Public Member Functions | Protected Member Functions | Protected Attributes
Bundle Class Reference

#include <Bundle.h>

List of all members.

Public Member Functions

int AddCamera (SE3<> se3CamFromWorld, bool bFixed)
void AddMeas (int nCam, int nPoint, Vector< 2 > v2Pos, double dSigmaSquared)
int AddPoint (Vector< 3 > v3Pos)
 Bundle (const ATANCamera &TCam)
int Compute (bool *pbAbortSignal)
bool Converged ()
SE3 GetCamera (int n)
std::vector< std::pair< int,
int > > 
GetOutlierMeasurements ()
std::set< int > GetOutliers ()
Vector< 3 > GetPoint (int n)

Protected Member Functions

void ClearAccumulators ()
template<class MEstimator >
bool Do_LM_Step (bool *pbAbortSignal)
template<class MEstimator >
double FindNewError ()
void GenerateMeasLUTs ()
void GenerateOffDiagScripts ()
void ModifyLambda_BadStep ()
void ModifyLambda_GoodStep ()
void ProjectAndFindSquaredError (Meas &meas)

Protected Attributes

bool mbConverged
bool mbHitMaxIterations
ATANCamera mCamera
double mdLambda
double mdLambdaFactor
double mdSigmaSquared
std::list< MeasmMeasList
int mnAccepted
int mnCamsToUpdate
int mnCounter
int mnStartRow
bool * mpbAbortSignal
std::vector< CameramvCameras
std::vector< std::vector< Meas * > > mvMeasLUTs
std::vector< std::pair< int,
int > > 
mvOutlierMeasurementIdx
std::vector< PointmvPoints

Detailed Description

Definition at line 104 of file Bundle.h.


Constructor & Destructor Documentation

Bundle::Bundle ( const ATANCamera TCam)

Definition at line 42 of file Bundle.cc.


Member Function Documentation

int Bundle::AddCamera ( SE3<>  se3CamFromWorld,
bool  bFixed 
)

Definition at line 55 of file Bundle.cc.

void Bundle::AddMeas ( int  nCam,
int  nPoint,
Vector< 2 >  v2Pos,
double  dSigmaSquared 
)

Definition at line 90 of file Bundle.cc.

int Bundle::AddPoint ( Vector< 3 >  v3Pos)

Definition at line 75 of file Bundle.cc.

void Bundle::ClearAccumulators ( ) [protected]

Definition at line 105 of file Bundle.cc.

int Bundle::Compute ( bool *  pbAbortSignal)

Definition at line 124 of file Bundle.cc.

bool Bundle::Converged ( ) [inline]

Definition at line 113 of file Bundle.h.

template<class MEstimator >
bool Bundle::Do_LM_Step ( bool *  pbAbortSignal) [protected]

Definition at line 198 of file Bundle.cc.

template<class MEstimator >
double Bundle::FindNewError ( ) [protected]

Definition at line 556 of file Bundle.cc.

void Bundle::GenerateMeasLUTs ( ) [protected]

Definition at line 584 of file Bundle.cc.

void Bundle::GenerateOffDiagScripts ( ) [protected]

Definition at line 599 of file Bundle.cc.

SE3 Bundle::GetCamera ( int  n)

Definition at line 649 of file Bundle.cc.

vector< pair< int, int > > Bundle::GetOutlierMeasurements ( )

Definition at line 668 of file Bundle.cc.

Definition at line 654 of file Bundle.cc.

Vector< 3 > Bundle::GetPoint ( int  n)

Definition at line 644 of file Bundle.cc.

void Bundle::ModifyLambda_BadStep ( ) [protected]

Definition at line 637 of file Bundle.cc.

void Bundle::ModifyLambda_GoodStep ( ) [protected]

Definition at line 631 of file Bundle.cc.

void Bundle::ProjectAndFindSquaredError ( Meas meas) [inline, protected]

Definition at line 177 of file Bundle.cc.


Member Data Documentation

bool Bundle::mbConverged [protected]

Definition at line 142 of file Bundle.h.

bool Bundle::mbHitMaxIterations [protected]

Definition at line 143 of file Bundle.h.

Definition at line 136 of file Bundle.h.

double Bundle::mdLambda [protected]

Definition at line 140 of file Bundle.h.

double Bundle::mdLambdaFactor [protected]

Definition at line 141 of file Bundle.h.

double Bundle::mdSigmaSquared [protected]

Definition at line 139 of file Bundle.h.

std::list<Meas> Bundle::mMeasList [protected]

Definition at line 132 of file Bundle.h.

int Bundle::mnAccepted [protected]

Definition at line 145 of file Bundle.h.

int Bundle::mnCamsToUpdate [protected]

Definition at line 137 of file Bundle.h.

int Bundle::mnCounter [protected]

Definition at line 144 of file Bundle.h.

int Bundle::mnStartRow [protected]

Definition at line 138 of file Bundle.h.

bool* Bundle::mpbAbortSignal [protected]

Definition at line 152 of file Bundle.h.

std::vector<Camera> Bundle::mvCameras [protected]

Definition at line 131 of file Bundle.h.

std::vector<std::vector<Meas*> > Bundle::mvMeasLUTs [protected]

Definition at line 134 of file Bundle.h.

std::vector<std::pair<int,int> > Bundle::mvOutlierMeasurementIdx [protected]

Definition at line 133 of file Bundle.h.

std::vector<Point> Bundle::mvPoints [protected]

Definition at line 130 of file Bundle.h.


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


ptam
Author(s): Markus Achtelik , Stephan Weiss , Simon Lynen
autogenerated on Sun Oct 5 2014 23:52:34