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35 using namespace gtsam;
47 if (strcmp(argv[1],
"--colamd"))
50 throw runtime_error(
"Usage: timeSFMBALxxx [--colamd] [BALfile]");
60 return SfmData::FromBalFile(
filename);
70 LevenbergMarquardtParams::SetCeresDefaults(&
params);
80 if (separateCalibration)
ordering.push_back(
K(
i));
virtual const Values & optimize()
int optimize(const SfmData &db, const NonlinearFactorGraph &graph, const Values &initial, bool separateCalibration=false)
A nonlinear optimizer that uses the Levenberg-Marquardt trust-region scheme.
Variable ordering for the elimination algorithm.
static const SmartProjectionParams params
SfmData stores a bunch of SfmTracks.
static SharedNoiseModel gNoiseModel
utility functions for loading datasets
void tictoc_finishedIteration_()
noiseModel::Base::shared_ptr SharedNoiseModel
SfmData preamble(int argc, char *argv[])
static enum @1096 ordering
size_t numberCameras() const
The number of cameras.
Data structure for dealing with Structure from Motion data.
Matrix< Scalar, Dynamic, Dynamic > C
Factor Graph consisting of non-linear factors.
GTSAM_EXPORT std::string findExampleDataFile(const std::string &name)
NonlinearFactorGraph graph
size_t numberTracks() const
The number of reconstructed 3D points.
A non-templated config holding any types of Manifold-group elements.
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:42:16