svo::ba Namespace Reference

Local, global and 2-view bundle adjustment with g2o. More...

Classes
struct	EdgeContainerSE3
	Temporary container to hold the g2o edge with reference to frame and point. More...
Functions
void	twoViewBA (Frame *frame1, Frame *frame2, double reproj_thresh, Map *map)
	Optimize two camera frames and their observed 3D points.
void	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	globalBA (Map *map)
	Global bundle adjustment.
void	setupG2o (g2o::SparseOptimizer *optimizer)
	Initialize g2o with solver type, optimization strategy and camera model.
void	runSparseBAOptimizer (g2o::SparseOptimizer *optimizer, unsigned int num_iter, double &init_error, double &final_error)
	Run the optimization on the provided graph.
g2oFrameSE3 *	createG2oFrameSE3 (Frame *kf, size_t id, bool fixed)
	Create a g2o vertice from a keyframe object.
g2oPoint *	createG2oPoint (Vector3d pos, size_t id, bool fixed)
	Creates a g2o vertice from a mappoint object.
g2oEdgeSE3 *	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.

---

Detailed Description

Local, global and 2-view bundle adjustment with g2o.

---

Function Documentation

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.

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.

void svo::ba::globalBA

(

Map *

map

)

Global bundle adjustment.

Optimizes the whole map. Is currently not used in SVO.

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.

Optimizes core_kfs and their observed map points while keeping the neighbourhood fixed.

void svo::ba::runSparseBAOptimizer	(	g2o::SparseOptimizer *	optimizer,
		unsigned int	num_iter,
		double &	init_error,
		double &	final_error
	)

Run the optimization on the provided graph.

void svo::ba::setupG2o

(

g2o::SparseOptimizer *

optimizer

)

Initialize g2o with solver type, optimization strategy and camera model.

void svo::ba::twoViewBA	(	Frame *	frame1,
		Frame *	frame2,
		double	reproj_thresh,
		Map *	map
	)

Optimize two camera frames and their observed 3D points.

Is used after initialization.