timeSFMBAL.h File Reference

Common code for timeSFMBAL scripts. More...

#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>

Include dependency graph for timeSFMBAL.h:

This graph shows which files directly or indirectly include this file:

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

Detailed Description

Common code for timeSFMBAL scripts.

Author

Frank Dellaert

Date

July 5, 2015

Definition in file timeSFMBAL.h.

Function Documentation

int optimize	(	const SfmData &	db,
		const NonlinearFactorGraph &	graph,
		const Values &	initial,
		bool	separateCalibration = false
	)

Definition at line 63 of file timeSFMBAL.h.

SfmData preamble	(	int	argc,
		char *	argv[]
	)

Definition at line 41 of file timeSFMBAL.h.

Variable Documentation

SharedNoiseModel gNoiseModel = noiseModel::Unit::Create(2)

static

Definition at line 38 of file timeSFMBAL.h.

bool gUseSchur = true

static

Definition at line 37 of file timeSFMBAL.h.