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27 using namespace gtsam;
32 int main(
int argc,
char* argv[]) {
39 auto smartFactor = std::make_shared<SfmFactor>(
gNoiseModel);
43 smartFactor->add(
z,
C(
i));
int optimize(const SfmData &db, const NonlinearFactorGraph &graph, const Values &initial, bool separateCalibration=false)
Smart factor on cameras (pose + calibration)
SfmData stores a bunch of SfmTracks.
static SharedNoiseModel gNoiseModel
std::vector< SfmTrack > tracks
Sparse set of points.
Common code for timeSFMBAL scripts.
Base class for all pinhole cameras.
SfmData preamble(int argc, char *argv[])
int main(int argc, char *argv[])
Matrix< Scalar, Dynamic, Dynamic > C
std::vector< SfmCamera > cameras
Set of cameras.
IsDerived< DERIVEDFACTOR > push_back(std::shared_ptr< DERIVEDFACTOR > factor)
Add a factor directly using a shared_ptr.
SmartProjectionFactor< Camera > SfmFactor
PinholeCamera< Cal3Bundler > Camera
static const CalibratedCamera camera(kDefaultPose)
NonlinearFactorGraph graph
size_t numberTracks() const
The number of reconstructed 3D points.
Calibration used by Bundler.
std::pair< size_t, Point2 > SfmMeasurement
A measurement with its camera index.
gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:09:11