Struct INSRTError

• Defined in File ins_factor.h

Struct Documentation

struct INSRTError

Define the error between INS and visual measurements.

The errors include: 1) INS incremental speed and camera estimated incremental position between last and current time stamps. 2) INS realtime angular read and camera estimated orientation of current time stamp.

Public Functions

inline INSRTError(double t_x, double t_y, double t_z, double q_w, double q_x, double q_y, double q_z, double t_var, double q_var)

template<typename T>
inline bool operator()(const T *const w_P_i, const T *w_P_j, T *residuals) const

Public Members

double t_x

double t_y

double t_z

double q_w

double q_x

double q_y

double q_z

double t_var

double q_var

Public Static Functions

static inline ceres::CostFunction *Create(const double t_x, const double t_y, const double t_z, const double q_w, const double q_x, const double q_y, const double q_z, const double t_var, const double q_var)