Bundle Class Reference

#include <Bundle.h>

Public Member Functions
	Bundle (const ATANCamera &TCam)
int	AddCamera (SE3<> se3CamFromWorld, bool bFixed)
int	AddPoint (Vector< 3 > v3Pos)
void	AddMeas (int nCam, int nPoint, Vector< 2 > v2Pos, double dSigmaSquared)
int	Compute (bool *pbAbortSignal)
bool	Converged ()
Vector< 3 >	GetPoint (int n)
SE3	GetCamera (int n)
std::vector< std::pair< int, int > >	GetOutlierMeasurements ()
std::set< int >	GetOutliers ()

Protected Member Functions
void	ProjectAndFindSquaredError (Meas &meas)
template<class MEstimator >
bool	Do_LM_Step (bool *pbAbortSignal, double *lastMdSigmaSquared)
template<class MEstimator >
double	FindNewError ()
void	GenerateMeasLUTs ()
void	GenerateOffDiagScripts ()
void	ClearAccumulators ()
void	ModifyLambda_GoodStep ()
void	ModifyLambda_BadStep ()

Protected Attributes
std::vector< ExtendedMapPoint >	mvPoints
std::vector< Camera >	mvCameras
std::list< Meas >	mMeasList
std::vector< std::pair< int, int > >	mvOutlierMeasurementIdx
std::vector< std::vector< Meas * > >	mvMeasLUTs
ATANCamera	mCamera
int	mnCamsToUpdate
int	mnStartRow
double	mdSigmaSquared
double	mdLambda
double	mdLambdaFactor
bool	mbConverged
bool	mbHitMaxIterations
int	mnCounter
int	mnAccepted
int	mgvnMaxIterations
double	mgvdUpdateConvergenceLimit
int	mgvnBundleCout
bool *	mpbAbortSignal

Detailed Description

Definition at line 105 of file Bundle.h.

Constructor & Destructor Documentation

Bundle::Bundle

(

const ATANCamera &

TCam

)

Definition at line 34 of file Bundle.cpp.

Member Function Documentation

int Bundle::AddCamera	(	SE3<>	se3CamFromWorld,
		bool	bFixed
	)

Definition at line 45 of file Bundle.cpp.

void Bundle::AddMeas	(	int	nCam,
		int	nPoint,
		Vector< 2 >	v2Pos,
		double	dSigmaSquared
	)

Definition at line 80 of file Bundle.cpp.

int Bundle::AddPoint

(

Vector< 3 >

v3Pos

)

Definition at line 65 of file Bundle.cpp.

void Bundle::ClearAccumulators ( )

protected

Definition at line 95 of file Bundle.cpp.

int Bundle::Compute

(

bool *

pbAbortSignal

)

Definition at line 114 of file Bundle.cpp.

bool Bundle::Converged ( )

inline

Definition at line 114 of file Bundle.h.

template<class MEstimator >

bool Bundle::Do_LM_Step ( bool *  pbAbortSignal, double *  lastMdSigmaSquared  )

protected

Definition at line 187 of file Bundle.cpp.

template<class MEstimator >

double Bundle::FindNewError ( )

protected

Definition at line 537 of file Bundle.cpp.

void Bundle::GenerateMeasLUTs ( )

protected

Definition at line 565 of file Bundle.cpp.

void Bundle::GenerateOffDiagScripts ( )

protected

Definition at line 580 of file Bundle.cpp.

SE3 Bundle::GetCamera

(

int

n

)

Definition at line 630 of file Bundle.cpp.

vector< pair< int, int > > Bundle::GetOutlierMeasurements

(

)

Definition at line 649 of file Bundle.cpp.

set< int > Bundle::GetOutliers

(

)

Definition at line 635 of file Bundle.cpp.

Vector< 3 > Bundle::GetPoint

(

int

n

)

Definition at line 625 of file Bundle.cpp.

void Bundle::ModifyLambda_BadStep ( )

protected

Definition at line 618 of file Bundle.cpp.

void Bundle::ModifyLambda_GoodStep ( )

protected

Definition at line 612 of file Bundle.cpp.

void Bundle::ProjectAndFindSquaredError ( Meas &  meas )

inlineprotected

Definition at line 166 of file Bundle.cpp.

Member Data Documentation

bool Bundle::mbConverged

protected

Definition at line 143 of file Bundle.h.

bool Bundle::mbHitMaxIterations

protected

Definition at line 144 of file Bundle.h.

ATANCamera Bundle::mCamera

protected

Definition at line 137 of file Bundle.h.

double Bundle::mdLambda

protected

Definition at line 141 of file Bundle.h.

double Bundle::mdLambdaFactor

protected

Definition at line 142 of file Bundle.h.

double Bundle::mdSigmaSquared

protected

Definition at line 140 of file Bundle.h.

double Bundle::mgvdUpdateConvergenceLimit

protected

Definition at line 149 of file Bundle.h.

int Bundle::mgvnBundleCout

protected

Definition at line 150 of file Bundle.h.

int Bundle::mgvnMaxIterations

protected

Definition at line 148 of file Bundle.h.

std::list<Meas> Bundle::mMeasList

protected

Definition at line 133 of file Bundle.h.

int Bundle::mnAccepted

protected

Definition at line 146 of file Bundle.h.

int Bundle::mnCamsToUpdate

protected

Definition at line 138 of file Bundle.h.

int Bundle::mnCounter

protected

Definition at line 145 of file Bundle.h.

int Bundle::mnStartRow

protected

Definition at line 139 of file Bundle.h.

bool* Bundle::mpbAbortSignal

protected

Definition at line 152 of file Bundle.h.

std::vector<Camera> Bundle::mvCameras

protected

Definition at line 132 of file Bundle.h.

std::vector<std::vector<Meas*> > Bundle::mvMeasLUTs

protected

Definition at line 135 of file Bundle.h.

std::vector<std::pair<int,int> > Bundle::mvOutlierMeasurementIdx

protected

Definition at line 134 of file Bundle.h.

std::vector<ExtendedMapPoint> Bundle::mvPoints

protected

Definition at line 131 of file Bundle.h.

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The documentation for this class was generated from the following files:

• libSLAMflex - android project/jni/Bundle.h
• libSLAMflex - android project/jni/Bundle.cpp