Method RelativePoseError

tinynav/cpp/pose_graph_solver.cpp:13–18

class RelativePoseError {
public:
    RelativePoseError(const Eigen::Matrix4d& relative_pose, Eigen::Vector3d translation_weight, Eigen::Vector3d rotation_weight)
        : relative_j_i_translation_(Eigen::Vector3d::Zero()), relative_j_i_rotation_lie_algebra_(Eigen::Vector3d::Zero()), translation_weight_(translation_weight), rotation_weight_(rotation_weight) {
            relative_j_i_translation_ = relative_pose.block<3, 1>(0, 3);
            Eigen::Matrix<double, 3, 3> relative_j_i_rotation = relative_pose.block<3, 3>(0, 0);
            ceres::RotationMatrixToAngleAxis(relative_j_i_rotation.data(), relative_j_i_rotation_lie_algebra_.data());
        }
    template<typename T>
    bool operator()(const T* camera_i, const T* camera_j, T* residuals) const {
        using TMatrix3 = Eigen::Matrix<T, 3, 3>;