Functions | Variables
timeSFMBAL.h File Reference

Common code for timeSFMBAL scripts. More...

#include <gtsam/sfm/SfmData.h>
#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>
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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

◆ optimize()

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

Definition at line 64 of file timeSFMBAL.h.

◆ preamble()

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

Definition at line 44 of file timeSFMBAL.h.

Variable Documentation

◆ gNoiseModel

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

Definition at line 41 of file timeSFMBAL.h.

◆ gUseSchur

bool gUseSchur = true
static

Definition at line 40 of file timeSFMBAL.h.



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autogenerated on Tue Jul 4 2023 02:40:57