Common code for timeSFMBAL scripts. More...
#include <gtsam/sfm/SfmData.h>
#include <gtsam/slam/dataset.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/linear/NoiseModel.h>
#include <gtsam/inference/Ordering.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/base/timing.h>
#include <string>
#include <vector>
Go to the source code of this file.
Functions | |
int | optimize (const SfmData &db, const NonlinearFactorGraph &graph, const Values &initial, bool separateCalibration=false) |
SfmData | preamble (int argc, char *argv[]) |
Variables | |
static SharedNoiseModel | gNoiseModel = noiseModel::Unit::Create(2) |
static bool | gUseSchur = true |
int optimize | ( | const SfmData & | db, |
const NonlinearFactorGraph & | graph, | ||
const Values & | initial, | ||
bool | separateCalibration = false |
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Definition at line 64 of file timeSFMBAL.h.
Definition at line 44 of file timeSFMBAL.h.
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static |
Definition at line 41 of file timeSFMBAL.h.
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Definition at line 40 of file timeSFMBAL.h.