Public Member Functions | Public Attributes | List of all members
sba::CSparse2d Class Reference

#include <csparse.h>

Public Member Functions

void addDiagBlock (Matrix< double, 3, 3 > &m, int n)
 
void addOffdiagBlock (Matrix< double, 3, 3 > &m, int ii, int jj)
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW CSparse2d ()
 
int doBPCG (int iters, double tol, int sba_iter)
 
bool doChol ()
 
int doPCG (int iters)
 
void incDiagBlocks (double lam)
 
void setupBlockStructure (int n, bool eraseit=true)
 
void setupCSstructure (double diaginc, bool init=false)
 
void uncompress (MatrixXd &m)
 
 ~CSparse2d ()
 

Public Attributes

cs * A
 
cs * AF
 
int asize
 
VectorXd B
 
jacobiBPCG< 3 > bpcg
 
VectorXd Bprev
 
vector< map< int, Matrix< double, 3, 3 >, less< int >, aligned_allocator< Matrix< double, 3, 3 > > > > cols
 
int csize
 
vector< Matrix< double, 3, 3 >, aligned_allocator< Matrix< double, 3, 3 > > > diag
 
int nnz
 
bool useCholmod
 

Detailed Description

Definition at line 146 of file csparse.h.

Constructor & Destructor Documentation

◆ CSparse2d()

sba::CSparse2d::CSparse2d ( )

Definition at line 401 of file csparse.cpp.

◆ ~CSparse2d()

sba::CSparse2d::~CSparse2d ( )

Definition at line 417 of file csparse.cpp.

Member Function Documentation

◆ addDiagBlock()

void sba::CSparse2d::addDiagBlock ( Matrix< double, 3, 3 > &  m,
int  n 
)
inline

Definition at line 166 of file csparse.h.

◆ addOffdiagBlock()

void sba::CSparse2d::addOffdiagBlock ( Matrix< double, 3, 3 > &  m,
int  ii,
int  jj 
)

Definition at line 472 of file csparse.cpp.

◆ doBPCG()

int sba::CSparse2d::doBPCG ( int  iters,
double  tol,
int  sba_iter 
)

Definition at line 738 of file csparse.cpp.

◆ doChol()

bool sba::CSparse2d::doChol ( )

Definition at line 660 of file csparse.cpp.

◆ doPCG()

int sba::CSparse2d::doPCG ( int  iters)

◆ incDiagBlocks()

void sba::CSparse2d::incDiagBlocks ( double  lam)

Definition at line 488 of file csparse.cpp.

◆ setupBlockStructure()

void sba::CSparse2d::setupBlockStructure ( int  n,
bool  eraseit = true 
)

Definition at line 425 of file csparse.cpp.

◆ setupCSstructure()

void sba::CSparse2d::setupCSstructure ( double  diaginc,
bool  init = false 
)

Definition at line 501 of file csparse.cpp.

◆ uncompress()

void sba::CSparse2d::uncompress ( MatrixXd &  m)

Definition at line 640 of file csparse.cpp.

Member Data Documentation

◆ A

cs* sba::CSparse2d::A

Definition at line 183 of file csparse.h.

◆ AF

cs * sba::CSparse2d::AF

Definition at line 183 of file csparse.h.

◆ asize

int sba::CSparse2d::asize

Definition at line 179 of file csparse.h.

◆ B

VectorXd sba::CSparse2d::B

Definition at line 186 of file csparse.h.

◆ bpcg

jacobiBPCG<3> sba::CSparse2d::bpcg

Definition at line 202 of file csparse.h.

◆ Bprev

VectorXd sba::CSparse2d::Bprev

Definition at line 186 of file csparse.h.

◆ cols

vector< map<int,Matrix<double,3,3>, less<int>, aligned_allocator<Matrix<double,3,3> > > > sba::CSparse2d::cols

Definition at line 161 of file csparse.h.

◆ csize

int sba::CSparse2d::csize

Definition at line 179 of file csparse.h.

◆ diag

vector< Matrix<double,3,3>, aligned_allocator<Matrix<double,3,3> > > sba::CSparse2d::diag

Definition at line 158 of file csparse.h.

◆ nnz

int sba::CSparse2d::nnz

Definition at line 180 of file csparse.h.

◆ useCholmod

bool sba::CSparse2d::useCholmod

Definition at line 189 of file csparse.h.


The documentation for this class was generated from the following files:


sparse_bundle_adjustment
Author(s):
autogenerated on Wed Mar 2 2022 01:03:04