Class SixDoFBlockPoseErrorTermWithExtrinsics

Class Documentation

class ceres_error_terms::SixDoFBlockPoseErrorTermWithExtrinsics

Public Functions

inline SixDoFBlockPoseErrorTermWithExtrinsics(const pose::Transformation &T_Bk_Bkp1, const Eigen::Matrix<double, 6, 6> &T_Bk_Bkp1_covariance)
template<typename T>
bool operator()(const T *const T_G_Ik, const T *const T_G_Ikp1, const T *const q_I_B, const T *const p_B_I, T *residuals) const

Public Static Attributes

static constexpr int kResidualBlockSize = 6
static constexpr int kOrientationBlockSize = 4