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<div class="title">bundle_adjustment.h</div> </div>
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<a href="bundle__adjustment_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="preprocessor">#ifndef mrpt_vision_ba_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define mrpt_vision_ba_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="vision_2include_2mrpt_2vision_2types_8h.html">mrpt/vision/types.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_t_camera_8h.html">mrpt/utils/TCamera.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_t_parameters_8h.html">mrpt/utils/TParameters.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="lightweight__geom__data_8h.html">mrpt/math/lightweight_geom_data.h</a>></span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="comment">// The methods declared in this file are implemented in separate files in: vision/src/ba_*.cpp</span>
<a name="l00038"></a>00038 <span class="keyword">namespace </span>mrpt
<a name="l00039"></a>00039 {
<a name="l00040"></a><a class="code" href="namespacemrpt_1_1vision.html">00040</a> <span class="keyword">namespace </span>vision
<a name="l00041"></a>00041 {
<a name="l00042"></a>00042 <span class="keyword">using</span> mrpt<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html" title="Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).">::math::TPose3D</a>;
<a name="l00043"></a>00043 <span class="keyword">using</span> mrpt<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">::math::TPoint3D</a>;
<a name="l00044"></a>00044 <span class="keyword">using</span> mrpt<a class="code" href="classmrpt_1_1utils_1_1_t_camera.html" title="Structure to hold the parameters of a pinhole camera model.">::utils::TCamera</a>;
<a name="l00045"></a>00045 <span class="comment"></span>
<a name="l00046"></a>00046 <span class="comment"> /** \defgroup bundle_adj Bundle-Adjustment methods </span>
<a name="l00047"></a>00047 <span class="comment"> * \ingroup mrpt_vision_grp</span>
<a name="l00048"></a>00048 <span class="comment"> */</span>
<a name="l00049"></a>00049
<a name="l00050"></a>00050 <span class="comment"></span>
<a name="l00051"></a>00051 <span class="comment"> /** @name Bundle-Adjustment methods</span>
<a name="l00052"></a>00052 <span class="comment"> @{ */</span>
<a name="l00053"></a>00053 <span class="comment"></span>
<a name="l00054"></a>00054 <span class="comment"> /** A functor type for BA methods \sa bundle_adj_full */</span>
<a name="l00055"></a><a class="code" href="namespacemrpt_1_1vision.html#a7e12f372278c656321223eec4aced3fb">00055</a> <span class="keyword">typedef</span> void (*<a class="code" href="namespacemrpt_1_1vision.html#a7e12f372278c656321223eec4aced3fb" title="A functor type for BA methods.">TBundleAdjustmentFeedbackFunctor</a>)(
<a name="l00056"></a>00056 <span class="keyword">const</span> <span class="keywordtype">size_t</span> cur_iter,
<a name="l00057"></a>00057 <span class="keyword">const</span> <span class="keywordtype">double</span> cur_total_sq_error,
<a name="l00058"></a>00058 <span class="keyword">const</span> <span class="keywordtype">size_t</span> max_iters,
<a name="l00059"></a>00059 <span class="keyword">const</span> mrpt<a class="code" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html" title="A complete sequence of observations of features from different camera frames (poses).">::vision::TSequenceFeatureObservations</a> & input_observations,
<a name="l00060"></a>00060 <span class="keyword">const</span> mrpt<a class="code" href="classstd_1_1vector.html" title="STL class.">::vision::TFramePosesVec</a> & current_frame_estimate,
<a name="l00061"></a>00061 <span class="keyword">const</span> mrpt<a class="code" href="classstd_1_1vector.html">::vision::TLandmarkLocationsVec</a> & current_landmark_estimate );
<a name="l00062"></a>00062
<a name="l00063"></a>00063 <span class="comment"></span>
<a name="l00064"></a>00064 <span class="comment"> /** Sparse Levenberg-Marquart solution to bundle adjustment - optimizes all the camera frames & the landmark locations.</span>
<a name="l00065"></a>00065 <span class="comment"> * At input a gross estimation of the frame poses & the landmark points must be supplied. If you don't have such a</span>
<a name="l00066"></a>00066 <span class="comment"> * starting point, use mrpt::vision::ba_initial_estimate() to compute it.</span>
<a name="l00067"></a>00067 <span class="comment"> *</span>
