opentl::core::util::GaussNewton::GaussNewton::GaussNewtonData_Key_dof_and_featSize Struct Reference

structure for caching individual GN-terms (single features). key = pose dof (left 16bits) AND feature size (right 16bits) More...

List of all members.

Public Member Functions

 GaussNewtonData_Key_dof_and_featSize (unsigned int _combinedKey)
 ~GaussNewtonData_Key_dof_and_featSize ()

Public Attributes

unsigned int dof
 dof = Degrees of of freedom (= optimization parameters)
unsigned int featSize
 featSize = size of single-feature element
math::Vector mEi
 mEi = Individual gradient contribution
math::Matrix mHi
 mHi = Individual Hessian matrix contribution
math::Matrix mQi
 mQi = Auxiliary matrix (common to gradient and Hessian terms)
math::SquareMatrix mRinv
 mRinv = Feature invert covariance


Detailed Description

structure for caching individual GN-terms (single features). key = pose dof (left 16bits) AND feature size (right 16bits)

Constructor & Destructor Documentation

opentl::core::util::GaussNewton::GaussNewton::GaussNewtonData_Key_dof_and_featSize::GaussNewtonData_Key_dof_and_featSize ( unsigned int  _combinedKey  )  [inline]

opentl::core::util::GaussNewton::GaussNewton::GaussNewtonData_Key_dof_and_featSize::~GaussNewtonData_Key_dof_and_featSize (  )  [inline]


Member Data Documentation

unsigned int opentl::core::util::GaussNewton::GaussNewton::GaussNewtonData_Key_dof_and_featSize::dof

dof = Degrees of of freedom (= optimization parameters)

unsigned int opentl::core::util::GaussNewton::GaussNewton::GaussNewtonData_Key_dof_and_featSize::featSize

featSize = size of single-feature element

math::Vector opentl::core::util::GaussNewton::GaussNewton::GaussNewtonData_Key_dof_and_featSize::mEi

mEi = Individual gradient contribution

math::Matrix opentl::core::util::GaussNewton::GaussNewton::GaussNewtonData_Key_dof_and_featSize::mHi

mHi = Individual Hessian matrix contribution

math::Matrix opentl::core::util::GaussNewton::GaussNewton::GaussNewtonData_Key_dof_and_featSize::mQi

mQi = Auxiliary matrix (common to gradient and Hessian terms)

math::SquareMatrix opentl::core::util::GaussNewton::GaussNewton::GaussNewtonData_Key_dof_and_featSize::mRinv

mRinv = Feature invert covariance


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