Bundle Class Reference

#include <Bundle.h>

List of all members.

Public Member Functions
int	AddCamera (SE3<> se3CamFromWorld, bool bFixed)
void	AddMeas (int nCam, int nPoint, Vector< 2 > v2Pos, double dSigmaSquared)
int	AddPoint (Vector< 3 > v3Pos)
	Bundle (const ATANCamera &TCam)
int	Compute (bool *pbAbortSignal)
bool	Converged ()
SE3	GetCamera (int n)
std::vector< std::pair< int, int > >	GetOutlierMeasurements ()
std::set< int >	GetOutliers ()
Vector< 3 >	GetPoint (int n)
Protected Member Functions
void	ClearAccumulators ()
template<class MEstimator >
bool	Do_LM_Step (bool *pbAbortSignal)
template<class MEstimator >
double	FindNewError ()
void	GenerateMeasLUTs ()
void	GenerateOffDiagScripts ()
void	ModifyLambda_BadStep ()
void	ModifyLambda_GoodStep ()
void	ProjectAndFindSquaredError (Meas &meas)
Protected Attributes
bool	mbConverged
bool	mbHitMaxIterations
ATANCamera	mCamera
double	mdLambda
double	mdLambdaFactor
double	mdSigmaSquared
GVars3::gvar3< double >	mgvdUpdateConvergenceLimit
GVars3::gvar3< int >	mgvnBundleCout
GVars3::gvar3< int >	mgvnMaxIterations
std::list< Meas >	mMeasList
int	mnAccepted
int	mnCamsToUpdate
int	mnCounter
int	mnStartRow
bool *	mpbAbortSignal
std::vector< Camera >	mvCameras
std::vector< std::vector< Meas * > >	mvMeasLUTs
std::vector< std::pair< int, int > >	mvOutlierMeasurementIdx
std::vector< Point >	mvPoints

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Detailed Description

Definition at line 103 of file Bundle.h.

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Constructor & Destructor Documentation

Bundle::Bundle

(

const ATANCamera &

TCam

)

Definition at line 37 of file Bundle.cc.

---

Member Function Documentation

int Bundle::AddCamera	(	SE3<>	se3CamFromWorld,
		bool	bFixed
	)

Definition at line 48 of file Bundle.cc.

void Bundle::AddMeas	(	int	nCam,
		int	nPoint,
		Vector< 2 >	v2Pos,
		double	dSigmaSquared
	)

Definition at line 83 of file Bundle.cc.

int Bundle::AddPoint

(

Vector< 3 >

v3Pos

)

Definition at line 68 of file Bundle.cc.

void Bundle::ClearAccumulators

(

)

[protected]

Definition at line 98 of file Bundle.cc.

int Bundle::Compute

(

bool *

pbAbortSignal

)

Definition at line 117 of file Bundle.cc.

bool Bundle::Converged

(

)

[inline]

Definition at line 112 of file Bundle.h.

template<class MEstimator >

bool Bundle::Do_LM_Step

(

bool *

pbAbortSignal

)

[protected]

Definition at line 185 of file Bundle.cc.

template<class MEstimator >

double Bundle::FindNewError

(

)

[protected]

Definition at line 533 of file Bundle.cc.

void Bundle::GenerateMeasLUTs

(

)

[protected]

Definition at line 561 of file Bundle.cc.

void Bundle::GenerateOffDiagScripts

(

)

[protected]

Definition at line 576 of file Bundle.cc.

SE3 Bundle::GetCamera

(

int

n

)

Definition at line 626 of file Bundle.cc.

vector< pair< int, int > > Bundle::GetOutlierMeasurements

(

)

Definition at line 645 of file Bundle.cc.

set< int > Bundle::GetOutliers

(

)

Definition at line 631 of file Bundle.cc.

Vector< 3 > Bundle::GetPoint

(

int

n

)

Definition at line 621 of file Bundle.cc.

void Bundle::ModifyLambda_BadStep

(

)

[protected]

Definition at line 614 of file Bundle.cc.

void Bundle::ModifyLambda_GoodStep

(

)

[protected]

Definition at line 608 of file Bundle.cc.

void Bundle::ProjectAndFindSquaredError

(

Meas &

meas

)

[inline, protected]

Definition at line 164 of file Bundle.cc.

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Member Data Documentation

bool Bundle::mbConverged [protected]

Definition at line 141 of file Bundle.h.

bool Bundle::mbHitMaxIterations [protected]

Definition at line 142 of file Bundle.h.

ATANCamera Bundle::mCamera [protected]

Definition at line 135 of file Bundle.h.

double Bundle::mdLambda [protected]

Definition at line 139 of file Bundle.h.

double Bundle::mdLambdaFactor [protected]

Definition at line 140 of file Bundle.h.

double Bundle::mdSigmaSquared [protected]

Definition at line 138 of file Bundle.h.

GVars3::gvar3<double> Bundle::mgvdUpdateConvergenceLimit [protected]

Definition at line 147 of file Bundle.h.

GVars3::gvar3<int> Bundle::mgvnBundleCout [protected]

Definition at line 148 of file Bundle.h.

GVars3::gvar3<int> Bundle::mgvnMaxIterations [protected]

Definition at line 146 of file Bundle.h.

std::list<Meas> Bundle::mMeasList [protected]

Definition at line 131 of file Bundle.h.

int Bundle::mnAccepted [protected]

Definition at line 144 of file Bundle.h.

int Bundle::mnCamsToUpdate [protected]

Definition at line 136 of file Bundle.h.

int Bundle::mnCounter [protected]

Definition at line 143 of file Bundle.h.

int Bundle::mnStartRow [protected]

Definition at line 137 of file Bundle.h.

bool* Bundle::mpbAbortSignal [protected]

Definition at line 150 of file Bundle.h.

std::vector<Camera> Bundle::mvCameras [protected]

Definition at line 130 of file Bundle.h.

std::vector<std::vector<Meas*> > Bundle::mvMeasLUTs [protected]

Definition at line 133 of file Bundle.h.

std::vector<std::pair<int,int> > Bundle::mvOutlierMeasurementIdx [protected]

Definition at line 132 of file Bundle.h.

std::vector<Point> Bundle::mvPoints [protected]

Definition at line 129 of file Bundle.h.

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The documentation for this class was generated from the following files:

• Bundle.h
• Bundle.cc