<a name="l00068"></a>00068 <span class="comment"> * At output the best found solution will be returned in the variables. Optionally, a functor can be passed for having</span>
<a name="l00069"></a>00069 <span class="comment"> * feedback on the progress at each iteration (you can use it to refresh a GUI, display a progress bar, etc...).</span>
<a name="l00070"></a>00070 <span class="comment"> *</span>
<a name="l00071"></a>00071 <span class="comment"> * This implementation is almost entirely an adapted version from RobotVision (at OpenSLAM.org) (C) by Hauke Strasdat (Imperial College London), licensed under GNU LGPL.</span>
<a name="l00072"></a>00072 <span class="comment"> * See the related paper: H. Strasdat, J.M.M. Montiel, A.J. Davison: "Scale Drift-Aware Large Scale Monocular SLAM", RSS2010, http://www.roboticsproceedings.org/rss06/p10.html</span>
<a name="l00073"></a>00073 <span class="comment"> *</span>
<a name="l00074"></a>00074 <span class="comment"> * List of optional parameters in "extra_params":</span>
<a name="l00075"></a>00075 <span class="comment"> * - "verbose" : Verbose output (default=0)</span>
<a name="l00076"></a>00076 <span class="comment"> * - "max_iterations": Maximum number of iterations to run (default=50)</span>
<a name="l00077"></a>00077 <span class="comment"> * - "robust_kernel": If !=0, use a robust kernel against outliers (default=1)</span>
<a name="l00078"></a>00078 <span class="comment"> * - "kernel_param": The pseudo-huber kernel parameter (default=3)</span>
<a name="l00079"></a>00079 <span class="comment"> * - "mu": Initial mu for LevMarq (default=-1 -> autoguess)</span>
<a name="l00080"></a>00080 <span class="comment"> * - "num_fix_frames": Number of first frame poses to don't optimize (keep unmodified as they come in) (default=1: the first pose is the reference and is not modified)</span>
<a name="l00081"></a>00081 <span class="comment"> * - "num_fix_points": Idem, for the landmarks positions (default=0: optimize all)</span>
<a name="l00082"></a>00082 <span class="comment"> * - "profiler": If !=0, displays profiling information to the console at return.</span>
<a name="l00083"></a>00083 <span class="comment"> *</span>
<a name="l00084"></a>00084 <span class="comment"> * \note In this function, all coordinates are absolute. Camera frames are such that +Z points forward from the focal point (see the figure in mrpt::slam::CObservationImage).</span>
<a name="l00085"></a>00085 <span class="comment"> * \note The first frame pose will be not updated since at least one frame must remain fixed.</span>
<a name="l00086"></a>00086 <span class="comment"> *</span>
<a name="l00087"></a>00087 <span class="comment"> * \param observations [IN] All the feature observations (WITHOUT distortion), indexed by feature ID as lists of <frame_ID, (x,y)>. See TSequenceFeatureObservations.</span>
<a name="l00088"></a>00088 <span class="comment"> * \param camera_params [IN] The camera parameters, mainly used for the intrinsic 3x3 matrix. Distortion params are ignored since it's assumed that \a observations are already undistorted pixels.</span>
<a name="l00089"></a>00089 <span class="comment"> * \param frame_poses [IN/OUT] Input: Gross estimation of each frame poses. Output: The found optimal solution.</span>
<a name="l00090"></a>00090 <span class="comment"> * \param landmark_points [IN/OUT] Input: Gross estimation of each landmark point. Output: The found optimal solution.</span>
<a name="l00091"></a>00091 <span class="comment"> * \param extra_params [IN] Optional extra parameters. Read above.</span>
<a name="l00092"></a>00092 <span class="comment"> * \param user_feedback [IN] If provided, this functor will be called at each iteration to provide a feedback to the user.</span>
<a name="l00093"></a>00093 <span class="comment"> *</span>
<a name="l00094"></a>00094 <span class="comment"> * \return The final overall squared error.</span>
<a name="l00095"></a>00095 <span class="comment"> * \ingroup bundle_adj</span>
<a name="l00096"></a>00096 <span class="comment"> */</span>
<a name="l00097"></a>00097 <span class="keywordtype">double</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__bundle__adj.html#gabb5e8247d164906bce57a3c05b001953" title="Sparse Levenberg-Marquart solution to bundle adjustment - optimizes all the camera frames & the landm...">bundle_adj_full</a>(
<a name="l00098"></a>00098 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html" title="A complete sequence of observations of features from different camera frames (poses).">mrpt::vision::TSequenceFeatureObservations</a> & observations,
