The 2D keypoint reprojection error. More...

#include <ReprojectionError.hpp>

Inheritance diagram for okvis::ceres::ReprojectionError< GEOMETRY_TYPE >:

Public Types
typedef ::ceres::SizedCostFunction< 2, 7, 4, 7 >	base_t
	The base class type. More...

typedef Eigen::Vector2d	keypoint_t
	The keypoint type (measurement type). More...

Public Types inherited from okvis::ceres::ReprojectionError2dBase
typedef Eigen::Vector2d	measurement_t
	Measurement type (2D). More...

typedef Eigen::Matrix2d	covariance_t
	Covariance / information matrix type (2x2). More...

Public Member Functions
	ReprojectionError ()
	Default constructor. More...

	ReprojectionError (std::shared_ptr< const camera_geometry_t > cameraGeometry, uint64_t cameraId, const measurement_t &measurement, const covariance_t &information)
	Construct with measurement and information matrix. More...

virtual	~ReprojectionError ()
	Trivial destructor. More...

virtual void	setMeasurement (const measurement_t &measurement)
	Set the measurement. More...

void	setCameraGeometry (std::shared_ptr< const camera_geometry_t > cameraGeometry)
	Set the underlying camera model. More...

virtual void	setInformation (const covariance_t &information)
	Set the information. More...

virtual const measurement_t &	measurement () const
	Get the measurement. More...

virtual const covariance_t &	information () const
	Get the information matrix. More...

virtual const covariance_t &	covariance () const
	Get the covariance matrix. More...

virtual bool	Evaluate (double const const parameters, double residuals, double *jacobians) const
	This evaluates the error term and additionally computes the Jacobians. More...

virtual bool	EvaluateWithMinimalJacobians (double const const parameters, double residuals, double jacobians, double *jacobiansMinimal) const
	This evaluates the error term and additionally computes the Jacobians in the minimal internal representation. More...

size_t	residualDim () const
	Residual dimension. More...

size_t	parameterBlocks () const
	Number of parameter blocks. More...

size_t	parameterBlockDim (size_t parameterBlockId) const
	Dimension of an individual parameter block. More...

virtual std::string	typeInfo () const
	Residual block type as string. More...

Public Member Functions inherited from okvis::ceres::ReprojectionErrorBase
uint64_t	cameraId () const
	Camera ID. More...

void	setCameraId (uint64_t cameraId)
	Set camera ID. More...

Public Member Functions inherited from okvis::ceres::ErrorInterface
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ErrorInterface ()
	Constructor. More...

virtual	~ErrorInterface ()
	Destructor (does nothing). More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef GEOMETRY_TYPE	camera_geometry_t
	Make the camera geometry type accessible. More...

Public Attributes inherited from okvis::ceres::ReprojectionErrorBase
uint64_t	cameraId_
	ID of the camera. More...

Static Public Attributes
static const int	kNumResiduals = 2
	Number of residuals (2) More...

Protected Attributes
measurement_t	measurement_
	The (2D) measurement. More...

std::shared_ptr< const camera_geometry_t >	cameraGeometry_
	The camera model: More...

covariance_t	information_
	The 2x2 information matrix. More...

covariance_t	squareRootInformation_
	The 2x2 square root information matrix. More...

covariance_t	covariance_
	The 2x2 covariance matrix. More...

Detailed Description

template<class GEOMETRY_TYPE>
class okvis::ceres::ReprojectionError< GEOMETRY_TYPE >

The 2D keypoint reprojection error.

Template Parameters

GEOMETRY_TYPE The camera gemetry type.

Member Typedef Documentation

template<class GEOMETRY_TYPE >

typedef ::ceres::SizedCostFunction<2, 7, 4, 7> okvis::ceres::ReprojectionError< GEOMETRY_TYPE >::base_t

The base class type.

template<class GEOMETRY_TYPE >

typedef Eigen::Vector2d okvis::ceres::ReprojectionError< GEOMETRY_TYPE >::keypoint_t

The keypoint type (measurement type).

Constructor & Destructor Documentation

template<class GEOMETRY_T >

okvis::ceres::ReprojectionError< GEOMETRY_T >::ReprojectionError ( )

Default constructor.

template<class GEOMETRY_T >

okvis::ceres::ReprojectionError< GEOMETRY_T >::ReprojectionError	(	std::shared_ptr< const camera_geometry_t >	cameraGeometry,
		uint64_t	cameraId,
		const measurement_t &	measurement,
		const covariance_t &	information
	)

Construct with measurement and information matrix.

Parameters

[in]	cameraGeometry	The underlying camera geometry.
[in]	cameraId	The id of the camera in the okvis::cameras::NCameraSystem.
[in]	measurement	The measurement.
[in]	information	The information (weight) matrix.

template<class GEOMETRY_TYPE >

virtual okvis::ceres::ReprojectionError< GEOMETRY_TYPE >::~ReprojectionError ( )

inlinevirtual

Trivial destructor.

Member Function Documentation

template<class GEOMETRY_TYPE >

virtual const covariance_t& okvis::ceres::ReprojectionError< GEOMETRY_TYPE >::covariance ( ) const

inlinevirtual

Get the covariance matrix.

Returns: The inverse information (covariance) matrix.

Implements okvis::ceres::ReprojectionError2dBase.

template<class GEOMETRY_T >

bool okvis::ceres::ReprojectionError< GEOMETRY_T >::Evaluate	(	double const const	parameters,
		double *	residuals,
		double **	jacobians
	)		const

virtual

This evaluates the error term and additionally computes the Jacobians.

