PoseLocalParameterization.hpp File Reference

Header file for the PoseLocalParemerization class. More...

#include "ceres/ceres.h"
#include <okvis/assert_macros.hpp>
#include <okvis/ceres/LocalParamizationAdditionalInterfaces.hpp>

Go to the source code of this file.

Classes
class	okvis::ceres::PoseLocalParameterization
	Pose local parameterisation, i.e. for orientation dq(dalpha) x q_bar. More...
class	okvis::ceres::PoseLocalParameterization3d
	Pose local parameterisation, i.e. for orientation dq(dalpha) x q_bar. Here, we only perturb the translation though. More...
class	okvis::ceres::PoseLocalParameterization4d
	Pose local parameterisation, i.e. for orientation dq(dalpha) x q_bar. Here, we only perturb the translation and yaw though. More...
class	okvis::ceres::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...

Namespaces
	okvis
	okvis Main namespace of this package.
	okvis::ceres
	ceres Namespace for ceres-related functionality implemented in okvis.

Detailed Description

Header file for the PoseLocalParemerization class.

Author

Stefan Leutenegger