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29 using namespace gtsam;
31 #define time timeMultiThreaded
57 f1 = std::make_shared<GeneralSFMFactor<Camera, Point3> >(
z,
model, 1, 2);
62 f3 = std::make_shared<ExpressionFactor<Point2> >(
model,
z, expression2);
63 time(
"Point2_(camera, &Camera::project, point): ",
f3,
values);
71 f2 = std::make_shared<ExpressionFactor<Vector2> >(
model,
z, expression);
72 time(
"Point2_(AdaptedSnavely(), camera, point): ",
f2,
values);
std::shared_ptr< This > shared_ptr
Expression< Point3 > Point3_
static Point2 project2(const CalibratedCamera &camera, const Point3 &point)
Expression< Point2 > Point2_
double f2(const Vector2 &x)
a general SFM factor with an unknown calibration
Base class for all pinhole cameras.
void insert(Key j, const Vector &value)
noiseModel::Base::shared_ptr SharedNoiseModel
noiseModel::Diagonal::shared_ptr model
double f3(double x1, double x2)
Adaptor for Ceres style auto-differentiated functions.
PinholePose< Cal3_S2 > Camera
static const CalibratedCamera camera(kDefaultPose)
Calibration used by Bundler.
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:42:06