svo::pose_optimizer Namespace Reference

Motion-only bundle adjustment. Minimize the reprojection error of a single frame. More...

Functions
void	optimizeGaussNewton (const double reproj_thresh, const size_t n_iter, const bool verbose, FramePtr &frame, double &estimated_scale, double &error_init, double &error_final, size_t &num_obs)

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Detailed Description

Motion-only bundle adjustment. Minimize the reprojection error of a single frame.

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Function Documentation

void svo::pose_optimizer::optimizeGaussNewton	(	const double	reproj_thresh,
		const size_t	n_iter,
		const bool	verbose,
		FramePtr &	frame,
		double &	estimated_scale,
		double &	error_init,
		double &	error_final,
		size_t &	num_obs
	)