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16 #include <Eigen/Dense>
38 const std::vector<size_t>& _valid_image_pair_indices,
39 const std::vector<mrpt::math::TPoint3D>& _obj_points)
72 std::vector<mrpt::aligned_std_vector<TResidJacobElement>>;
77 bool use_robust_kernel,
double kernel_param);
83 const std::vector<size_t>& var_indxs,
lm_stat_t& new_lm_stat);
std::vector< mrpt::aligned_std_vector< TResidJacobElement > > TResidualJacobianList
double recompute_errors_and_Jacobians(const lm_stat_t &lm_stat, TResidualJacobianList &res_jac, bool use_robust_kernel, double kernel_param)
Copyright (C) 2010 Hauke Strasdat Imperial College London Copyright (c) 2005-2020,...
Data associated to each observation in the Lev-Marq.
lm_stat_t(const TCalibrationStereoImageList &_images, const std::vector< size_t > &_valid_image_pair_indices, const std::vector< mrpt::math::TPoint3D > &_obj_points)
const TCalibrationStereoImageList & images
const std::vector< size_t > & valid_image_pair_indices
Eigen::Matrix< double, 4, 1 > predicted_obs
[u_l v_l u_r v_r]: left/right camera pixels
std::vector< mrpt::math::TPose3D > left_cam_poses
void build_linear_system(const TResidualJacobianList &res_jac, const std::vector< size_t > &var_indxs, mrpt::math::CVectorDynamic< double > &minus_g, mrpt::math::CMatrixDouble &H)
mrpt::math::CVectorFixedDouble< 9 > right_cam_params
const std::vector< mrpt::math::TPoint3D > & obj_points
A compile-time fixed-size numeric matrix container.
Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).
mrpt::math::CVectorFixedDouble< 9 > left_cam_params
[fx fy cx cy k1 k2 k3 t1 t2]
std::vector< TImageStereoCalibData > TCalibrationStereoImageList
A list of images, used in checkerBoardStereoCalibration.
Eigen::Matrix< double, 4, 1 > residual
= predicted_obs - observations
Eigen::Matrix< double, 4, 30 > J
Jacobian.
void add_lm_increment(const mrpt::math::CVectorDynamic< double > &eps, const std::vector< size_t > &var_indxs, lm_stat_t &new_lm_stat)
mrpt::math::TPose3D right2left_pose
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