isae::AngularErrorScaleDepth Class Reference

An angular cost function that depends on the depth of the landmark and the scale of the motion. More...

#include <AngularAdjustmentCERESAnalytic.h>

Inheritance diagram for isae::AngularErrorScaleDepth:

Collaboration diagram for isae::AngularErrorScaleDepth:

Public Member Functions
	AngularErrorScaleDepth (const Eigen::Vector3d &bearing_vector, const Eigen::Vector3d &bearing_vector_cam, const Eigen::Affine3d &T_cam0_cam0p, const Eigen::Affine3d &T_cam_cam0, const double depth, const double sigma)
	AngularErrorScaleDepth ()
virtual bool	Evaluate (double const *const *parameters, double *residuals, double **jacobians) const

Public Attributes
Eigen::Vector3d	_bearing_vector
Eigen::Vector3d	_bearing_vector_cam
Eigen::Affine3d	_T_cam0_cam0p
Eigen::Affine3d	_T_cam_cam0
double	_depth
double	_sigma

Detailed Description

An angular cost function that depends on the depth of the landmark and the scale of the motion.

Constructor & Destructor Documentation

AngularErrorScaleDepth() [1/2]

isae::AngularErrorScaleDepth::AngularErrorScaleDepth ( const Eigen::Vector3d &  bearing_vector, const Eigen::Vector3d &  bearing_vector_cam, const Eigen::Affine3d &  T_cam0_cam0p, const Eigen::Affine3d &  T_cam_cam0, const double  depth, const double  sigma  )

inline

AngularErrorScaleDepth() [2/2]

isae::AngularErrorScaleDepth::AngularErrorScaleDepth ( )

inline

Member Function Documentation

Evaluate()

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

inlinevirtual

Member Data Documentation

_bearing_vector

Eigen::Vector3d isae::AngularErrorScaleDepth::_bearing_vector

_bearing_vector_cam

Eigen::Vector3d isae::AngularErrorScaleDepth::_bearing_vector_cam

_depth

double isae::AngularErrorScaleDepth::_depth

_sigma

double isae::AngularErrorScaleDepth::_sigma

_T_cam0_cam0p

Eigen::Affine3d isae::AngularErrorScaleDepth::_T_cam0_cam0p

_T_cam_cam0

Eigen::Affine3d isae::AngularErrorScaleDepth::_T_cam_cam0

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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