OpenGV
A library for solving calibrated central and non-central geometric vision problems
OptimizationFunctor.hpp
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2 * Author: Laurent Kneip *
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30
37#ifndef OPENGV_OPTIMIZATIONFUNCTOR_HPP_
38#define OPENGV_OPTIMIZATIONFUNCTOR_HPP_
39
40#include <stdlib.h>
41#include <Eigen/Eigen>
42#include <Eigen/src/Core/util/DisableStupidWarnings.h>
43
44using namespace std;
45using namespace Eigen;
46
50namespace opengv
51{
52
57template<typename _Scalar, int NX=Dynamic, int NY=Dynamic>
59{
61 typedef _Scalar Scalar;
63 enum
64 {
65 InputsAtCompileTime = NX,
66 ValuesAtCompileTime = NY
67 };
69 typedef Matrix<Scalar,InputsAtCompileTime,1> InputType;
71 typedef Matrix<Scalar,ValuesAtCompileTime,1> ValueType;
73 typedef Matrix<Scalar,ValuesAtCompileTime,InputsAtCompileTime> JacobianType;
74
76 const int m_inputs;
78 const int m_values;
79
82 m_inputs(InputsAtCompileTime),
83 m_values(ValuesAtCompileTime) {}
88
90 int inputs() const
91 {
92 return m_inputs;
93 }
95 int values() const
96 {
97 return m_values;
98 }
99};
100
101}
102
103#endif /* OPENGV_OPTIMIZATIONFUNCTOR_HPP_ */
The namespace of this library.
Definition: AbsoluteAdapterBase.hpp:48
Definition: OptimizationFunctor.hpp:59
const int m_inputs
Definition: OptimizationFunctor.hpp:76
Matrix< Scalar, InputsAtCompileTime, 1 > InputType
Definition: OptimizationFunctor.hpp:69
Matrix< Scalar, ValuesAtCompileTime, 1 > ValueType
Definition: OptimizationFunctor.hpp:71
OptimizationFunctor()
Definition: OptimizationFunctor.hpp:81
OptimizationFunctor(int inputs, int values)
Definition: OptimizationFunctor.hpp:85
int values() const
Definition: OptimizationFunctor.hpp:95
int inputs() const
Definition: OptimizationFunctor.hpp:90
Matrix< Scalar, ValuesAtCompileTime, InputsAtCompileTime > JacobianType
Definition: OptimizationFunctor.hpp:73
const int m_values
Definition: OptimizationFunctor.hpp:78
_Scalar Scalar
Definition: OptimizationFunctor.hpp:61