struct mrpt::vision::TResidJacobElement

Data associated to each observation in the Lev-Marq.

model

#include </home/jlblanco/mrpt/libs/vision/src/chessboard_stereo_camera_calib_internal.h>

struct TResidJacobElement
{
    //
fields

    Eigen::Matrix<double, 4, 1> predicted_obs;
    Eigen::Matrix<double, 4, 1> residual;
    Eigen::Matrix<double, 4, 30> J;
};

Fields

Eigen::Matrix<double, 4, 1> predicted_obs

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

Eigen::Matrix<double, 4, 1> residual

= predicted_obs - observations

Eigen::Matrix<double, 4, 30> J

Jacobian.

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