Factor of feature bearing observation (raw) with calibration. More...

#include <Factor_ImageReprojCalib.h>

Inheritance diagram for ov_init::Factor_ImageReprojCalib:

Public Member Functions
bool	Evaluate (double const const parameters, double residuals, double *jacobians) const override
	Error residual and Jacobian calculation. More...

	Factor_ImageReprojCalib (const Eigen::Vector2d &uv_meas_, double pix_sigma_, bool is_fisheye_)
	Default constructor. More...

virtual	~Factor_ImageReprojCalib ()

Public Attributes
double	gate = 1.0

bool	is_fisheye = false

double	pix_sigma = 1.0

Eigen::Matrix< double, 2, 2 >	sqrtQ

Eigen::Vector2d	uv_meas

Detailed Description

Factor of feature bearing observation (raw) with calibration.

Definition at line 41 of file Factor_ImageReprojCalib.h.

Constructor & Destructor Documentation

◆ Factor_ImageReprojCalib()

Factor_ImageReprojCalib::Factor_ImageReprojCalib	(	const Eigen::Vector2d &	uv_meas_,
		double	pix_sigma_,
		bool	is_fisheye_
	)

Default constructor.

Parameters

uv_meas_	Raw pixel uv measurement of a environmental feature
pix_sigma_	Raw pixel measurement uncertainty (typically 1)
is_fisheye_	If this raw pixel camera uses fisheye distortion

Definition at line 28 of file Factor_ImageReprojCalib.cpp.

◆ ~Factor_ImageReprojCalib()

virtual ov_init::Factor_ImageReprojCalib::~Factor_ImageReprojCalib ( )

inlinevirtual

Definition at line 64 of file Factor_ImageReprojCalib.h.

Member Function Documentation

◆ Evaluate()

bool Factor_ImageReprojCalib::Evaluate	(	double const const	parameters,
		double *	residuals,
		double **	jacobians
	)		const

override

Error residual and Jacobian calculation.

This computes the Jacobians and residual of the feature projection model. This is a function of the observing pose, feature in global, and calibration parameters. The normalized pixel coordinates are found and then distorted using the camera distortion model. See the Camera Measurement Update page for more details.

Definition at line 46 of file Factor_ImageReprojCalib.cpp.

Member Data Documentation

◆ gate

double ov_init::Factor_ImageReprojCalib::gate = 1.0

Definition at line 54 of file Factor_ImageReprojCalib.h.

◆ is_fisheye

bool ov_init::Factor_ImageReprojCalib::is_fisheye = false

Definition at line 51 of file Factor_ImageReprojCalib.h.

◆ pix_sigma

double ov_init::Factor_ImageReprojCalib::pix_sigma = 1.0

Definition at line 47 of file Factor_ImageReprojCalib.h.

◆ sqrtQ

Eigen::Matrix<double, 2, 2> ov_init::Factor_ImageReprojCalib::sqrtQ

Definition at line 48 of file Factor_ImageReprojCalib.h.

◆ uv_meas

Eigen::Vector2d ov_init::Factor_ImageReprojCalib::uv_meas

Definition at line 44 of file Factor_ImageReprojCalib.h.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes