optimization_common Namespace Reference

Classes
class	AffineReprojectionError
struct	OptimizationParams
class	PointToPlaneError
class	PointToPointError
class	ReprojectionError
struct	SE3Plus
class	SymmetricPointToPlaneError

Typedefs
using	SE3LocalParameterization = ceres::AutoDiffLocalParameterization< SE3Plus, 6, 6 >

Functions
template<typename T >
Eigen::Matrix< T, 6, 1 >	VectorFromIsometry3 (const Eigen::Transform< T, 3, Eigen::Isometry > &isometry_3)
Eigen::Matrix< double, 6, 1 >	VectorFromIsometry3d (const Eigen::Isometry3d &isometry_3d)
Eigen::Matrix< double, 7, 1 >	VectorFromAffine3d (const Eigen::Affine3d &affine_3d)
template<typename T >
Eigen::Transform< T, 3, Eigen::Isometry >	Isometry3 (const T *isometry_data)
Eigen::Matrix3d	Intrinsics (const Eigen::Vector2d &focal_lengths, const Eigen::Vector2d &principal_points)
template<typename T >
Eigen::Transform< T, 3, Eigen::Affine >	Affine3 (const T *affine_data)
Eigen::Isometry3d	Isometry3d (const Eigen::Matrix< double, 6, 1 > &isometry_vector)
Eigen::Affine3d	Affine3d (const Eigen::Matrix< double, 7, 1 > &affine_vector)
template<typename T >
Eigen::Matrix< T, 3, 3 >	Intrinsics (const T *intrinsics_data)
template<typename T >
Eigen::Matrix< T, 3, 3 >	Intrinsics (const T *focal_lengths, const T *principal_points)
void	AddParameterBlock (const int num_parameters, double *const parameters, ceres::Problem &problem, const bool set_constant=false)
void	AddConstantParameterBlock (const int num_parameters, double *const parameters, ceres::Problem &problem)
void	AddConstantParameterBlock (const int num_parameters, double const *const parameters, ceres::Problem &problem)
double	ResidualNorm (const std::vector< double > &residual, const int index, const int residual_size)
void	CheckResiduals (const int residual_size, ceres::Problem &problem, const double outlier_threshold=0.99)

Typedef Documentation

SE3LocalParameterization

using optimization_common::SE3LocalParameterization = typedef ceres::AutoDiffLocalParameterization<SE3Plus, 6, 6>

Function Documentation

AddConstantParameterBlock() [1/2]

void optimization_common::AddConstantParameterBlock	(	const int	num_parameters,
		double *const	parameters,
		ceres::Problem &	problem
	)

AddConstantParameterBlock() [2/2]

void optimization_common::AddConstantParameterBlock	(	const int	num_parameters,
		double const *const	parameters,
		ceres::Problem &	problem
	)

AddParameterBlock()

void optimization_common::AddParameterBlock	(	const int	num_parameters,
		double *const	parameters,
		ceres::Problem &	problem,
		const bool	set_constant = false
	)

Affine3()

template<typename T >

Eigen::Transform< T, 3, Eigen::Affine > optimization_common::Affine3

(

const T *

affine_data

)

Affine3d()

Eigen::Affine3d optimization_common::Affine3d

(

const Eigen::Matrix< double, 7, 1 > &

affine_vector

)

CheckResiduals()

void optimization_common::CheckResiduals	(	const int	residual_size,
		ceres::Problem &	problem,
		const double	outlier_threshold = 0.99
	)

Intrinsics() [1/3]

Eigen::Matrix3d optimization_common::Intrinsics	(	const Eigen::Vector2d &	focal_lengths,
		const Eigen::Vector2d &	principal_points
	)

Intrinsics() [2/3]

template<typename T >

Eigen::Matrix< T, 3, 3 > optimization_common::Intrinsics	(	const T *	focal_lengths,
		const T *	principal_points
	)

Intrinsics() [3/3]

template<typename T >

Eigen::Matrix< T, 3, 3 > optimization_common::Intrinsics

(

const T *

intrinsics_data

)

Isometry3()

template<typename T >

Eigen::Transform< T, 3, Eigen::Isometry > optimization_common::Isometry3

(

const T *

isometry_data

)

Isometry3d()

Eigen::Isometry3d optimization_common::Isometry3d

(

const Eigen::Matrix< double, 6, 1 > &

isometry_vector

)

ResidualNorm()

double optimization_common::ResidualNorm	(	const std::vector< double > &	residual,
		const int	index,
		const int	residual_size
	)

VectorFromAffine3d()

Eigen::Matrix< double, 7, 1 > optimization_common::VectorFromAffine3d

(

const Eigen::Affine3d &

affine_3d

)

VectorFromIsometry3()

template<typename T >

Eigen::Matrix< T, 6, 1 > optimization_common::VectorFromIsometry3

(

const Eigen::Transform< T, 3, Eigen::Isometry > &

isometry_3

)

VectorFromIsometry3d()

Eigen::Matrix< double, 6, 1 > optimization_common::VectorFromIsometry3d

(

const Eigen::Isometry3d &

isometry_3d

)