47 for (
int i=0; i<6; i++){
57 for (
int i=0; i<2; i++)
59 is >> _focal_length1[i];
61 for (
int i=0; i<2; i++)
63 is >> _principle_point1[i];
74 for (
int i=0; i<7; i++){
77 for (
int i=0; i<2; i++)
79 os << _focal_length1[i] <<
" ";
81 for (
int i=0; i<2; i++)
83 os << _principle_point1[i] <<
" ";
91 for (
int i=0; i<7; i++){
98 for (
int i=0; i<7; i++)
99 for (
int j=i; j<7; j++)
112 for (
int i=0; i<7; i++)
116 for (
int i=0; i<7; i++)
117 for (
int j=i; j<7; j++){
132 for (
int i=0; i<2; i++)
137 for (
int i=0; i<2; i++)
138 for (
int j=i; j<2; j++) {
148 for (
int i=0; i<2; i++){
152 for (
int i=0; i<2; i++)
153 for (
int j=i; j<2; j++){
168 for (
int i=0; i<2; i++)
173 for (
int i=0; i<2; i++)
174 for (
int j=i; j<2; j++) {
184 for (
int i=0; i<2; i++){
188 for (
int i=0; i<2; i++)
189 for (
int j=i; j<2; j++){
EIGEN_MAKE_ALIGNED_OPERATOR_NEW EdgeSim3()
const Measurement & measurement() const
accessor functions for the measurement represented by the edge
Matrix< double, 7, 1 > Vector7d
virtual bool write(std::ostream &os) const
write the vertex to a stream
virtual bool read(std::istream &is)
read the vertex from a stream, i.e., the internal state of the vertex
EIGEN_MAKE_ALIGNED_OPERATOR_NEW EdgeSim3ProjectXYZ()
virtual bool write(std::ostream &os) const
write the vertex to a stream
virtual bool read(std::istream &is)
read the vertex from a stream, i.e., the internal state of the vertex
const InformationType & information() const
information matrix of the constraint
virtual void setMeasurement(const Measurement &m)
virtual bool read(std::istream &is)
read the vertex from a stream, i.e., the internal state of the vertex
virtual bool read(std::istream &is)
read the vertex from a stream, i.e., the internal state of the vertex
TFSIMD_FORCE_INLINE Quaternion inverse(const Quaternion &q)
Sim3 Vertex, (x,y,z,qw,qx,qy,qz) the parameterization for the increments constructed is a 7d vector (...
virtual bool write(std::ostream &os) const
write the vertex to a stream
EIGEN_MAKE_ALIGNED_OPERATOR_NEW VertexSim3Expmap()
EIGEN_MAKE_ALIGNED_OPERATOR_NEW EdgeInverseSim3ProjectXYZ()
virtual bool write(std::ostream &os) const
write the vertex to a stream