isae::AngularErrCeres_pointxd_dx Class Reference

Angular error cost function for a point landmark in the sensor frame. Parameters are delta update of the frame pose and the landmark position. More...

#include <AngularAdjustmentCERESAnalytic.h>

Inheritance diagram for isae::AngularErrCeres_pointxd_dx:

Collaboration diagram for isae::AngularErrCeres_pointxd_dx:

Public Member Functions
	AngularErrCeres_pointxd_dx (const Eigen::Vector3d &bearing_vector, const Eigen::Affine3d &T_s_f, const Eigen::Affine3d &T_f_w, const Eigen::Vector3d &t_w_lmk, const double sigma=1)
	~AngularErrCeres_pointxd_dx ()
virtual bool	Evaluate (double const *const *parameters, double *residuals, double **jacobians) const

Protected Attributes
const Eigen::Vector3d	_bearing_vector
	Bearing vector of the landmark in the sensor frame. More...
const Eigen::Affine3d	_T_s_f
	Transform of the frame w.r.t. the sensor. More...
const Eigen::Affine3d	_T_f_w
	Transform of the world w.r.t. the frame. More...
const Eigen::Vector3d	_t_w_lmk
	Position of the landmark in the world frame. More...
const double	_sigma
	Standard deviation for the residuals, used as a weight. More...

Detailed Description

Angular error cost function for a point landmark in the sensor frame. Parameters are delta update of the frame pose and the landmark position.

This cost function uses bearing vector that is compared to the projection of the landmark on the unit sphere, via an arbitrary tangent plane. This is inspired by "VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator" by Qin et al. Source: https://arxiv.org/abs/1708.03852

Constructor & Destructor Documentation

AngularErrCeres_pointxd_dx()

isae::AngularErrCeres_pointxd_dx::AngularErrCeres_pointxd_dx ( const Eigen::Vector3d &  bearing_vector, const Eigen::Affine3d &  T_s_f, const Eigen::Affine3d &  T_f_w, const Eigen::Vector3d &  t_w_lmk, const double  sigma = 1  )

inline

~AngularErrCeres_pointxd_dx()

isae::AngularErrCeres_pointxd_dx::~AngularErrCeres_pointxd_dx ( )

inline

Member Function Documentation

Evaluate()

virtual bool isae::AngularErrCeres_pointxd_dx::Evaluate ( double const *const *  parameters, double *  residuals, double **  jacobians  ) const

inlinevirtual

Member Data Documentation

_bearing_vector

const Eigen::Vector3d isae::AngularErrCeres_pointxd_dx::_bearing_vector

protected

Bearing vector of the landmark in the sensor frame.

_sigma

const double isae::AngularErrCeres_pointxd_dx::_sigma

protected

Standard deviation for the residuals, used as a weight.

_T_f_w

const Eigen::Affine3d isae::AngularErrCeres_pointxd_dx::_T_f_w

protected

Transform of the world w.r.t. the frame.

_T_s_f

const Eigen::Affine3d isae::AngularErrCeres_pointxd_dx::_T_s_f

protected

Transform of the frame w.r.t. the sensor.

_t_w_lmk

const Eigen::Vector3d isae::AngularErrCeres_pointxd_dx::_t_w_lmk

protected

Position of the landmark in the world frame.

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

• /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/include/isaeslam/optimizers/AngularAdjustmentCERESAnalytic.h