<a name="l00099"></a>00099 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html" title="Structure to hold the parameters of a pinhole camera model.">mrpt::utils::TCamera</a> & camera_params,
<a name="l00100"></a>00100 <a class="code" href="classstd_1_1vector.html" title="STL class.">mrpt::vision::TFramePosesVec</a> & frame_poses,
<a name="l00101"></a>00101 <a class="code" href="classstd_1_1vector.html">mrpt::vision::TLandmarkLocationsVec</a> & landmark_points,
<a name="l00102"></a>00102 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html" title="For usage when passing a dynamic number of (numeric) arguments to a function, by name.">mrpt::utils::TParametersDouble</a> & extra_params = <a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html" title="For usage when passing a dynamic number of (numeric) arguments to a function, by name.">mrpt::utils::TParametersDouble</a>(),
<a name="l00103"></a>00103 <span class="keyword">const</span> <a class="code" href="namespacemrpt_1_1vision.html#a7e12f372278c656321223eec4aced3fb" title="A functor type for BA methods.">mrpt::vision::TBundleAdjustmentFeedbackFunctor</a> user_feedback = NULL
<a name="l00104"></a>00104 );
<a name="l00105"></a>00105
<a name="l00106"></a>00106 <span class="comment"></span>
<a name="l00107"></a>00107 <span class="comment"> /** @} */</span>
<a name="l00108"></a>00108
<a name="l00109"></a>00109 <span class="comment"></span>
<a name="l00110"></a>00110 <span class="comment"> /** @name Bundle-Adjustment Auxiliary methods</span>
<a name="l00111"></a>00111 <span class="comment"> @{ */</span>
<a name="l00112"></a>00112 <span class="comment"></span>
<a name="l00113"></a>00113 <span class="comment"> /** Fills the frames & landmark points maps with an initial gross estimate from the sequence \a observations, so they can be fed to bundle adjustment methods.</span>
<a name="l00114"></a>00114 <span class="comment"> * \sa bundle_adj_full</span>
<a name="l00115"></a>00115 <span class="comment"> * \ingroup bundle_adj</span>
<a name="l00116"></a>00116 <span class="comment"> */</span>
<a name="l00117"></a>00117 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__bundle__adj.html#ga3d11e2afc4d575bacd1699f9ba0f479a" title="Fills the frames & landmark points maps with an initial gross estimate from the sequence observations...">ba_initial_estimate</a>(
<a name="l00118"></a>00118 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html" title="A complete sequence of observations of features from different camera frames (poses).">mrpt::vision::TSequenceFeatureObservations</a> & observations,
<a name="l00119"></a>00119 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html" title="Structure to hold the parameters of a pinhole camera model.">mrpt::utils::TCamera</a> & camera_params,
<a name="l00120"></a>00120 <a class="code" href="classstd_1_1vector.html" title="STL class.">mrpt::vision::TFramePosesVec</a> & frame_poses,
<a name="l00121"></a>00121 <a class="code" href="classstd_1_1vector.html">mrpt::vision::TLandmarkLocationsVec</a> & landmark_points );
<a name="l00122"></a>00122 <span class="comment"></span>
<a name="l00123"></a>00123 <span class="comment"> //! \overload</span>
<a name="l00124"></a>00124 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__bundle__adj.html#ga3d11e2afc4d575bacd1699f9ba0f479a" title="Fills the frames & landmark points maps with an initial gross estimate from the sequence observations...">ba_initial_estimate</a>(
<a name="l00125"></a>00125 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html" title="A complete sequence of observations of features from different camera frames (poses).">mrpt::vision::TSequenceFeatureObservations</a> & observations,
<a name="l00126"></a>00126 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html" title="Structure to hold the parameters of a pinhole camera model.">mrpt::utils::TCamera</a> & camera_params,
<a name="l00127"></a>00127 <a class="code" href="classstd_1_1map.html" title="STL class.">mrpt::vision::TFramePosesMap</a> & frame_poses,
<a name="l00128"></a>00128 <a class="code" href="classstd_1_1map.html" title="STL class.">mrpt::vision::TLandmarkLocationsMap</a> & landmark_points );
<a name="l00129"></a>00129
<a name="l00130"></a>00130 <span class="comment"></span>
<a name="l00131"></a>00131 <span class="comment"> /** Compute reprojection error vector (used from within Bundle Adjustment methods, but can be used in general)</span>
