MRPT  1.9.9
ba_common.cpp File Reference
#include "vision-lgpl-precomp.h"
#include <mrpt/math/robust_kernels.h>
#include <mrpt/poses/Lie/SE.h>
#include <mrpt/vision/bundle_adjustment.h>
#include <mrpt/vision/pinhole.h>
#include "ba_internals.h"
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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 

Definition at line 116 of file ba_common.cpp.

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

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