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37 using namespace gtsam;
38 using namespace noiseModel;
45 int main(
int argc,
char* argv[]) {
48 if (argc > 1)
filename = string(argv[1]);
64 noiseModel::Isotropic::Sigma(6, 0.1));
69 noiseModel::Isotropic::Sigma(3, 0.1));
72 auto noise = noiseModel::Isotropic::Sigma(2, 1.0);
84 Point2_ predict_ = project2<SfmCamera>(camera_, point_);
102 params.setVerbosity(
"ERROR");
105 }
catch (exception&
e) {
virtual const Values & optimize()
Array< double, 1, 3 > e(1./3., 0.5, 2.)
A nonlinear optimizer that uses the Levenberg-Marquardt trust-region scheme.
std::vector< SfmMeasurement > measurements
The 2D image projections (id,(u,v))
static const SmartProjectionParams params
SfmData stores a bunch of SfmTracks.
double error(const Values &values) const
std::vector< SfmTrack > tracks
Sparse set of points.
utility functions for loading datasets
Factor graph that supports adding ExpressionFactors directly.
size_t numberCameras() const
The number of cameras.
Data structure for dealing with Structure from Motion data.
Pose3_ getPose(const Expression< PinholeCamera< CALIBRATION > > &cam)
Matrix< Scalar, Dynamic, Dynamic > C
int main(int argc, char *argv[])
std::vector< SfmCamera > cameras
Set of cameras.
Common expressions for solving geometry/slam/sfm problems.
GTSAM_EXPORT std::string findExampleDataFile(const std::string &name)
static const CalibratedCamera camera(kDefaultPose)
Point3 p
3D position of the point
NonlinearFactorGraph graph
size_t numberTracks() const
The number of reconstructed 3D points.
void addExpressionFactor(const SharedNoiseModel &R, const T &z, const Expression< T > &h)
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:35:15