Class ProjectionFactor

Defined in File projection_factor.h

Inheritance Relationships

Base Type

public ceres::SizedCostFunction< 2, 7, 7, 7, 1 >

Class Documentation

class ProjectionFactor : public ceres::SizedCostFunction<2, 7, 7, 7, 1>

Derived from ceres cost function to describe the error between two 2D homogeneous image points.

Public Functions

ProjectionFactor(const Eigen::Vector3d &_pts_i, const Eigen::Vector3d &_pts_j)

virtual bool Evaluate(double const *const *parameters, double *residuals, double **jacobians) const

void check(double **parameters)

Public Members

Eigen::Vector3d pts_i

Eigen::Vector3d pts_j

Eigen::Matrix<double, 2, 3> tangent_base

Public Static Attributes

static Eigen::Matrix2d sqrt_info

static double sum_t