SFMExample_SmartFactorPCG.cpp File Reference

Version of SFMExample_SmartFactor that uses Preconditioned Conjugate Gradient. More...

#include "SFMdata.h"
#include <gtsam/slam/SmartProjectionPoseFactor.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/linear/Preconditioner.h>
#include <gtsam/linear/PCGSolver.h>

Include dependency graph for SFMExample_SmartFactorPCG.cpp:

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Typedefs
typedef PinholePose< Cal3_S2 >	Camera
typedef SmartProjectionPoseFactor< Cal3_S2 >	SmartFactor

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

Detailed Description

Version of SFMExample_SmartFactor that uses Preconditioned Conjugate Gradient.

Author

Frank Dellaert

Definition in file SFMExample_SmartFactorPCG.cpp.

Typedef Documentation

typedef PinholePose<Cal3_S2> Camera

Definition at line 34 of file SFMExample_SmartFactorPCG.cpp.

typedef SmartProjectionPoseFactor<Cal3_S2> SmartFactor

Definition at line 31 of file SFMExample_SmartFactorPCG.cpp.

Function Documentation

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

Definition at line 37 of file SFMExample_SmartFactorPCG.cpp.