NASA Astrobee Robot Software  0.19.1
Flight software for the Astrobee robots operating inside the International Space Station.
Public Member Functions | Static Public Member Functions | List of all members
optimization_common::ReprojectionError< DISTORTER > Class Template Reference

#include <residuals.h>

Public Member Functions

 ReprojectionError (const Eigen::Vector2d &image_point, const Eigen::Vector3d &target_t_point_3d)
 
template<typename T >
bool operator() (const T *camera_T_target_data, const T *focal_lengths_data, const T *principal_points_data, const T *distortion_data, T *reprojection_error) const
 

Static Public Member Functions

static void AddCostFunction (const Eigen::Vector2d &image_point, const Eigen::Vector3d &point_3d, Eigen::Matrix< double, 6, 1 > &camera_T_target, Eigen::Vector2d &focal_lengths, Eigen::Vector2d &principal_points, Eigen::VectorXd &distortion, ceres::Problem &problem, const double scale_factor=1, const double huber_threshold=1.345)
 

Constructor & Destructor Documentation

◆ ReprojectionError()

template<typename DISTORTER >
optimization_common::ReprojectionError< DISTORTER >::ReprojectionError ( const Eigen::Vector2d &  image_point,
const Eigen::Vector3d &  target_t_point_3d 
)
inline

Member Function Documentation

◆ AddCostFunction()

template<typename DISTORTER >
static void optimization_common::ReprojectionError< DISTORTER >::AddCostFunction ( const Eigen::Vector2d &  image_point,
const Eigen::Vector3d &  point_3d,
Eigen::Matrix< double, 6, 1 > &  camera_T_target,
Eigen::Vector2d &  focal_lengths,
Eigen::Vector2d &  principal_points,
Eigen::VectorXd &  distortion,
ceres::Problem &  problem,
const double  scale_factor = 1,
const double  huber_threshold = 1.345 
)
inlinestatic

◆ operator()()

template<typename DISTORTER >
template<typename T >
bool optimization_common::ReprojectionError< DISTORTER >::operator() ( const T *  camera_T_target_data,
const T *  focal_lengths_data,
const T *  principal_points_data,
const T *  distortion_data,
T *  reprojection_error 
) const
inline
The documentation for this class was generated from the following file: