | key_index |
Detailed Description
Edge EVM factor that minimizes lambda_0 + lambda_1.
Member Function Documentation
◆ print()
|
overridevirtual |
Print the factor information.
Reimplemented from gtsam_points::EVMBundleAdjustmentFactorBase.
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_evm.hpp
