BAProblem.h
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1 /*
2  * BAProblem.h
3  *
4  * Created on: Aug 16, 2019
5  * Author: mathieu
6  */
7 
8 #ifndef CORELIB_SRC_OPTIMIZER_CERES_BUNDLE_BAPROBLEM_H_
9 #define CORELIB_SRC_OPTIMIZER_CERES_BUNDLE_BAPROBLEM_H_
10 
11 namespace ceres {
12 
13 class BAProblem {
14  public:
16  num_cameras_(0),
17  num_points_(0),
22  cameras_(NULL),
23  points_(NULL)
24  {}
26  delete[] point_index_;
27  delete[] camera_index_;
28  delete[] observations_;
29  delete[] cameras_;
30  delete[] points_;
31  }
32  int num_observations() const { return num_observations_;}
33  const double* observations() const { return observations_;}
35  return cameras_ + camera_index_[i] * 6;
36  }
38  return points_ + point_index_[i] * 3;
39  }
45  double* observations_;
46  double* cameras_;
47  double* points_;
48 };
49 
50 }
51 
52 #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