<a name="l00132"></a>00132 <span class="comment"> * See mrpt::vision::bundle_adj_full for a description of most parameters.</span>
<a name="l00133"></a>00133 <span class="comment"> * \param frame_poses_are_inverse If set to true, global camera poses are \f$ \ominus F \f$ instead of \f$ F \f$, for each F in frame_poses.</span>
<a name="l00134"></a>00134 <span class="comment"> *</span>
<a name="l00135"></a>00135 <span class="comment"> * \return Overall squared reprojection error.</span>
<a name="l00136"></a>00136 <span class="comment"> * \ingroup bundle_adj</span>
<a name="l00137"></a>00137 <span class="comment"> */</span>
<a name="l00138"></a>00138 <span class="keywordtype">double</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__bundle__adj.html#ga008e17744135c93e2ab9ae735372435c" title="Compute reprojection error vector (used from within Bundle Adjustment methods, but can be used in gen...">reprojectionResiduals</a>(
<a name="l00139"></a>00139 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html" title="A complete sequence of observations of features from different camera frames (poses).">mrpt::vision::TSequenceFeatureObservations</a> & observations,
<a name="l00140"></a>00140 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html" title="Structure to hold the parameters of a pinhole camera model.">mrpt::utils::TCamera</a> & camera_params,
<a name="l00141"></a>00141 <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html" title="STL class.">mrpt::vision::TFramePosesVec</a> & frame_poses,
<a name="l00142"></a>00142 <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html">mrpt::vision::TLandmarkLocationsVec</a> & landmark_points,
<a name="l00143"></a>00143 <a class="code" href="classstd_1_1vector.html" title="STL class.">std::vector</a><<a class="code" href="classmrpt_1_1math_1_1_c_array.html" title="A STL container (as wrapper) for arrays of constant size defined at compile time - Users will most li...">CArray<double,2></a> > & out_residuals,
<a name="l00144"></a>00144 <span class="keyword">const</span> <span class="keywordtype">bool</span> frame_poses_are_inverse,
<a name="l00145"></a>00145 <span class="keyword">const</span> <span class="keywordtype">bool</span> use_robust_kernel = <span class="keyword">true</span>,
<a name="l00146"></a>00146 <span class="keyword">const</span> <span class="keywordtype">double</span> kernel_param = 3.0
<a name="l00147"></a>00147 );
<a name="l00148"></a>00148 <span class="comment"></span>
<a name="l00149"></a>00149 <span class="comment"> //! \overload</span>
<a name="l00150"></a>00150 <span class="comment"></span> <span class="keywordtype">double</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__bundle__adj.html#ga008e17744135c93e2ab9ae735372435c" title="Compute reprojection error vector (used from within Bundle Adjustment methods, but can be used in gen...">reprojectionResiduals</a>(
<a name="l00151"></a>00151 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html" title="A complete sequence of observations of features from different camera frames (poses).">mrpt::vision::TSequenceFeatureObservations</a> & observations,
<a name="l00152"></a>00152 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html" title="Structure to hold the parameters of a pinhole camera model.">mrpt::utils::TCamera</a> & camera_params,
<a name="l00153"></a>00153 <span class="keyword">const</span> <a class="code" href="classstd_1_1map.html" title="STL class.">mrpt::vision::TFramePosesMap</a> & frame_poses,
<a name="l00154"></a>00154 <span class="keyword">const</span> <a class="code" href="classstd_1_1map.html" title="STL class.">mrpt::vision::TLandmarkLocationsMap</a> & landmark_points,
<a name="l00155"></a>00155 <a class="code" href="classstd_1_1vector.html" title="STL class.">std::vector</a><<a class="code" href="classmrpt_1_1math_1_1_c_array.html" title="A STL container (as wrapper) for arrays of constant size defined at compile time - Users will most li...">CArray<double,2></a> > & out_residuals,
<a name="l00156"></a>00156 <span class="keyword">const</span> <span class="keywordtype">bool</span> frame_poses_are_inverse,
<a name="l00157"></a>00157 <span class="keyword">const</span> <span class="keywordtype">bool</span> use_robust_kernel = <span class="keyword">true</span>,
<a name="l00158"></a>00158 <span class="keyword">const</span> <span class="keywordtype">double</span> kernel_param = 3.0
<a name="l00159"></a>00159 );
<a name="l00160"></a>00160
<a name="l00161"></a>00161 <span class="comment"></span>
