Local parameterisation of a homogeneous point [x,y,z,w]^T. We use a Euclidean-type perturbation, i.e. only affect the x-y-z-part.
More...
#include <HomogeneousPointLocalParameterization.hpp>
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virtual | ~HomogeneousPointLocalParameterization () |
| Destructor (does nothing) More...
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virtual bool | Plus (const double *x, const double *delta, double *x_plus_delta) const |
| Generalization of the addition operation, x_plus_delta = Plus(x, delta) with the condition that Plus(x, 0) = x. More...
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virtual bool | Minus (const double *x, const double *x_plus_delta, double *delta) const |
| Computes the minimal difference between a variable x and a perturbed variable x_plus_delta. More...
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virtual bool | ComputeJacobian (const double *x, double *jacobian) const |
| The jacobian of Plus(x, delta) w.r.t delta at delta = 0. More...
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virtual bool | ComputeLiftJacobian (const double *x, double *jacobian) const |
| Computes the Jacobian from minimal space to naively overparameterised space as used by ceres. More...
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virtual int | GlobalSize () const |
| The parameter block dimension. More...
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virtual int | LocalSize () const |
| The parameter block local dimension. More...
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virtual | ~LocalParamizationAdditionalInterfaces () |
| Trivial destructor. More...
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virtual bool | verify (const double *x_raw, double purturbation_magnitude=1.0e-6) const |
| Verifies the correctness of an inplementation by means of numeric Jacobians. More...
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static bool | plus (const double *x, const double *delta, double *x_plus_delta) |
| Generalization of the addition operation, x_plus_delta = Plus(x, delta) with the condition that Plus(x, 0) = x. More...
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static bool | plusJacobian (const double *x, double *jacobian) |
| The jacobian of Plus(x, delta) w.r.t delta at delta = 0. More...
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static bool | minus (const double *x, const double *x_plus_delta, double *delta) |
| Computes the minimal difference between a variable x and a perturbed variable x_plus_delta. More...
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static bool | liftJacobian (const double *x, double *jacobian) |
| Computes the Jacobian from minimal space to naively overparameterised space as used by ceres. More...
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Local parameterisation of a homogeneous point [x,y,z,w]^T. We use a Euclidean-type perturbation, i.e. only affect the x-y-z-part.
virtual okvis::ceres::HomogeneousPointLocalParameterization::~HomogeneousPointLocalParameterization |
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inlinevirtual |
Destructor (does nothing)
bool okvis::ceres::HomogeneousPointLocalParameterization::ComputeJacobian |
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const double * |
x, |
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double * |
jacobian |
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The jacobian of Plus(x, delta) w.r.t delta at delta = 0.
- Parameters
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[in] | x | Variable. |
[out] | jacobian | The Jacobian. |
bool okvis::ceres::HomogeneousPointLocalParameterization::ComputeLiftJacobian |
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const double * |
x, |
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double * |
jacobian |
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virtual |
Computes the Jacobian from minimal space to naively overparameterised space as used by ceres.
- Parameters
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[in] | x | Variable. |
[out] | jacobian | the Jacobian (dimension minDim x dim). |
- Returns
- True on success.
Implements okvis::ceres::LocalParamizationAdditionalInterfaces.
virtual int okvis::ceres::HomogeneousPointLocalParameterization::GlobalSize |
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const |
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inlinevirtual |
The parameter block dimension.
bool okvis::ceres::HomogeneousPointLocalParameterization::liftJacobian |
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const double * |
x, |
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double * |
jacobian |
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static |
Computes the Jacobian from minimal space to naively overparameterised space as used by ceres.
- Parameters
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[in] | x | Variable. |
[out] | jacobian | the Jacobian (dimension minDim x dim). |
- Returns
- True on success.
virtual int okvis::ceres::HomogeneousPointLocalParameterization::LocalSize |
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const |
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inlinevirtual |
The parameter block local dimension.
bool okvis::ceres::HomogeneousPointLocalParameterization::Minus |
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const double * |
x, |
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const double * |
x_plus_delta, |
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double * |
delta |
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virtual |
Computes the minimal difference between a variable x and a perturbed variable x_plus_delta.
- Parameters
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[in] | x | Variable. |
[in] | x_plus_delta | Perturbed variable. |
[out] | delta | minimal difference. |
- Returns
- True on success.
Implements okvis::ceres::LocalParamizationAdditionalInterfaces.
bool okvis::ceres::HomogeneousPointLocalParameterization::minus |
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const double * |
x, |
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const double * |
x_plus_delta, |
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double * |
delta |
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static |
Computes the minimal difference between a variable x and a perturbed variable x_plus_delta.
- Parameters
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[in] | x | Variable. |
[in] | x_plus_delta | Perturbed variable. |
[out] | delta | minimal difference. |
- Returns
- True on success.
bool okvis::ceres::HomogeneousPointLocalParameterization::Plus |
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const double * |
x, |
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const double * |
delta, |
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double * |
x_plus_delta |
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Generalization of the addition operation, x_plus_delta = Plus(x, delta) with the condition that Plus(x, 0) = x.
- Parameters
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[in] | x | Variable. |
[in] | delta | Perturbation. |
[out] | x_plus_delta | Perturbed x. |
bool okvis::ceres::HomogeneousPointLocalParameterization::plus |
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const double * |
x, |
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const double * |
delta, |
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double * |
x_plus_delta |
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Generalization of the addition operation, x_plus_delta = Plus(x, delta) with the condition that Plus(x, 0) = x.
- Parameters
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[in] | x | Variable. |
[in] | delta | Perturbation. |
[out] | x_plus_delta | Perturbed x. |
bool okvis::ceres::HomogeneousPointLocalParameterization::plusJacobian |
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const double * |
x, |
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double * |
jacobian |
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static |
The jacobian of Plus(x, delta) w.r.t delta at delta = 0.
- Parameters
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[in] | x | Variable. |
[out] | jacobian | The Jacobian. |
The documentation for this class was generated from the following files: