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<div class="title">bundle_adjustment.h File Reference</div> </div>
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<div class="textblock"><code>#include <<a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html">mrpt/vision/types.h</a>></code><br/>
<code>#include <<a class="el" href="_t_camera_8h_source.html">mrpt/utils/TCamera.h</a>></code><br/>
<code>#include <<a class="el" href="_t_parameters_8h_source.html">mrpt/utils/TParameters.h</a>></code><br/>
<code>#include <<a class="el" href="lightweight__geom__data_8h_source.html">mrpt/math/lightweight_geom_data.h</a>></code><br/>
</div><div class="textblock"><div class="dynheader">
Include dependency graph for bundle_adjustment.h:</div>
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<p><a href="bundle__adjustment_8h_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="namespaces"></a>
Namespaces</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt.html">mrpt</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries. </p>
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<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1vision.html">mrpt::vision</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>Classes for computer vision, detectors, features, etc. </p>
<br/></td></tr>
<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></td></tr>
<tr><td colspan="2"><div class="groupHeader">Bundle-Adjustment Auxiliary methods</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__bundle__adj.html#ga3d11e2afc4d575bacd1699f9ba0f479a">mrpt::vision::ba_initial_estimate</a> (const <a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html">mrpt::vision::TSequenceFeatureObservations</a> &observations, const <a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">mrpt::utils::TCamera</a> &camera_params, <a class="el" href="group__mrpt__vision__grp.html#gabe5f1a7756ced9db83e245414fd54def">mrpt::vision::TFramePosesVec</a> &frame_poses, <a class="el" href="group__mrpt__vision__grp.html#gaa8fa8b53643b4e650a959867691e3adc">mrpt::vision::TLandmarkLocationsVec</a> &landmark_points)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Fills the frames & landmark points maps with an initial gross estimate from the sequence <em>observations</em>, so they can be fed to bundle adjustment methods. <a href="group__bundle__adj.html#ga3d11e2afc4d575bacd1699f9ba0f479a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__bundle__adj.html#gab92c9a153aa4c107299f26be55179a0e">mrpt::vision::ba_initial_estimate</a> (const <a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html">mrpt::vision::TSequenceFeatureObservations</a> &observations, const <a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">mrpt::utils::TCamera</a> &camera_params, <a class="el" href="group__mrpt__vision__grp.html#ga62b8ac1f5f748ac325c921ee16b28ff7">mrpt::vision::TFramePosesMap</a> &frame_poses, <a class="el" href="group__mrpt__vision__grp.html#gaef17b094c368f8a0ea926e8af3183feb">mrpt::vision::TLandmarkLocationsMap</a> &landmark_points)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__bundle__adj.html#ga008e17744135c93e2ab9ae735372435c">mrpt::vision::reprojectionResiduals</a> (const <a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html">mrpt::vision::TSequenceFeatureObservations</a> &observations, const <a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">mrpt::utils::TCamera</a> &camera_params, const <a class="el" href="group__mrpt__vision__grp.html#gabe5f1a7756ced9db83e245414fd54def">mrpt::vision::TFramePosesVec</a> &frame_poses, const <a class="el" href="group__mrpt__vision__grp.html#gaa8fa8b53643b4e650a959867691e3adc">mrpt::vision::TLandmarkLocationsVec</a> &landmark_points, <a class="el" href="classstd_1_1vector.html">std::vector</a>< CArray< double, 2 > > &out_residuals, const bool frame_poses_are_inverse, const bool use_robust_kernel=true, const double kernel_param=3.0)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Compute reprojection error vector (used from within Bundle Adjustment methods, but can be used in general) See <a class="el" href="group__bundle__adj.html#gabb5e8247d164906bce57a3c05b001953" title="Sparse Levenberg-Marquart solution to bundle adjustment - optimizes all the camera frames & the landm...">mrpt::vision::bundle_adj_full</a> for a description of most parameters. <a href="group__bundle__adj.html#ga008e17744135c93e2ab9ae735372435c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__bundle__adj.html#ga2c437db09dbcaf05c33d2bb0e38a56b8">mrpt::vision::reprojectionResiduals</a> (const <a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html">mrpt::vision::TSequenceFeatureObservations</a> &observations, const <a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">mrpt::utils::TCamera</a> &camera_params, const <a class="el" href="group__mrpt__vision__grp.html#ga62b8ac1f5f748ac325c921ee16b28ff7">mrpt::vision::TFramePosesMap</a> &frame_poses, const <a class="el" href="group__mrpt__vision__grp.html#gaef17b094c368f8a0ea926e8af3183feb">mrpt::vision::TLandmarkLocationsMap</a> &landmark_points, <a class="el" href="classstd_1_1vector.html">std::vector</a>< CArray< double, 2 > > &out_residuals, const bool frame_poses_are_inverse, const bool use_robust_kernel=true, const double kernel_param=3.0)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__bundle__adj.html#ga96e2458ae31058a3a0125258ca469d44">mrpt::vision::add_se3_deltas_to_frames</a> (const <a class="el" href="group__mrpt__vision__grp.html#gabe5f1a7756ced9db83e245414fd54def">mrpt::vision::TFramePosesVec</a> &frame_poses, const <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">mrpt::vector_double</a> &delta, const size_t delta_first_idx, const size_t delta_num_vals, <a class="el" href="group__mrpt__vision__grp.html#gabe5f1a7756ced9db83e245414fd54def">mrpt::vision::TFramePosesVec</a> &new_frame_poses, const size_t num_fix_frames)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">For each pose in the vector <em>frame_poses</em>, adds a "delta" increment to the manifold, with the "delta" given in the se(3) Lie algebra: <a href="group__bundle__adj.html#ga96e2458ae31058a3a0125258ca469d44"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__bundle__adj.html#gad10bdb5e4afebe6c3b535dc888b235b1">mrpt::vision::add_3d_deltas_to_points</a> (const <a class="el" href="group__mrpt__vision__grp.html#gaa8fa8b53643b4e650a959867691e3adc">mrpt::vision::TLandmarkLocationsVec</a> &landmark_points, const <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">mrpt::vector_double</a> &delta, const size_t delta_first_idx, const size_t delta_num_vals, <a class="el" href="group__mrpt__vision__grp.html#gaa8fa8b53643b4e650a959867691e3adc">mrpt::vision::TLandmarkLocationsVec</a> &new_landmark_points, const size_t num_fix_points)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">For each pose in the vector <em>frame_poses</em>, adds a "delta" increment to the manifold, with the "delta" given in the se(3) Lie algebra: <a href="group__bundle__adj.html#gad10bdb5e4afebe6c3b535dc888b235b1"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
Bundle-Adjustment methods</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef void(* </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1vision.html#a7e12f372278c656321223eec4aced3fb">mrpt::vision::TBundleAdjustmentFeedbackFunctor</a> )(const size_t cur_iter, const double cur_total_sq_error, const size_t max_iters, const <a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html">mrpt::vision::TSequenceFeatureObservations</a> &input_observations, const <a class="el" href="group__mrpt__vision__grp.html#gabe5f1a7756ced9db83e245414fd54def">mrpt::vision::TFramePosesVec</a> &current_frame_estimate, const <a class="el" href="group__mrpt__vision__grp.html#gaa8fa8b53643b4e650a959867691e3adc">mrpt::vision::TLandmarkLocationsVec</a> &current_landmark_estimate)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A functor type for BA methods. <a href="#a7e12f372278c656321223eec4aced3fb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__bundle__adj.html#gabb5e8247d164906bce57a3c05b001953">mrpt::vision::bundle_adj_full</a> (const <a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html">mrpt::vision::TSequenceFeatureObservations</a> &observations, const <a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">mrpt::utils::TCamera</a> &camera_params, <a class="el" href="group__mrpt__vision__grp.html#gabe5f1a7756ced9db83e245414fd54def">mrpt::vision::TFramePosesVec</a> &frame_poses, <a class="el" href="group__mrpt__vision__grp.html#gaa8fa8b53643b4e650a959867691e3adc">mrpt::vision::TLandmarkLocationsVec</a> &landmark_points, const <a class="el" href="namespacemrpt_1_1utils.html#a694777f2a3544999baea34e43a42eceb">mrpt::utils::TParametersDouble</a> &extra_params=<a class="el" href="namespacemrpt_1_1utils.html#a694777f2a3544999baea34e43a42eceb">mrpt::utils::TParametersDouble</a>(), const <a class="el" href="namespacemrpt_1_1vision.html#a7e12f372278c656321223eec4aced3fb">mrpt::vision::TBundleAdjustmentFeedbackFunctor</a> user_feedback=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sparse Levenberg-Marquart solution to bundle adjustment - optimizes all the camera frames & the landmark locations. <a href="group__bundle__adj.html#gabb5e8247d164906bce57a3c05b001953"></a><br/></td></tr>
</table>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
