OKVIS ROS
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The 2D keypoint reprojection error. More...
#include <ReprojectionError.hpp>
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... | |
The 2D keypoint reprojection error.
GEOMETRY_TYPE | The camera gemetry type. |
typedef ::ceres::SizedCostFunction<2, 7, 4, 7> okvis::ceres::ReprojectionError< GEOMETRY_TYPE >::base_t |
The base class type.
typedef Eigen::Vector2d okvis::ceres::ReprojectionError< GEOMETRY_TYPE >::keypoint_t |
The keypoint type (measurement type).
okvis::ceres::ReprojectionError< GEOMETRY_T >::ReprojectionError | ( | ) |
Default constructor.
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 | ||
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Construct with measurement and information matrix.
[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. |
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Trivial destructor.
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Get the covariance matrix.
Implements okvis::ceres::ReprojectionError2dBase.
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This evaluates the error term and additionally computes the Jacobians.
parameters | Pointer to the parameters (see ceres) |
residuals | Pointer to the residual vector (see ceres) |
jacobians | Pointer to the Jacobians (see ceres) |
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virtual |
This evaluates the error term and additionally computes the Jacobians in the minimal internal representation.
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). |
Implements okvis::ceres::ErrorInterface.
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inlinevirtual |
Get the information matrix.
Implements okvis::ceres::ReprojectionError2dBase.
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Get the measurement.
Implements okvis::ceres::ReprojectionError2dBase.
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Dimension of an individual parameter block.
[in] | parameterBlockId | ID of the parameter block of interest. |
Implements okvis::ceres::ErrorInterface.
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Number of parameter blocks.
Implements okvis::ceres::ErrorInterface.
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Residual dimension.
Implements okvis::ceres::ErrorInterface.
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Set the underlying camera model.
[in] | cameraGeometry | The camera geometry. |
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Set the information.
[in] | information | The information (weight) matrix. |
Implements okvis::ceres::ReprojectionError2dBase.
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Set the measurement.
[in] | measurement | The measurement. |
Implements okvis::ceres::ReprojectionError2dBase.
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Residual block type as string.
Implements okvis::ceres::ErrorInterface.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef GEOMETRY_TYPE okvis::ceres::ReprojectionError< GEOMETRY_TYPE >::camera_geometry_t |
Make the camera geometry type accessible.
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The camera model:
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The 2x2 covariance matrix.
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The 2x2 information matrix.
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Number of residuals (2)
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The (2D) measurement.
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The 2x2 square root information matrix.