include/svo/bundle_adjustment.h File Reference

#include <svo/global.h>

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Classes
struct	svo::ba::EdgeContainerSE3
	Temporary container to hold the g2o edge with reference to frame and point. More...
Namespaces
namespace	svo
namespace	svo::ba
	Local, global and 2-view bundle adjustment with g2o.
Typedefs
typedef g2o::EdgeProjectXYZ2UV	svo::g2oEdgeSE3
typedef g2o::VertexSE3Expmap	svo::g2oFrameSE3
typedef g2o::VertexSBAPointXYZ	svo::g2oPoint
Functions
void	svo::ba::twoViewBA (Frame *frame1, Frame *frame2, double reproj_thresh, Map *map)
	Optimize two camera frames and their observed 3D points.
void	svo::ba::localBA (Frame *center_kf, set< FramePtr > *core_kfs, Map *map, size_t &n_incorrect_edges_1, size_t &n_incorrect_edges_2, double &init_error, double &final_error)
	Local bundle adjustment.
void	svo::ba::globalBA (Map *map)
	Global bundle adjustment.
void	svo::ba::setupG2o (g2o::SparseOptimizer *optimizer)
	Initialize g2o with solver type, optimization strategy and camera model.
void	svo::ba::runSparseBAOptimizer (g2o::SparseOptimizer *optimizer, unsigned int num_iter, double &init_error, double &final_error)
	Run the optimization on the provided graph.
g2oFrameSE3 *	svo::ba::createG2oFrameSE3 (Frame *kf, size_t id, bool fixed)
	Create a g2o vertice from a keyframe object.
g2oPoint *	svo::ba::createG2oPoint (Vector3d pos, size_t id, bool fixed)
	Creates a g2o vertice from a mappoint object.
g2oEdgeSE3 *	svo::ba::createG2oEdgeSE3 (g2oFrameSE3 *v_kf, g2oPoint *v_mp, const Vector2d &f_up, bool robust_kernel, double huber_width, double weight=1)
	Creates a g2o edge between a g2o keyframe and mappoint vertice with the provided measurement.