Class MarginalizationFactor

• Defined in File marginalization_factor.h

Inheritance Relationships

Base Type

• public CostFunction

Class Documentation

class MarginalizationFactor : public ceres::CostFunction

Define the cost function of marginalization information MarginalizationInfo.

Public Functions

MarginalizationFactor(MarginalizationInfo *_marginalization_info)

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

Public Members

MarginalizationInfo *marginalization_info