isae::ReprojectionErrCeres_linexd_dx Class Reference

Reprojection error cost function for a line landmark. The parameters are the delta update of the frame and the delta update of the line 3D parametrization. More...

#include <BundleAdjustmentCERESAnalytic.h>

Inheritance diagram for isae::ReprojectionErrCeres_linexd_dx:

Collaboration diagram for isae::ReprojectionErrCeres_linexd_dx:

Public Member Functions
	ReprojectionErrCeres_linexd_dx (const std::vector< Eigen::Vector2d > &p2ds, const std::shared_ptr< ImageSensor > &cam, const Eigen::Affine3d &T_w_lmk, const std::shared_ptr< AModel3d > &model3d, const double sigma=1.0)
	~ReprojectionErrCeres_linexd_dx ()
virtual bool	Evaluate (double const *const *parameters, double *residuals, double **jacobians) const

Protected Attributes
const std::vector< Eigen::Vector2d >	p2ds_
	2D point observations of the line landmark More...
const std::shared_ptr< ImageSensor >	cam_
	Camera sensor used to project the landmark. More...
const Eigen::Affine3d	T_w_lmk_
	Transform of the landmark in the world frame. More...
const std::shared_ptr< AModel3d >	model3d_
	3D model of the line landmark More...
Eigen::Matrix2d	info_sqrt_
	Square root of the information matrix for the residuals. More...

Detailed Description

Reprojection error cost function for a line landmark. The parameters are the delta update of the frame and the delta update of the line 3D parametrization.

BEWARE: This funciton requires that the jacobians are derived in the projection function of the camera model.

Constructor & Destructor Documentation

ReprojectionErrCeres_linexd_dx()

isae::ReprojectionErrCeres_linexd_dx::ReprojectionErrCeres_linexd_dx ( const std::vector< Eigen::Vector2d > &  p2ds, const std::shared_ptr< ImageSensor > &  cam, const Eigen::Affine3d &  T_w_lmk, const std::shared_ptr< AModel3d > &  model3d, const double  sigma = 1.0  )

inline

~ReprojectionErrCeres_linexd_dx()

isae::ReprojectionErrCeres_linexd_dx::~ReprojectionErrCeres_linexd_dx ( )

inline

Member Function Documentation

Evaluate()

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

inlinevirtual

Member Data Documentation

cam_

const std::shared_ptr<ImageSensor> isae::ReprojectionErrCeres_linexd_dx::cam_

protected

Camera sensor used to project the landmark.

info_sqrt_

Eigen::Matrix2d isae::ReprojectionErrCeres_linexd_dx::info_sqrt_

protected

Square root of the information matrix for the residuals.

model3d_

const std::shared_ptr<AModel3d> isae::ReprojectionErrCeres_linexd_dx::model3d_

protected

3D model of the line landmark

p2ds_

const std::vector<Eigen::Vector2d> isae::ReprojectionErrCeres_linexd_dx::p2ds_

protected

2D point observations of the line landmark

T_w_lmk_

const Eigen::Affine3d isae::ReprojectionErrCeres_linexd_dx::T_w_lmk_

protected

Transform of the landmark in the world frame.

---

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

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