Class ProjectionTwoFrameTwoCamFactor

Defined in File projectionTwoFrameTwoCamFactor.h

Inheritance Relationships

Base Type

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

Class Documentation

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

Derived from ceres cost function to describe the error of two cameras between two observations considering both 2D homogeneous point coordinates and 2D velocities.

Public Functions

ProjectionTwoFrameTwoCamFactor(const Eigen::Vector3d &_pts_i, const Eigen::Vector3d &_pts_j, const Eigen::Vector2d &_velocity_i, const Eigen::Vector2d &_velocity_j, const double _td_i, const double _td_j)

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

void check(double **parameters)

Public Members

Eigen::Vector3d pts_i

Eigen::Vector3d pts_j

Eigen::Vector3d velocity_i

Eigen::Vector3d velocity_j

double td_i

double td_j

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

Public Static Attributes

static Eigen::Matrix2d sqrt_info

static double sum_t