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