File polynomial_reprojection_delta.h

namespace sym

Functions

template<typename Scalar>
void PolynomialReprojectionDelta(const sym::Pose3<Scalar> &source_pose, const sym::Pose3<Scalar> &target_pose, const sym::PolynomialCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 3, 1> &p_camera_source, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const reprojection_delta = nullptr, Scalar *const is_valid = nullptr)

Reprojects the landmark ray into the target camera and returns the delta between the correspondence and the reprojection.

The landmark is specified as a 3D point or ray (will be normalized) in the source camera; this means the landmark is fixed in the source camera and always has residual 0 there (this 0 residual is not returned, only the residual in the target camera is returned).

Args: source_pose: The pose of the source camera target_pose: The pose of the target camera target_calibration: The target camera calibration source_inverse_range: The inverse range of the landmark in the source camera p_camera_source: The location of the landmark in the source camera coordinate, will be normalized target_pixel: The location of the correspondence in the target camera epsilon: Small positive value

Outputs: res: 2dof reprojection delta valid: is valid projection or not