Absolute error of a homogeneous point (landmark). More...

#include <HomogeneousPointError.hpp>

Inheritance diagram for okvis::ceres::HomogeneousPointError:

Public Types
typedef Eigen::Matrix< double, 3, 3 >	information_t
	The information matrix type (3x3). More...

typedef Eigen::Matrix< double, 3, 3 >	covariance_t
	The covariance matrix type (same as information). More...

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

	HomogeneousPointError (const Eigen::Vector4d &measurement, const information_t &information)
	Construct with measurement and information matrix. More...

	HomogeneousPointError (const Eigen::Vector4d &measurement, double variance)
	Construct with measurement and variance. More...

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

void	setMeasurement (const Eigen::Vector4d &measurement)
	Set the measurement. More...

void	setInformation (const information_t &information)
	Set the information. More...

const Eigen::Vector4d &	measurement () const
	Get the measurement. More...

const information_t &	information () const
	Get the information matrix. More...

const information_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
	EvaluateWithMinimalJacobians 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
	Return parameter block type as string. 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::ceres::SizedCostFunction< 3, 4 >	base_t
	The base class type. More...

Static Public Attributes
static const int	kNumResiduals = 3
	Number of residuals (3) More...

Protected Attributes
Eigen::Vector4d	measurement_
	The (4D) measurement. More...

information_t	information_
	The 4x4 information matrix. More...

information_t	_squareRootInformation
	The 4x4 square root information matrix. More...

covariance_t	covariance_
	The 4x4 covariance matrix. More...

Detailed Description

Absolute error of a homogeneous point (landmark).

Member Typedef Documentation

typedef Eigen::Matrix<double, 3, 3> okvis::ceres::HomogeneousPointError::covariance_t

The covariance matrix type (same as information).

typedef Eigen::Matrix<double, 3, 3> okvis::ceres::HomogeneousPointError::information_t

The information matrix type (3x3).

Constructor & Destructor Documentation

okvis::ceres::HomogeneousPointError::HomogeneousPointError ( )

Default constructor.

okvis::ceres::HomogeneousPointError::HomogeneousPointError	(	const Eigen::Vector4d &	measurement,
		const information_t &	information
	)

Construct with measurement and information matrix.

Parameters

[in]	measurement	The measurement.
[in]	information	The information (weight) matrix.

okvis::ceres::HomogeneousPointError::HomogeneousPointError	(	const Eigen::Vector4d &	measurement,
		double	variance
	)

Construct with measurement and variance.

Parameters

[in]	measurement	The measurement.
[in]	variance	The variance of the measurement, i.e. information_ has variance in its diagonal.

virtual okvis::ceres::HomogeneousPointError::~HomogeneousPointError ( )

inlinevirtual

Trivial destructor.

Member Function Documentation

const information_t& okvis::ceres::HomogeneousPointError::covariance ( ) const

inline

Get the covariance matrix.

Returns: The inverse information (covariance) matrix.

bool okvis::ceres::HomogeneousPointError::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.

bool okvis::ceres::HomogeneousPointError::EvaluateWithMinimalJacobians	(	double const const	parameters,
		double *	residuals,
		double **	jacobians,
		double **	jacobiansMinimal
	)		const

virtual

EvaluateWithMinimalJacobians 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.

const information_t& okvis::ceres::HomogeneousPointError::information ( ) const

inline

Get the information matrix.

Returns: The information (weight) matrix.

const Eigen::Vector4d& okvis::ceres::HomogeneousPointError::measurement ( ) const

inline

Get the measurement.

Returns: The measurement vector.

size_t okvis::ceres::HomogeneousPointError::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.

size_t okvis::ceres::HomogeneousPointError::parameterBlocks ( ) const

inlinevirtual

Number of parameter blocks.

Implements okvis::ceres::ErrorInterface.

size_t okvis::ceres::HomogeneousPointError::residualDim ( ) const

inlinevirtual

Residual dimension.

Implements okvis::ceres::ErrorInterface.

void okvis::ceres::HomogeneousPointError::setInformation ( const information_t & information )

Set the information.

Parameters

[in] information The information (weight) matrix.

void okvis::ceres::HomogeneousPointError::setMeasurement ( const Eigen::Vector4d & measurement )

inline

Set the measurement.

Parameters

[in] measurement The measurement.

virtual std::string okvis::ceres::HomogeneousPointError::typeInfo ( ) const

inlinevirtual

Return parameter block type as string.

Implements okvis::ceres::ErrorInterface.

Member Data Documentation

information_t okvis::ceres::HomogeneousPointError::_squareRootInformation

protected

The 4x4 square root information matrix.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ::ceres::SizedCostFunction<3, 4> okvis::ceres::HomogeneousPointError::base_t

The base class type.

covariance_t okvis::ceres::HomogeneousPointError::covariance_

protected

The 4x4 covariance matrix.

information_t okvis::ceres::HomogeneousPointError::information_

protected

The 4x4 information matrix.

const int okvis::ceres::HomogeneousPointError::kNumResiduals = 3

static

Number of residuals (3)

Eigen::Vector4d okvis::ceres::HomogeneousPointError::measurement_

protected

The (4D) measurement.

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

okvis/okvis_ceres/include/okvis/ceres/HomogeneousPointError.hpp
okvis/okvis_ceres/src/HomogeneousPointError.cpp

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation