| 3 | |
| 4 | struct AlignError { |
| 5 | AlignError(const Eigen::Quaterniond camera_pose, const Eigen::Vector3d camera_trans, |
| 6 | const Eigen::Quaterniond velodyne_pose, const Eigen::Vector3d velodyne_trans) { |
| 7 | camera_q[0] = camera_pose.x(); |
| 8 | camera_q[1] = camera_pose.y(); |
| 9 | camera_q[2] = camera_pose.z(); |
| 10 | camera_q[3] = camera_pose.w(); |
| 11 | camera_t[0] = camera_trans.x(); |
| 12 | camera_t[1] = camera_trans.y(); |
| 13 | camera_t[2] = camera_trans.z(); |
| 14 | |
| 15 | velodyne_q[0] = velodyne_pose.x(); |
| 16 | velodyne_q[1] = velodyne_pose.y(); |
| 17 | velodyne_q[2] = velodyne_pose.z(); |
| 18 | velodyne_q[3] = velodyne_pose.w(); |
| 19 | velodyne_t[0] = velodyne_trans.x(); |
| 20 | velodyne_t[1] = velodyne_trans.y(); |
| 21 | velodyne_t[2] = velodyne_trans.z(); |
| 22 | } |
| 23 | |
| 24 | // Factory to hide the construction of the CostFunction object from the client code. |
| 25 | static ceres::CostFunction* Create(const Eigen::Quaterniond camera_pose, |
nothing calls this directly
no outgoing calls
no test coverage detected