#include <mrpt/math/CMatrixFixedNumeric.h>#include <mrpt/utils/CArray.h>#include <mrpt/math/CArrayNumeric.h>#include <mrpt/poses/CPose3D.h>#include <mrpt/utils/aligned_containers.h>#include <mrpt/vision/types.h>
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Classes | |
| struct | mrpt::vision::JacData< FrameDof, PointDof, ObsDim > |
Namespaces | |
| mrpt | |
| This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries. | |
| mrpt::vision | |
| Classes for computer vision, detectors, features, etc. | |
Macros | |
| #define | VERBOSE_COUT if (verbose) cout |
Functions | |
| template<bool POSES_ARE_INVERSE> | |
| void | mrpt::vision::frameJac (const mrpt::utils::TCamera &camera_params, const mrpt::poses::CPose3D &cam_pose, const mrpt::math::TPoint3D &landmark_global, mrpt::math::CMatrixFixedNumeric< double, 2, 6 > &out_J) |
The projective camera 2x6 Jacobian  (wrt the 6D camera pose) More... | |
| template<bool POSES_ARE_INVERSE> | |
| void | mrpt::vision::pointJac (const mrpt::utils::TCamera &camera_params, const mrpt::poses::CPose3D &cam_pose, const mrpt::math::TPoint3D &landmark_global, mrpt::math::CMatrixFixedNumeric< double, 2, 3 > &out_J) |
| Jacobians wrt the point. More... | |
| template<bool POSES_ARE_INVERSE> | |
| void | mrpt::vision::ba_compute_Jacobians (const TFramePosesVec &frame_poses, const TLandmarkLocationsVec &landmark_points, const mrpt::utils::TCamera &camera_params, mrpt::aligned_containers< JacData< 6, 3, 2 > >::vector_t &jac_data_vec, const size_t num_fix_frames, const size_t num_fix_points) |
| void | mrpt::vision::ba_build_gradient_Hessians (const TSequenceFeatureObservations &observations, const std::vector< mrpt::utils::CArray< double, 2 > > &residual_vec, const mrpt::aligned_containers< JacData< 6, 3, 2 > >::vector_t &jac_data_vec, mrpt::aligned_containers< mrpt::math::CMatrixFixedNumeric< double, 6, 6 > >::vector_t &U, mrpt::aligned_containers< CArrayDouble< 6 > >::vector_t &eps_frame, mrpt::aligned_containers< mrpt::math::CMatrixFixedNumeric< double, 3, 3 > >::vector_t &V, mrpt::aligned_containers< CArrayDouble< 3 > >::vector_t &eps_point, const size_t num_fix_frames, const size_t num_fix_points, const vector< double > *kernel_1st_deriv) |
| Construct the BA linear system. More... | |
Macro Definition Documentation
◆ VERBOSE_COUT
| #define VERBOSE_COUT if (verbose) cout |
Definition at line 31 of file ba_internals.h.
Referenced by mrpt::vision::bundle_adj_full().