bundle_adjustment.h File Reference

#include <mrpt/vision/types.h>
#include <mrpt/utils/TCamera.h>
#include <mrpt/utils/TParameters.h>
#include <mrpt/math/lightweight_geom_data.h>
#include <array>
#include <functional>

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Namespaces
	mrpt
	This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
	mrpt::vision
	Classes for computer vision, detectors, features, etc.

Functions
Bundle-Adjustment Auxiliary methods
void	mrpt::vision::ba_initial_estimate (const mrpt::vision::TSequenceFeatureObservations &observations, const mrpt::utils::TCamera &camera_params, mrpt::vision::TFramePosesVec &frame_poses, mrpt::vision::TLandmarkLocationsVec &landmark_points)
	Fills the frames & landmark points maps with an initial gross estimate from the sequence observations, so they can be fed to bundle adjustment methods. More...
void	mrpt::vision::ba_initial_estimate (const mrpt::vision::TSequenceFeatureObservations &observations, const mrpt::utils::TCamera &camera_params, mrpt::vision::TFramePosesMap &frame_poses, mrpt::vision::TLandmarkLocationsMap &landmark_points)
double	mrpt::vision::reprojectionResiduals (const mrpt::vision::TSequenceFeatureObservations &observations, const mrpt::utils::TCamera &camera_params, const mrpt::vision::TFramePosesVec &frame_poses, const mrpt::vision::TLandmarkLocationsVec &landmark_points, std::vector< std::array< double, 2 >> &out_residuals, const bool frame_poses_are_inverse, const bool use_robust_kernel=true, const double kernel_param=3.0, std::vector< double > *out_kernel_1st_deriv=nullptr)
	Compute reprojection error vector (used from within Bundle Adjustment methods, but can be used in general) See mrpt::vision::bundle_adj_full for a description of most parameters. More...
double	mrpt::vision::reprojectionResiduals (const mrpt::vision::TSequenceFeatureObservations &observations, const mrpt::utils::TCamera &camera_params, const mrpt::vision::TFramePosesMap &frame_poses, const mrpt::vision::TLandmarkLocationsMap &landmark_points, std::vector< std::array< double, 2 >> &out_residuals, const bool frame_poses_are_inverse, const bool use_robust_kernel=true, const double kernel_param=3.0, std::vector< double > *out_kernel_1st_deriv=nullptr)
	Compute reprojection error vector (used from within Bundle Adjustment methods, but can be used in general) See mrpt::vision::bundle_adj_full for a description of most parameters. More...
void	mrpt::vision::add_se3_deltas_to_frames (const mrpt::vision::TFramePosesVec &frame_poses, const mrpt::math::CVectorDouble &delta, const size_t delta_first_idx, const size_t delta_num_vals, mrpt::vision::TFramePosesVec &new_frame_poses, const size_t num_fix_frames)
	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: More...
void	mrpt::vision::add_3d_deltas_to_points (const mrpt::vision::TLandmarkLocationsVec &landmark_points, const mrpt::math::CVectorDouble &delta, const size_t delta_first_idx, const size_t delta_num_vals, mrpt::vision::TLandmarkLocationsVec &new_landmark_points, const size_t num_fix_points)
	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: More...

Bundle-Adjustment methods
using	mrpt::vision::TBundleAdjustmentFeedbackFunctor = std::function< void(const size_t cur_iter, const double cur_total_sq_error, const size_t max_iters, const mrpt::vision::TSequenceFeatureObservations &input_observations, const mrpt::vision::TFramePosesVec &current_frame_estimate, const mrpt::vision::TLandmarkLocationsVec &current_landmark_estimate)>
	A functor type for BA methods. More...
double	mrpt::vision::bundle_adj_full (const mrpt::vision::TSequenceFeatureObservations &observations, const mrpt::utils::TCamera &camera_params, mrpt::vision::TFramePosesVec &frame_poses, mrpt::vision::TLandmarkLocationsVec &landmark_points, const mrpt::utils::TParametersDouble &extra_params=mrpt::utils::TParametersDouble(), const mrpt::vision::TBundleAdjustmentFeedbackFunctor user_feedback=mrpt::vision::TBundleAdjustmentFeedbackFunctor())
	Sparse Levenberg-Marquart solution to bundle adjustment - optimizes all the camera frames & the landmark locations. More...