Factory to hide the construction of the CostFunction object from the client code.
| 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, |
| 26 | const Eigen::Vector3d camera_trans, |
| 27 | const Eigen::Quaterniond velodyne_pose, |
| 28 | const Eigen::Vector3d velodyne_trans) { |
| 29 | return (new ceres::AutoDiffCostFunction<AlignError, 6, 4, 3, 4, 3>( |
| 30 | new AlignError(camera_pose, camera_trans, velodyne_pose, velodyne_trans))); |
| 31 | } |
| 32 | |
| 33 | template <typename T> |
| 34 | bool operator()(const T* const world_rotation, const T* const world_translation, |
nothing calls this directly
no outgoing calls
no test coverage detected