SRBA: Sparser Relative Bundle Adjustment
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Definition at line 682 of file srba_types.h.
Public Member Functions | |
void | clear () |
Public Attributes | |
jacobian_traits< kf2kf_pose_t, landmark_t, obs_t > ::TSparseBlocksJacobians_dh_dAp | dh_dAp |
Both symbolic & numeric info on the sparse Jacobians wrt. the edges. | |
jacobian_traits< kf2kf_pose_t, landmark_t, obs_t > ::TSparseBlocksJacobians_dh_df | dh_df |
Both symbolic & numeric info on the sparse Jacobians wrt. the observations. |