FisheyeExample.cpp File Reference

A visualSLAM example for the structure-from-motion problem on a simulated dataset. This version uses a fisheye camera model and a GaussNewton solver to solve the graph in one batch. More...

#include "SFMdata.h"
#include <gtsam/geometry/Point2.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/geometry/Cal3Fisheye.h>
#include <gtsam/slam/PriorFactor.h>
#include <gtsam/slam/ProjectionFactor.h>
#include <fstream>
#include <vector>

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Functions
int	main (int argc, char *argv[])

Detailed Description

A visualSLAM example for the structure-from-motion problem on a simulated dataset. This version uses a fisheye camera model and a GaussNewton solver to solve the graph in one batch.

Author

ghaggin @Date Apr 9,2020

Definition in file FisheyeExample.cpp.

Function Documentation

main()

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 62 of file FisheyeExample.cpp.