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mrpt::vision::TResidJacobElement Struct Reference

Detailed Description

Data associated to each observation in the Lev-Marq.

model

Definition at line 61 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 69 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 64 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 66 of file chessboard_stereo_camera_calib_internal.h.

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




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