File prior_factor_atan_camera_cal.h

namespace sym

Functions

template<typename Scalar>
void PriorFactorAtanCameraCal(const sym::ATANCameraCal<Scalar> &value, const sym::ATANCameraCal<Scalar> &prior, const Eigen::Matrix<Scalar, 5, 5> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 5, 1> *const res = nullptr, Eigen::Matrix<Scalar, 5, 5> *const jacobian = nullptr, Eigen::Matrix<Scalar, 5, 5> *const hessian = nullptr, Eigen::Matrix<Scalar, 5, 1> *const rhs = nullptr)

Residual that penalizes the difference between a value and prior (desired / measured value).

In vector space terms that would be: prior - value

In lie group terms: to_tangent(compose(inverse(value), prior))

Args: sqrt_info: Square root information matrix to whiten residual. This can be computed from a covariance matrix as the cholesky decomposition of the inverse. In the case of a diagonal it will contain 1/sigma values. Must match the tangent dim. jacobian: (5x5) jacobian of res wrt arg value (5) hessian: (5x5) Gauss-Newton hessian for arg value (5) rhs: (5x1) Gauss-Newton rhs for arg value (5)