corelib
src
optimizer
ceres
bundle
BAProblem.h
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/*
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* BAProblem.h
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*
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* Created on: Aug 16, 2019
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* Author: mathieu
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*/
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#ifndef CORELIB_SRC_OPTIMIZER_CERES_BUNDLE_BAPROBLEM_H_
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#define CORELIB_SRC_OPTIMIZER_CERES_BUNDLE_BAPROBLEM_H_
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namespace
ceres
{
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class
BAProblem
{
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public
:
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BAProblem
() :
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num_cameras_
(0),
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num_points_
(0),
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num_observations_
(0),
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point_index_
(
NULL
),
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camera_index_
(
NULL
),
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observations_
(
NULL
),
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cameras_
(
NULL
),
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points_
(
NULL
)
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{}
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~BAProblem
() {
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delete
[]
point_index_
;
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delete
[]
camera_index_
;
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delete
[]
observations_
;
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delete
[]
cameras_
;
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delete
[]
points_
;
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}
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int
num_observations
()
const
{
return
num_observations_
;}
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const
double
*
observations
()
const
{
return
observations_
;}
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double
*
mutable_camera_for_observation
(
int
i) {
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return
cameras_
+
camera_index_
[
i
] * 6;
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}
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double
*
mutable_point_for_observation
(
int
i) {
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return
points_
+
point_index_
[
i
] * 3;
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}
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int
num_cameras_
;
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int
num_points_
;
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int
num_observations_
;
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int
*
point_index_
;
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int
*
camera_index_
;
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double
*
observations_
;
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double
*
cameras_
;
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double
*
points_
;
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};
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}
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#endif
/* CORELIB_SRC_OPTIMIZER_CERES_BUNDLE_BAPROBLEM_H_ */
ceres::BAProblem::point_index_
int * point_index_
Definition:
BAProblem.h:43
ceres::BAProblem::points_
double * points_
Definition:
BAProblem.h:47
ceres::BAProblem::mutable_point_for_observation
double * mutable_point_for_observation(int i)
Definition:
BAProblem.h:37
ceres::BAProblem::observations_
double * observations_
Definition:
BAProblem.h:45
ceres::BAProblem::num_observations_
int num_observations_
Definition:
BAProblem.h:42
ceres
ceres::BAProblem::observations
const double * observations() const
Definition:
BAProblem.h:33
ceres::BAProblem::~BAProblem
~BAProblem()
Definition:
BAProblem.h:25
ceres::BAProblem::num_cameras_
int num_cameras_
Definition:
BAProblem.h:40
ceres::BAProblem::num_observations
int num_observations() const
Definition:
BAProblem.h:32
ceres::BAProblem::num_points_
int num_points_
Definition:
BAProblem.h:41
NULL
#define NULL
ceres::BAProblem::cameras_
double * cameras_
Definition:
BAProblem.h:46
ceres::BAProblem::BAProblem
BAProblem()
Definition:
BAProblem.h:15
ceres::BAProblem
Definition:
BAProblem.h:13
i
int i
ceres::BAProblem::camera_index_
int * camera_index_
Definition:
BAProblem.h:44
ceres::BAProblem::mutable_camera_for_observation
double * mutable_camera_for_observation(int i)
Definition:
BAProblem.h:34
rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:06