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ba_internals.h File Reference
#include <mrpt/math/CMatrixFixedNumeric.h>
#include <mrpt/math/CArrayNumeric.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/core/aligned_std_vector.h>
#include <mrpt/vision/types.h>
#include <array>
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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::img::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 $ \frac{\partial h(f,p)}{\partial p} $ (wrt the 6D camera pose) More...
 
template<bool POSES_ARE_INVERSE>
void mrpt::vision::pointJac (const mrpt::img::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::img::TCamera &camera_params, mrpt::aligned_std_vector< JacData< 6, 3, 2 >> &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< std::array< double, 2 >> &residual_vec, const mrpt::aligned_std_vector< JacData< 6, 3, 2 >> &jac_data_vec, mrpt::aligned_std_vector< mrpt::math::CMatrixFixedNumeric< double, 6, 6 >> &U, mrpt::aligned_std_vector< CArrayDouble< 6 >> &eps_frame, mrpt::aligned_std_vector< mrpt::math::CMatrixFixedNumeric< double, 3, 3 >> &V, mrpt::aligned_std_vector< CArrayDouble< 3 >> &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 46 of file ba_internals.h.

Referenced by mrpt::vision::bundle_adj_full().




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