<a name="l00162"></a>00162 <span class="comment"> /** For each pose in the vector \a frame_poses, adds a "delta" increment to the manifold, with the "delta" given in the se(3) Lie algebra:</span>
<a name="l00163"></a>00163 <span class="comment"> *</span>
<a name="l00164"></a>00164 <span class="comment"> * new_frame_poses[i] = frame_poses[i] [+] delta[(first_idx+6*i):(first_idx+6*i+5)] , for every pose in \a frame_poses</span>
<a name="l00165"></a>00165 <span class="comment"> *</span>
<a name="l00166"></a>00166 <span class="comment"> * With the left-multiplication convention of the manifold exp(delta) operator, that is:</span>
<a name="l00167"></a>00167 <span class="comment"> *</span>
<a name="l00168"></a>00168 <span class="comment"> * p <-- p [+] delta ==> p <-- exp(delta) * p</span>
<a name="l00169"></a>00169 <span class="comment"> *</span>
<a name="l00170"></a>00170 <span class="comment"> * \param delta_num_vals Used just for sanity check, must be equal to "frame_poses.size() * 6"</span>
<a name="l00171"></a>00171 <span class="comment"> * \ingroup bundle_adj</span>
<a name="l00172"></a>00172 <span class="comment"> */</span>
<a name="l00173"></a>00173 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__bundle__adj.html#ga96e2458ae31058a3a0125258ca469d44" title="For each pose in the vector frame_poses, adds a "delta" increment to the manifold, with the "delta" given in the se(3) Lie algebra:">add_se3_deltas_to_frames</a>(
<a name="l00174"></a>00174 <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html" title="STL class.">mrpt::vision::TFramePosesVec</a> & frame_poses,
<a name="l00175"></a>00175 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">mrpt::vector_double</a> &delta,
<a name="l00176"></a>00176 <span class="keyword">const</span> <span class="keywordtype">size_t</span> delta_first_idx,
<a name="l00177"></a>00177 <span class="keyword">const</span> <span class="keywordtype">size_t</span> delta_num_vals,
<a name="l00178"></a>00178 <a class="code" href="classstd_1_1vector.html" title="STL class.">mrpt::vision::TFramePosesVec</a> & new_frame_poses,
<a name="l00179"></a>00179 <span class="keyword">const</span> <span class="keywordtype">size_t</span> num_fix_frames );
<a name="l00180"></a>00180 <span class="comment"></span>
<a name="l00181"></a>00181 <span class="comment"> /** For each pose in the vector \a frame_poses, adds a "delta" increment to the manifold, with the "delta" given in the se(3) Lie algebra:</span>
<a name="l00182"></a>00182 <span class="comment"> *</span>
<a name="l00183"></a>00183 <span class="comment"> * new_landmark_points[i] = landmark_points[i] + delta[(first_idx+3*i):(first_idx+3*i+2)] , for every pose in \a landmark_points</span>
<a name="l00184"></a>00184 <span class="comment"> *</span>
<a name="l00185"></a>00185 <span class="comment"> * \param delta_num_vals Used just for sanity check, must be equal to "landmark_points.size() * 3"</span>
<a name="l00186"></a>00186 <span class="comment"> * \ingroup bundle_adj</span>
<a name="l00187"></a>00187 <span class="comment"> */</span>
<a name="l00188"></a>00188 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__bundle__adj.html#gad10bdb5e4afebe6c3b535dc888b235b1" title="For each pose in the vector frame_poses, adds a "delta" increment to the manifold, with the "delta" given in the se(3) Lie algebra:">add_3d_deltas_to_points</a>(
<a name="l00189"></a>00189 <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html">mrpt::vision::TLandmarkLocationsVec</a> & landmark_points,
<a name="l00190"></a>00190 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">mrpt::vector_double</a> & delta,
<a name="l00191"></a>00191 <span class="keyword">const</span> <span class="keywordtype">size_t</span> delta_first_idx,
<a name="l00192"></a>00192 <span class="keyword">const</span> <span class="keywordtype">size_t</span> delta_num_vals,
<a name="l00193"></a>00193 <a class="code" href="classstd_1_1vector.html">mrpt::vision::TLandmarkLocationsVec</a> & new_landmark_points,
<a name="l00194"></a>00194 <span class="keyword">const</span> <span class="keywordtype">size_t</span> num_fix_points );
<a name="l00195"></a>00195 <span class="comment"></span>
<a name="l00196"></a>00196 <span class="comment"> /** @} */</span>
<a name="l00197"></a>00197 }
<a name="l00198"></a>00198 }
<a name="l00199"></a>00199 <span class="preprocessor">#endif</span>
<a name="l00200"></a>00200 <span class="preprocessor"></span>
</pre></div></div>
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