#include <Eigen/StdVector>#include <tr1/random>#include <iostream>#include <stdint.h>#include <tr1/unordered_set>#include "g2o/core/graph_optimizer_sparse.h"#include "g2o/core/block_solver.h"#include "g2o/core/solver.h"#include "g2o/solvers/cholmod/linear_solver_cholmod.h"#include "g2o/solvers/dense/linear_solver_dense.h"#include "g2o/core/structure_only_solver.h"#include "g2o/core/base_vertex.h"#include "g2o/core/base_binary_edge.h"#include "g2o/core/base_multi_edge.h"#include <Eigen/Eigen>#include <Eigen/Geometry>#include <cstdio>#include <fstream>
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Classes | |
| class | g2o::EdgeProjectXYZ2UV |
| struct | OptimizationData |
| class | SE3AxisAngle |
| class | g2o::VertexPointXYZ |
| Point vertex, XYZ. More... | |
| class | g2o::VertexSE3AxisAngle |
Namespaces | |
| namespace | g2o |
Executes code, only if secs are gone since last exec. | |
Typedefs | |
| typedef Eigen::Matrix< double, 3, 3 > | Matrix3 |
| typedef Eigen::Matrix< double, 4, 4 > | Matrix4 |
| typedef Eigen::Matrix< double, 6, 6 > | Matrix6 |
| typedef Eigen::Matrix< double, 2, 1 > | Vector2 |
| typedef Eigen::Matrix< double, 3, 1 > | Vector3 |
| typedef Eigen::Matrix< double, 4, 1 > | Vector4 |
| typedef Eigen::Matrix< double, 5, 1 > | Vector5 |
| typedef Eigen::Matrix< double, 6, 1 > | Vector6 |
Functions | |
| void | poseOptimization (OptimizationData &dat) |
Typedef Documentation
| typedef Eigen::Matrix<double, 3, 3> Matrix3 |
Definition at line 38 of file NonLinearLS.h.
| typedef Eigen::Matrix<double, 4, 4> Matrix4 |
Definition at line 39 of file NonLinearLS.h.
| typedef Eigen::Matrix<double, 6, 6> Matrix6 |
Definition at line 40 of file NonLinearLS.h.
| typedef Eigen::Matrix<double, 2, 1> Vector2 |
Definition at line 32 of file NonLinearLS.h.
| typedef Eigen::Matrix<double, 3, 1> Vector3 |
Definition at line 33 of file NonLinearLS.h.
| typedef Eigen::Matrix<double, 4, 1> Vector4 |
Definition at line 34 of file NonLinearLS.h.
| typedef Eigen::Matrix<double, 5, 1> Vector5 |
Definition at line 35 of file NonLinearLS.h.
| typedef Eigen::Matrix<double, 6, 1> Vector6 |
Definition at line 36 of file NonLinearLS.h.
Function Documentation
| void poseOptimization | ( | OptimizationData & | dat | ) |
Aligment transformation ///
POINTS ///
OPTIMIZATION ///
Definition at line 106 of file NonLinearLS.cpp.