ba_common.cpp File Reference

#include "vision-precomp.h"
#include <mrpt/vision/bundle_adjustment.h>
#include <mrpt/vision/pinhole.h>
#include <mrpt/math/robust_kernels.h>
#include "ba_internals.h"

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Functions
template<bool POSES_INVERSE>
void	reprojectionResidualsElement (const TCamera &camera_params, const TFeatureObservation &OBS, std::array< double, 2 > &out_residual, const TFramePosesVec::value_type &frame, const TLandmarkLocationsVec::value_type &point, double &sum, const bool use_robust_kernel, const double kernel_param, double *out_kernel_1st_deriv)

Function Documentation

reprojectionResidualsElement()

template<bool POSES_INVERSE>

void reprojectionResidualsElement ( const TCamera &  camera_params, const TFeatureObservation &  OBS, std::array< double, 2 > &  out_residual, const TFramePosesVec::value_type &  frame, const TLandmarkLocationsVec::value_type &  point, double &  sum, const bool  use_robust_kernel, const double  kernel_param, double *  out_kernel_1st_deriv  )

inline

Definition at line 103 of file ba_common.cpp.

References mrpt::vision::TFeatureObservation::px, mrpt::math::square(), mrpt::math::sum(), mrpt::utils::TPixelCoordf::x, and mrpt::utils::TPixelCoordf::y.

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