isae::ReprojectionErrCeres_pointxd_dx Class Reference

Reprojection errro cost function for a punctual landmark. The parameters are the delta update of the frame and the delta update of the 3D position of the landmark. More...

#include <BundleAdjustmentCERESAnalytic.h>

Inheritance diagram for isae::ReprojectionErrCeres_pointxd_dx:

Collaboration diagram for isae::ReprojectionErrCeres_pointxd_dx:

Public Member Functions
	ReprojectionErrCeres_pointxd_dx (const Eigen::Vector2d &p2d, const std::shared_ptr< ImageSensor > &cam, const Eigen::Affine3d &T_w_lmk, const double sigma=1.0)
	~ReprojectionErrCeres_pointxd_dx ()
virtual bool	Evaluate (double const *const *parameters, double *residuals, double **jacobians) const

Protected Attributes
const Eigen::Vector2d	p2d_
	2D point observation of the 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...
Eigen::Matrix2d	info_sqrt_
	Square root of the information matrix for the residuals. More...

Detailed Description

Reprojection errro cost function for a punctual landmark. The parameters are the delta update of the frame and the delta update of the 3D position of the landmark.

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

Constructor & Destructor Documentation

ReprojectionErrCeres_pointxd_dx()

isae::ReprojectionErrCeres_pointxd_dx::ReprojectionErrCeres_pointxd_dx ( const Eigen::Vector2d &  p2d, const std::shared_ptr< ImageSensor > &  cam, const Eigen::Affine3d &  T_w_lmk, const double  sigma = 1.0  )

inline

~ReprojectionErrCeres_pointxd_dx()

isae::ReprojectionErrCeres_pointxd_dx::~ReprojectionErrCeres_pointxd_dx ( )

inline

Member Function Documentation

Evaluate()

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

inlinevirtual

Member Data Documentation

_T_w_lmk

const Eigen::Affine3d isae::ReprojectionErrCeres_pointxd_dx::_T_w_lmk

protected

Transform of the landmark in the world frame.

cam_

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

protected

Camera sensor used to project the landmark.

info_sqrt_

Eigen::Matrix2d isae::ReprojectionErrCeres_pointxd_dx::info_sqrt_

protected

Square root of the information matrix for the residuals.

p2d_

const Eigen::Vector2d isae::ReprojectionErrCeres_pointxd_dx::p2d_

protected

2D point observation of the landmark

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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/BundleAdjustmentCERESAnalytic.h