wrap TriangulationFactor
parent
798db544a4
commit
832ef7725b
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@ -348,6 +348,45 @@ virtual class FrobeniusBetweenFactor : gtsam::NoiseModelFactor {
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gtsam::Vector evaluateError(const T& R1, const T& R2);
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};
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#include <gtsam/slam/TriangulationFactor.h>
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template <CAMERA>
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virtual class TriangulationFactor : gtsam::NoiseModelFactor {
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TriangulationFactor();
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TriangulationFactor(const CAMERA& camera, const gtsam::This::Measurement& measured,
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const gtsam::noiseModel::Base* model, gtsam::Key pointKey,
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bool throwCheirality = false,
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bool verboseCheirality = false);
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void print(const string& s = "", const gtsam::KeyFormatter& keyFormatter =
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gtsam::DefaultKeyFormatter) const;
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bool equals(const This& p, double tol = 1e-9) const;
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gtsam::Vector evaluateError(const gtsam::Point3& point) const;
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const gtsam::This::Measurement& measured() const;
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};
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typedef gtsam::TriangulationFactor<gtsam::PinholeCamera<gtsam::Cal3_S2>>
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TriangulationFactorCal3_S2;
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typedef gtsam::TriangulationFactor<gtsam::PinholeCamera<gtsam::Cal3DS2>>
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TriangulationFactorCal3DS2;
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typedef gtsam::TriangulationFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>>
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TriangulationFactorCal3Bundler;
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typedef gtsam::TriangulationFactor<gtsam::PinholeCamera<gtsam::Cal3Fisheye>>
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TriangulationFactorCal3Fisheye;
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typedef gtsam::TriangulationFactor<gtsam::PinholeCamera<gtsam::Cal3Unified>>
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TriangulationFactorCal3Unified;
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typedef gtsam::TriangulationFactor<gtsam::PinholePose<gtsam::Cal3_S2>>
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TriangulationFactorPoseCal3_S2;
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typedef gtsam::TriangulationFactor<gtsam::PinholePose<gtsam::Cal3DS2>>
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TriangulationFactorPoseCal3DS2;
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typedef gtsam::TriangulationFactor<gtsam::PinholePose<gtsam::Cal3Bundler>>
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TriangulationFactorPoseCal3Bundler;
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typedef gtsam::TriangulationFactor<gtsam::PinholePose<gtsam::Cal3Fisheye>>
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TriangulationFactorPoseCal3Fisheye;
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typedef gtsam::TriangulationFactor<gtsam::PinholePose<gtsam::Cal3Unified>>
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TriangulationFactorPoseCal3Unified;
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#include <gtsam/slam/lago.h>
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namespace lago {
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gtsam::Values initialize(const gtsam::NonlinearFactorGraph& graph, bool useOdometricPath = true);
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