okvis::ceres::HomogeneousPointLocalParameterization Class Reference

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>

Inheritance diagram for okvis::ceres::HomogeneousPointLocalParameterization:

Public Member Functions
virtual	~HomogeneousPointLocalParameterization ()
	Destructor (does nothing) More...
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...
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...
virtual bool	ComputeJacobian (const double *x, double *jacobian) const
	The jacobian of Plus(x, delta) w.r.t delta at delta = 0. More...
virtual bool	ComputeLiftJacobian (const double *x, double *jacobian) const
	Computes the Jacobian from minimal space to naively overparameterised space as used by ceres. More...
virtual int	GlobalSize () const
	The parameter block dimension. More...
virtual int	LocalSize () const
	The parameter block local dimension. More...
Public Member Functions inherited from okvis::ceres::LocalParamizationAdditionalInterfaces
virtual	~LocalParamizationAdditionalInterfaces ()
	Trivial destructor. More...
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...

Static Public Member Functions
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...
static bool	plusJacobian (const double *x, double *jacobian)
	The jacobian of Plus(x, delta) w.r.t delta at delta = 0. More...
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...
static bool	liftJacobian (const double *x, double *jacobian)
	Computes the Jacobian from minimal space to naively overparameterised space as used by ceres. More...

Detailed Description

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.

Constructor & Destructor Documentation

virtual okvis::ceres::HomogeneousPointLocalParameterization::~HomogeneousPointLocalParameterization ( )

inlinevirtual

Destructor (does nothing)

Member Function Documentation

bool okvis::ceres::HomogeneousPointLocalParameterization::ComputeJacobian ( const double *  x, double *  jacobian  ) const

virtual

The jacobian of Plus(x, delta) w.r.t delta at delta = 0.

Parameters

[in]	x	Variable.
[out]	jacobian	The Jacobian.

bool okvis::ceres::HomogeneousPointLocalParameterization::ComputeLiftJacobian ( const double *  x, double *  jacobian  ) const

virtual

Computes the Jacobian from minimal space to naively overparameterised space as used by ceres.

Parameters

[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 ( ) const

inlinevirtual

The parameter block dimension.

bool okvis::ceres::HomogeneousPointLocalParameterization::liftJacobian ( const double *  x, double *  jacobian  )

static

Computes the Jacobian from minimal space to naively overparameterised space as used by ceres.

Parameters

[in]	x	Variable.
[out]	jacobian	the Jacobian (dimension minDim x dim).

Returns

True on success.

virtual int okvis::ceres::HomogeneousPointLocalParameterization::LocalSize ( ) const

inlinevirtual

The parameter block local dimension.

bool okvis::ceres::HomogeneousPointLocalParameterization::Minus ( const double *  x, const double *  x_plus_delta, double *  delta  ) const

virtual

Computes the minimal difference between a variable x and a perturbed variable x_plus_delta.

Parameters

[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 ( const double *  x, const double *  x_plus_delta, double *  delta  )

static

Computes the minimal difference between a variable x and a perturbed variable x_plus_delta.

Parameters

[in]	x	Variable.
[in]	x_plus_delta	Perturbed variable.
[out]	delta	minimal difference.

Returns

True on success.

bool okvis::ceres::HomogeneousPointLocalParameterization::Plus ( const double *  x, const double *  delta, double *  x_plus_delta  ) const

virtual

Generalization of the addition operation, x_plus_delta = Plus(x, delta) with the condition that Plus(x, 0) = x.

Parameters

[in]	x	Variable.
[in]	delta	Perturbation.
[out]	x_plus_delta	Perturbed x.

bool okvis::ceres::HomogeneousPointLocalParameterization::plus ( const double *  x, const double *  delta, double *  x_plus_delta  )

static

Generalization of the addition operation, x_plus_delta = Plus(x, delta) with the condition that Plus(x, 0) = x.

Parameters

[in]	x	Variable.
[in]	delta	Perturbation.
[out]	x_plus_delta	Perturbed x.

bool okvis::ceres::HomogeneousPointLocalParameterization::plusJacobian ( const double *  x, double *  jacobian  )

static

The jacobian of Plus(x, delta) w.r.t delta at delta = 0.

Parameters

[in]	x	Variable.
[out]	jacobian	The Jacobian.

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

• okvis_ceres/include/okvis/ceres/HomogeneousPointLocalParameterization.hpp
• okvis_ceres/src/HomogeneousPointLocalParameterization.cpp