ROS wrapper functions

Functionality related to the ROS development package. More...

Functions
int	sSBAOptimization (const QList< QVCameraPose > &cameraPoses, const QList< QV3DPointF > &points3D, const QList< QHash< int, QPointF > > &pointsProjections, QList< QVCameraPose > &refinedCameraPoses, QList< QV3DPointF > &refinedPoints3D, int &time_sSBA, const int numIters=1, const double lambda=1e-3, const int useCSparse=SBA_SPARSE_CHOLESKY, const int numFixedCameras=1, double initTolCG=1.0e-8, const int maxItersCG=100)
	Apply sSBA optimization on a SfM reconstruction.

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Detailed Description

Functionality related to the ROS development package.

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Function Documentation

int sSBAOptimization	(	const QList< QVCameraPose > &	cameraPoses,
		const QList< QV3DPointF > &	points3D,
		const QList< QHash< int, QPointF > > &	pointsProjections,
		QList< QVCameraPose > &	refinedCameraPoses,
		QList< QV3DPointF > &	refinedPoints3D,
		int &	time_sSBA,
		const int	numIters = 1,
		const double	lambda = 1e-3,
		const int	useCSparse = SBA_SPARSE_CHOLESKY,
		const int	numFixedCameras = 1,
		double	initTolCG = 1.0e-8,
		const int	maxItersCG = 100
	)

Apply sSBA optimization on a SfM reconstruction.

This is a wrapper function for the sparse bundle adjustment functionality provided by the ROS package.

Parameters:

	cameras	Initial camera poses for the initial reconstruction.
	points3D	Initial 3D point locations.
	pointProjections	Projections for points in the reconstruction.
	refinedCameras	Camera poses after SBA optimization.
	refinedPoints3D	3D point coordinates after the optimization.
	time_sSBA	Time spend on the SBA optimization.
	numIters	Number of iterations to perform LM.
	lambda	Inital damping factor for LM.
	numFixedPoints	Number of fixed 3D points in the reconstruction, to perform local bundle adjustment.

Todo:

Document this.

Definition at line 182 of file qvssba.cpp.