include/svo/pose_optimizer.h File Reference

#include <svo/global.h>

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Namespaces
namespace	svo
namespace	svo::pose_optimizer
	Motion-only bundle adjustment. Minimize the reprojection error of a single frame.
Typedefs
typedef Matrix< double, 6, 6 >	svo::Matrix6d
typedef Matrix< double, 2, 6 >	svo::Matrix26d
typedef Matrix< double, 6, 1 >	svo::Vector6d
Functions
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)