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| bool | addMonoProj (int ci, int pi, Eigen::Vector2d &q) |
| | Add a projection between point and camera, in setting up the system. More...
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| int | addNode (Eigen::Matrix< double, 4, 1 > &trans, Eigen::Quaternion< double > &qrot, const fc::CamParams &cp, bool isFixed=false) |
| | Adds a node to the system. More...
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| int | addPoint (Point p) |
| | Adds a point to the system. More...
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| void | addPointPlaneMatch (int ci0, int pi0, Eigen::Vector3d normal0, int ci1, int pi1, Eigen::Vector3d normal1) |
| | Adds a pair of point-plane projection matches. Assumes the points have already been added to the system with point-to-point projections; this just takes care of the forward and backward point-to-plane projections. More...
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| bool | addProj (int ci, int pi, Eigen::Vector3d &q, bool stereo=true) |
| | Add a projection between point and camera, in setting up the system. More...
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| bool | addStereoProj (int ci, int pi, Eigen::Vector3d &q) |
| | Add a projection between point and camera, in setting up the system. More...
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| double | calcAvgError () |
| | Calculates average cost of the system. More...
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| double | calcCost () |
| | Calculate the total cost of the system by adding the squared error over all projections. More...
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| double | calcCost (double dist) |
| | Calculates total cost of the system, not counting projections with errors higher than <dist>. More...
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| double | calcRMSCost (double dist=10000.0) |
| | Calculates total RMS cost of the system, not counting projections with errors higher than <dist>. More...
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| int | countBad (double dist) |
| | Find number of projections with errors over a certain value. More...
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| int | countProjs () |
| | Return total number of projections. More...
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| int | doSBA (int niter, double lambda=1.0e-4, int useCSparse=0, double initTol=1.0e-8, int maxCGiters=100) |
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| void | mergeTracks (std::vector< std::pair< int, int > > &prs) |
| | merge tracks based on identity pairs More...
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| int | mergeTracksSt (int tr0, int tr1) |
| | merge two tracks if possible (no conflicts) More...
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| int | numBadPoints () |
| | Find number of points with Z < 0 (projected behind the camera). More...
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| void | printStats () |
| | Print some system stats. More...
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| int | reduceLongTracks (double pct) |
| | get rid of long tracks More...
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| int | reduceTracks () |
| | Reduce tracks by eliminating single tracks and invalid projections. More...
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| int | remExcessTracks (int minpts) |
| | removes tracks that aren't needed More...
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| int | removeBad (double dist) |
| | Remove projections with too high of an error. More...
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| void | setConnMat (int minpts) |
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| void | setConnMatReduced (int maxconns) |
| | sets up connectivity matrix by greedy spanning tree More...
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| void | setProjCovariance (int ci, int pi, Eigen::Matrix3d &covar) |
| | Sets the covariance matrix of a projection. More...
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| void | setupSparseSys (double sLambda, int iter, int sparseType) |
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| void | setupSys (double sLambda) |
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| | SysSBA () |
| | Default constructor. More...
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| void | updateNormals () |
| | Update normals in point-plane matches, if any. More...
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| void | useCholmod (bool yes) |
| | use CHOLMOD or CSparse More...
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| Eigen::MatrixXd | A |
| | linear system matrix and vector More...
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| Eigen::VectorXd | B |
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| std::vector< std::vector< bool > > | connMat |
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| CSparse | csp |
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| double | huber |
| | Huber parameter; greater than 0.0 for Huber weighting of cost. More...
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| double | lambda |
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| int | nFixed |
| | Number of fixed nodes (nodes with known poses) from the first node. More...
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| std::vector< Node, Eigen::aligned_allocator< Node > > | nodes |
| | Set of nodes (camera frames) for SBA system, indexed by node number. More...
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| double | sqMinDelta |
| | Convergence bound (square of minimum acceptable delta change) More...
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| long long | t0 |
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| long long | t1 |
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| long long | t2 |
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| long long | t3 |
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| long long | t4 |
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| std::vector< Track, Eigen::aligned_allocator< Track > > | tracks |
| | Set of tracks for each point P (projections onto camera frames). More...
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| bool | useLocalAngles |
| | local or global angle coordinates More...
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| EIGEN_MAKE_ALIGNED_OPERATOR_NEW int | verbose |
| | How much information to print to console. More...
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SysSBA holds a set of nodes and points for sparse bundle adjustment.
Definition at line 75 of file sba.h.
| int sba::SysSBA::doSBA |
( |
int |
niter, |
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double |
sLambda = 1.0e-4, |
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int |
useCSparse = 0, |
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double |
initTol = 1.0e-8, |
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int |
maxCGiter = 100 |
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) |
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do LM solution for system; returns number of iterations on finish. Argument is max number of iterations to perform. <lambda> is the LM diagonal factor <useCSparse> is one of SBA_DENSE_CHOLESKY, SBA_SPARSE_CHOLESKY, SBA_GRADIENT, SBA_BLOCK_JACOBIAN_PCG initTol is the initial tolerance for CG iterations
Run the LM algorithm that computes a nonlinear SBA estimate. <niter> is the max number of iterations to perform; returns the number actually performed. <useCSparse> = 0 for dense Cholesky, 1 for sparse system, 2 for gradient system, 3 for block jacobian PCG <initTol> is the initial tolerance for CG
Definition at line 1312 of file sba.cpp.