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NDEVR
API Documentation
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NDEVR
API Documentation
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Unary edge for reprojection error in a secondary (body) camera frame, optimizing only the pose. More...
Public Member Functions | |
| void | computeError () final override |
| Computes the error of the edge and stores it internally. | |
| Public Member Functions inherited from OptimizableGraph::OGEdge | |
| OGEdge () | |
| Default constructor. | |
| virtual bool | allVerticesFixed () const =0 |
| Returns true if all vertices connected to this edge are fixed. | |
| virtual g_type | chi2 () const =0 |
| computes the chi2 based on the cached error value, only valid after computeError has been called. | |
| void | clearRobustKernel () |
| Removes the robust kernel from this edge. | |
| virtual sint04 | dimension () const =0 |
| returns the dimensions of the error function | |
| virtual const g_type * | informationData () const =0 |
| returns the memory of the information matrix, usable for example with a Eigen::Map<MatrixXd> | |
| long long | internalId () const |
| the internal ID of the edge | |
| int | level () const |
| returns the level of the edge | |
| virtual void | linearizeOplusAndConstructQuadraticForm (JacobianWorkspace &jacobianWorkspace)=0 |
| Linearizes the constraint in the edge in the manifold space, and store the result in the given workspace and Linearizes the constraint in the edge. | |
| virtual void | mapHessianMemory (g_type *d, int i, int j, bool rowMajor)=0 |
| maps the internal matrix to some external memory location, you need to provide the memory before calling constructQuadraticForm | |
| RobustKernel * | robustKernel () const |
| if NOT NULL, error of this edge will be robustifed with the kernel | |
| void | setLevel (int l) |
| sets the level of the edge | |
| void | setRobustKernel (RobustKernel &ptr) |
| specify the robust kernel to be used in this edge | |
| Public Member Functions inherited from HyperGraph::HGEdge | |
| HGEdge (int id=-1) | |
| creates and empty edge with no vertices | |
| int | id () const |
| returns the id of this edge | |
| void | setId (int id) |
| sets the id of this edge | |
| virtual void | setVertex (uint04 i, HGVertex *v)=0 |
| Sets the i-th vertex of this edge. | |
| virtual const HGVertex * | vertex (uint04 i) const =0 |
| Returns a const pointer to the i-th vertex. | |
| virtual HGVertex * | vertex (uint04 i)=0 |
| Returns a mutable pointer to the i-th vertex. | |
| virtual uint04 | vertexCount () const =0 |
| Returns the number of vertices connected by this edge. | |
Public Attributes | |
| SE3Quat | mTrl |
| Transform from the left (reference) to the right (body) camera. | |
| GeometricCamera * | pCamera = nullptr |
| Pointer to the camera model. | |
| Eigen::Vector3< g_type > | Xw |
| 3D world point coordinate. | |
Additional Inherited Members | |
| Protected Attributes inherited from OptimizableGraph::OGEdge | |
| int | _internalId = 0 |
| Internal sequential id assigned on insertion. | |
| int | _level = 0 |
| Optimization level for multi-level optimization. | |
| RobustKernel * | _robustKernel = nullptr |
| Optional robust kernel for this edge. | |
| Protected Attributes inherited from HyperGraph::HGEdge | |
| int | _id |
| unique id | |
Unary edge for reprojection error in a secondary (body) camera frame, optimizing only the pose.
Definition at line 55 of file OptimizableTypes.h.