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36 if (H1) *H1 = Hprj * HbodySensor * (*H1);
37 if (H2) *H2 = Hprj * HbodySensor * (*H2);
38 return reprojectionError;
47 if (H1) *H1 = Hprj * (*H1);
48 if (H2) *H2 = Hprj * (*H2);
49 return reprojectionError;
52 if (H1) *H1 = Matrix::Zero(2, 6);
53 if (H2) *H2 = Matrix::Zero(2, 6);
54 if (H3) *H3 = Matrix::Zero(2, 3);
56 std::cout <<
e.what() <<
": Landmark "
61 return Vector2::Constant(2.0 *
K_->fx());
Point2 measured_
2D measurement
static const Pose3 pose(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5))
Array< double, 1, 3 > e(1./3., 0.5, 2.)
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
std::optional< Pose3 > body_P_sensor_
The pose of the sensor in the body frame.
std::shared_ptr< Cal3_S2 > K_
shared pointer to calibration object
Basic projection factor for rolling shutter cameras.
Matrix * OptionalMatrixType
static const CalibratedCamera camera(kDefaultPose)
Vector evaluateError(const Pose3 &pose_a, const Pose3 &pose_b, const Point3 &point, OptionalMatrixType H1, OptionalMatrixType H2, OptionalMatrixType H3) const override
Evaluate error h(x)-z and optionally derivatives.
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:34:49