mrpt::vision::TResidJacobElement Struct Reference

Detailed Description

Data associated to each observation in the Lev-Marq.

model

Definition at line 60 of file chessboard_stereo_camera_calib_internal.h.

#include <chessboard_stereo_camera_calib_internal.h>

Public Attributes
Eigen::Matrix< double, 4, 1 >	predicted_obs
	[u_l v_l u_r v_r]: left/right camera pixels More...
Eigen::Matrix< double, 4, 1 >	residual
	= predicted_obs - observations More...
Eigen::Matrix< double, 4, 30 >	J
	Jacobian. More...

Member Data Documentation

J

Eigen::Matrix<double, 4, 30> mrpt::vision::TResidJacobElement::J

Jacobian.

4=the two predicted pixels; 30=Read below for the meaning of these 30 variables

Definition at line 68 of file chessboard_stereo_camera_calib_internal.h.

Referenced by mrpt::vision::build_linear_system(), and mrpt::vision::recompute_errors_and_Jacobians().

predicted_obs

Eigen::Matrix<double, 4, 1> mrpt::vision::TResidJacobElement::predicted_obs

[u_l v_l u_r v_r]: left/right camera pixels

Definition at line 63 of file chessboard_stereo_camera_calib_internal.h.

Referenced by mrpt::vision::recompute_errors_and_Jacobians().

residual

Eigen::Matrix<double, 4, 1> mrpt::vision::TResidJacobElement::residual

= predicted_obs - observations

Definition at line 65 of file chessboard_stereo_camera_calib_internal.h.

Referenced by mrpt::vision::build_linear_system(), and mrpt::vision::recompute_errors_and_Jacobians().