Parameters

parameters	Pointer to the parameters (see ceres)
residuals	Pointer to the residual vector (see ceres)
jacobians	Pointer to the Jacobians (see ceres)

Returns: success of th evaluation.

template<class GEOMETRY_T >

bool okvis::ceres::ReprojectionError< GEOMETRY_T >::EvaluateWithMinimalJacobians	(	double const const	parameters,
		double *	residuals,
		double **	jacobians,
		double **	jacobiansMinimal
	)		const

virtual

This evaluates the error term and additionally computes the Jacobians in the minimal internal representation.

Parameters

parameters	Pointer to the parameters (see ceres)
residuals	Pointer to the residual vector (see ceres)
jacobians	Pointer to the Jacobians (see ceres)
jacobiansMinimal	Pointer to the minimal Jacobians (equivalent to jacobians).

Returns: Success of the evaluation.

Implements okvis::ceres::ErrorInterface.

template<class GEOMETRY_TYPE >

virtual const covariance_t& okvis::ceres::ReprojectionError< GEOMETRY_TYPE >::information ( ) const

inlinevirtual

Get the information matrix.

Returns: The information (weight) matrix.

Implements okvis::ceres::ReprojectionError2dBase.

template<class GEOMETRY_TYPE >

virtual const measurement_t& okvis::ceres::ReprojectionError< GEOMETRY_TYPE >::measurement ( ) const

inlinevirtual

Get the measurement.

Returns: The measurement vector.

Implements okvis::ceres::ReprojectionError2dBase.

template<class GEOMETRY_TYPE >

size_t okvis::ceres::ReprojectionError< GEOMETRY_TYPE >::parameterBlockDim ( size_t parameterBlockId ) const

inlinevirtual

Dimension of an individual parameter block.

Parameters

[in] parameterBlockId ID of the parameter block of interest.

Returns: The dimension.

Implements okvis::ceres::ErrorInterface.

template<class GEOMETRY_TYPE >

size_t okvis::ceres::ReprojectionError< GEOMETRY_TYPE >::parameterBlocks ( ) const

inlinevirtual

Number of parameter blocks.

Implements okvis::ceres::ErrorInterface.

template<class GEOMETRY_TYPE >

size_t okvis::ceres::ReprojectionError< GEOMETRY_TYPE >::residualDim ( ) const

inlinevirtual

Residual dimension.

Implements okvis::ceres::ErrorInterface.

template<class GEOMETRY_TYPE >

void okvis::ceres::ReprojectionError< GEOMETRY_TYPE >::setCameraGeometry ( std::shared_ptr< const camera_geometry_t > cameraGeometry )

inline

Set the underlying camera model.

Parameters

[in] cameraGeometry The camera geometry.

template<class GEOMETRY_T >

void okvis::ceres::ReprojectionError< GEOMETRY_T >::setInformation ( const covariance_t & information )

virtual

Set the information.

Parameters

[in] information The information (weight) matrix.

Implements okvis::ceres::ReprojectionError2dBase.

template<class GEOMETRY_TYPE >

virtual void okvis::ceres::ReprojectionError< GEOMETRY_TYPE >::setMeasurement ( const measurement_t & measurement )

inlinevirtual

Set the measurement.

Parameters

[in] measurement The measurement.

Implements okvis::ceres::ReprojectionError2dBase.

template<class GEOMETRY_TYPE >

virtual std::string okvis::ceres::ReprojectionError< GEOMETRY_TYPE >::typeInfo ( ) const

inlinevirtual

Residual block type as string.

Implements okvis::ceres::ErrorInterface.

Member Data Documentation

template<class GEOMETRY_TYPE >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef GEOMETRY_TYPE okvis::ceres::ReprojectionError< GEOMETRY_TYPE >::camera_geometry_t

Make the camera geometry type accessible.

template<class GEOMETRY_TYPE >

std::shared_ptr<const camera_geometry_t> okvis::ceres::ReprojectionError< GEOMETRY_TYPE >::cameraGeometry_

protected

The camera model:

template<class GEOMETRY_TYPE >

covariance_t okvis::ceres::ReprojectionError< GEOMETRY_TYPE >::covariance_

protected

The 2x2 covariance matrix.

template<class GEOMETRY_TYPE >

covariance_t okvis::ceres::ReprojectionError< GEOMETRY_TYPE >::information_

protected

The 2x2 information matrix.

template<class GEOMETRY_TYPE >

const int okvis::ceres::ReprojectionError< GEOMETRY_TYPE >::kNumResiduals = 2

static

Number of residuals (2)

template<class GEOMETRY_TYPE >

measurement_t okvis::ceres::ReprojectionError< GEOMETRY_TYPE >::measurement_

protected

The (2D) measurement.

template<class GEOMETRY_TYPE >

covariance_t okvis::ceres::ReprojectionError< GEOMETRY_TYPE >::squareRootInformation_

protected

The 2x2 square root information matrix.

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

okvis_ceres/include/okvis/ceres/ReprojectionError.hpp

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Attributes

Detailed Description

template<class GEOMETRY_TYPE> class okvis::ceres::ReprojectionError< GEOMETRY_TYPE >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class GEOMETRY_TYPE>
class okvis::ceres::ReprojectionError< GEOMETRY_TYPE >