A visualSLAM example for the structure-from-motion problem on a simulated dataset. This version uses a fisheye camera model and a GaussNewton solver to solve the graph in one batch. More...
#include "SFMdata.h"
#include <gtsam/geometry/Point2.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/geometry/Cal3Fisheye.h>
#include <gtsam/slam/PriorFactor.h>
#include <gtsam/slam/ProjectionFactor.h>
#include <fstream>
#include <vector>
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int | main (int argc, char *argv[]) |
A visualSLAM example for the structure-from-motion problem on a simulated dataset. This version uses a fisheye camera model and a GaussNewton solver to solve the graph in one batch.
Definition in file FisheyeExample.cpp.
Definition at line 62 of file FisheyeExample.cpp.