camera_intrinsic_calibration::optimization::factors

Struct SE3Factor

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pub struct SE3Factor {
    pub t_0_b: Isometry3<f64>,
    pub t_i_b: Isometry3<f64>,
}

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§t_0_b: Isometry3<f64>§t_i_b: Isometry3<f64>

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impl SE3Factor

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pub fn new(t_0_b: &Isometry3<f64>, t_i_b: &Isometry3<f64>) -> SE3Factor

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impl<T: RealField> Factor<T> for SE3Factor

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fn residual_func(&self, params: &[DVector<T>]) -> DVector<T>

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fn residual_func_dual( &self, params: &[Matrix<DualVec<f64, f64, Dyn>, Dyn, Const<1>, VecStorage<DualVec<f64, f64, Dyn>, Dyn, Const<1>>>], ) -> Matrix<DualVec<f64, f64, Dyn>, Dyn, Const<1>, VecStorage<DualVec<f64, f64, Dyn>, Dyn, Const<1>>>

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fn residual_func_f64( &self, params: &[Matrix<f64, Dyn, Const<1>, VecStorage<f64, Dyn, Const<1>>>], ) -> Matrix<f64, Dyn, Const<1>, VecStorage<f64, Dyn, Const<1>>>

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