2D keypoint reprojection error base class. More...

Inheritance diagram for okvis::ceres::ReprojectionError2dBase:

Public Types
typedef Eigen::Vector2d	measurement_t
	Measurement type (2D). More...

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

Public Member Functions
virtual void	setMeasurement (const measurement_t &measurement)=0
	Set the measurement. More...

virtual void	setInformation (const covariance_t &information)=0
	Set the information. More...

virtual const measurement_t &	measurement () const =0
	Get the measurement. More...

virtual const covariance_t &	information () const =0
	Get the information matrix. More...

virtual const covariance_t &	covariance () const =0
	Get the covariance matrix. 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...

virtual bool	EvaluateWithMinimalJacobians (double const const parameters, double residuals, double jacobians, double *jacobiansMinimal) const =0
	This evaluates the error term and additionally computes the Jacobians in the minimal internal representation. More...

virtual std::string	typeInfo () const =0
	Residual block type as string. More...

virtual size_t	residualDim () const =0
	Get dimension of residuals. More...

virtual size_t	parameterBlocks () const =0
	Get the number of parameter blocks this is connected to. More...

virtual size_t	parameterBlockDim (size_t parameterBlockId) const =0
	get the dimension of a parameter block this is connected to. More...