Class Unit3Parameterization¶
Defined in File unit3-param.h
Class Documentation¶
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class
ceres_error_terms
::
Unit3Parameterization
: public LocalParameterization¶ Public Types
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typedef Eigen::Matrix<double, Unit3::kGlobalSize, Unit3::kLocalSize, Eigen::RowMajor>
Jacobian
¶
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typedef Eigen::Matrix<double, Unit3::kLocalSize, Unit3::kGlobalSize, Eigen::RowMajor>
LiftJacobian
¶
Public Functions
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inline virtual
~Unit3Parameterization
()¶
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virtual bool
Plus
(const double *x, const double *delta, double *x_plus_delta) const¶
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virtual bool
ComputeJacobian
(const double *x, double *jacobian) const¶
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inline virtual int
GlobalSize
() const¶
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inline virtual int
LocalSize
() const¶
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bool
Minus
(const double *x, const double *y, double *x_minus_y) const¶
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bool
ComputeLiftJacobian
(const double *x, double *jacobian) const¶
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typedef Eigen::Matrix<double, Unit3::kGlobalSize, Unit3::kLocalSize, Eigen::RowMajor>