 |
NDEVR
API Documentation
|
|
NDEVR
API Documentation
|
Unary edge for stereo reprojection error optimizing only the camera pose. More...
Public Member Functions | |
| void | computeError () final override |
| Computes the error of the edge and stores it internally. | |
| void | linearizeOplus () final override |
| Linearizes the oplus operator in the vertex, and stores the result in temporary variables _jacobianOplusXi and _jacobianOplusXj. | |
| Public Member Functions inherited from BaseUnaryEdge< 3, Vector3< g_type >, VertexSE3Expmap > | |
| BaseUnaryEdge () | |
| Default constructor. | |
| virtual bool | allVerticesFixed () const final override |
| Returns true if the single vertex is fixed. | |
| void | constructQuadraticForm () |
| Constructs the quadratic form (Hessian block and gradient) for this unary edge. | |
| const JacobianXiOplusType & | jacobianOplusXi () const |
| returns the result of the linearization in the manifold space for the node xi | |
| virtual void | linearizeOplusAndConstructQuadraticForm (JacobianWorkspace &jacobianWorkspace) final override |
| Linearizes the oplus operator and constructs the quadratic form. | |
| virtual void | setVertex (uint04, HyperGraph::HGVertex *v) final override |
| Sets the vertex, with type-checking. | |
| virtual const HyperGraph::HGVertex * | vertex (uint04) const final override |
| Returns a const pointer to the single vertex. | |
| virtual uint04 | vertexCount () const final override |
| Returns the number of vertices (always 1 for unary edges). | |
| Public Member Functions inherited from BaseEdge< t_dims, Vector3< g_type > > | |
| BaseEdge () | |
| Default constructor. | |
| g_type | chi2 () const final override |
| Computes the chi-squared error: e^T * Omega * e. | |
| virtual sint04 | dimension () const final override |
| Returns the dimension of the error vector. | |
| const ErrorVector & | error () const |
| Returns a const reference to the error vector. | |
| const InformationType & | information () const |
| Returns a const reference to the information matrix. | |
| const g_type * | informationData () const final override |
| Returns a const pointer to the raw information matrix data. | |
| const Measurement & | measurement () const |
| accessor functions for the measurement represented by the edge | |
| int | rank () const |
| Returns the rank (dimension) of the error. | |
| g_type | scalerInformation () const |
| information matrix of the constraint | |
| void | setInformation (const InformationType &information) |
| Sets the information matrix. | |
| void | setMeasurement (const Measurement &m) |
| Sets the measurement for this edge. | |
| Public Member Functions inherited from OptimizableGraph::OGEdge | |
| OGEdge () | |
| Default constructor. | |
| void | clearRobustKernel () |
| Removes the robust kernel from this edge. | |
| long long | internalId () const |
| the internal ID of the edge | |
| int | level () const |
| returns the level of the edge | |
| 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 HGVertex * | vertex (uint04 i)=0 |
| Returns a mutable pointer to the i-th vertex. | |
Public Attributes | |
| g_type | bf |
| Camera intrinsics: focal lengths, principal point, and stereo baseline * focal length. | |
| Vector3< g_type > | Xw |
| Known 3D world point. | |
Additional Inherited Members | |
| Public Types inherited from BaseUnaryEdge< 3, Vector3< g_type >, VertexSE3Expmap > | |
| typedef BaseEdge< t_dims, Vector3< g_type > >::ErrorVector | ErrorVector |
| The error vector type. | |
| typedef BaseEdge< t_dims, Vector3< g_type > >::InformationType | InformationType |
| The information matrix type. | |
| typedef Eigen::Matrix< g_type, t_dims, VertexXiType::Dimension >::AlignedMapType | JacobianXiOplusType |
| Jacobian type w.r.t. the vertex. | |
| typedef BaseEdge< t_dims, Vector3< g_type > >::Measurement | Measurement |
| The measurement type. | |
| typedef VertexSE3Expmap | VertexXiType |
| The vertex type. | |
| Public Types inherited from BaseEdge< t_dims, Vector3< g_type > > | |
| typedef Eigen::Matrix< g_type, t_dims, 1 > | ErrorVector |
| Fixed-size error vector type. | |
| typedef Eigen::Matrix< g_type, t_dims, t_dims > | InformationType |
| Fixed-size information (inverse covariance) matrix type. | |
| typedef Vector3< g_type > | Measurement |
| The measurement type stored by this edge. | |
| Static Public Attributes inherited from BaseEdge< t_dims, Vector3< g_type > > | |
| static constexpr sint04 | Dimension |
| Compile-time dimension of the error vector. | |
| Protected Member Functions inherited from BaseEdge< t_dims, Vector3< g_type > > | |
| InformationType | robustInformation (const Eigen::Vector3< g_type > &rho) const |
| calculate the robust information matrix by updating the information matrix of the error | |
| Protected Attributes inherited from BaseUnaryEdge< 3, Vector3< g_type >, VertexSE3Expmap > | |
| JacobianXiOplusType | _jacobianOplusXi |
| Jacobian of the error w.r.t. the vertex. | |
| VertexXiType * | m_vertex |
| Pointer to the connected vertex. | |
| Protected Attributes inherited from BaseEdge< t_dims, Vector3< g_type > > | |
| ErrorVector | _error |
| The current error vector. | |
| InformationType | _information |
| The information (inverse covariance) matrix. | |
| Measurement | _measurement |
| The stored measurement for this edge. | |
| 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 stereo reprojection error optimizing only the camera pose.
Definition at line 128 of file types_six_dof_expmap.h.