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okvis::ceres Namespace Reference

ceres Namespace for ceres-related functionality implemented in okvis. More...

Namespaces

 ode
 ode Namespace for functionality related to ODE integration implemented in okvis.
 

Classes

class  CeresIterationCallback
 The CeresIterationCallback class tries to enforce a time limit on the optimization. It does not guarantee to stay within the time budget as it assumes the next iteration takes as long as the previous iteration. More...
 
class  ErrorInterface
 Simple interface class the errors implemented here should inherit from. More...
 
class  HomogeneousPointError
 Absolute error of a homogeneous point (landmark). More...
 
class  HomogeneousPointLocalParameterization
 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...
 
class  HomogeneousPointParameterBlock
 Wraps the parameter block for a speed / IMU biases estimate. More...
 
class  ImuError
 Implements a nonlinear IMU factor. More...
 
class  LocalParamizationAdditionalInterfaces
 Provides some additional interfaces to ceres' LocalParamization than are needed in the generic marginalisation okvis::ceres::MarginalizationError. More...
 
class  Map
 The Map class. This keeps track of how parameter blocks are connected to residual blocks. In essence, it encapsulates the ceres::Problem. This way, we can easily manipulate the optimisation problem. You could argue why not use cere's internal mechanisms to do that. We found that our implementation was faster... More...
 
class  MarginalizationError
 
class  ParameterBlock
 Base class providing the interface for parameter blocks. More...
 
class  ParameterBlockSized
 Base class providing the interface for parameter blocks. More...
 
class  PoseError
 Absolute error of a pose. More...
 
class  PoseLocalParameterization
 Pose local parameterisation, i.e. for orientation dq(dalpha) x q_bar. More...
 
class  PoseLocalParameterization3d
 Pose local parameterisation, i.e. for orientation dq(dalpha) x q_bar. Here, we only perturb the translation though. More...
 
class  PoseLocalParameterization4d
 Pose local parameterisation, i.e. for orientation dq(dalpha) x q_bar. Here, we only perturb the translation and yaw though. More...
 
class  PoseLocalParameterization2d
 Pose local parameterisation, i.e. for orientation dq(dalpha) x q_bar. Here, we only perturb roll and pitch, i.e. dalpha = [dalpha1, dalpha2, 0]^T. More...
 
class  PoseParameterBlock
 Wraps the parameter block for a pose estimate. More...
 
class  RelativePoseError
 Relative error between two poses. More...
 
class  ReprojectionError
 The 2D keypoint reprojection error. More...
 
class  ReprojectionErrorBase
 Reprojection error base class. More...
 
class  ReprojectionError2dBase
 2D keypoint reprojection error base class. More...
 
class  SpeedAndBiasError
 
class  SpeedAndBiasParameterBlock
 Wraps the parameter block for a speed / IMU biases estimate. More...
 

Typedefs

typedef Eigen::Matrix< double, 9, 1 > SpeedAndBias
 

Functions

void conservativeResize (Eigen::MatrixXd &matrixXd, int rows, int cols)
 
void conservativeResize (Eigen::VectorXd &vectorXd, int size)
 

Detailed Description

ceres Namespace for ceres-related functionality implemented in okvis.

Typedef Documentation

typedef Eigen::Matrix<double, 9, 1> okvis::ceres::SpeedAndBias

Function Documentation

void okvis::ceres::conservativeResize ( Eigen::MatrixXd &  matrixXd,
int  rows,
int  cols 
)
inline
void okvis::ceres::conservativeResize ( Eigen::VectorXd &  vectorXd,
int  size 
)
inline