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