Map.hpp File Reference

Header file for the Map class. This essentially encapsulates the ceres::Problem. More...

#include <memory>
#include <ceres/ceres.h>
#include <okvis/ceres/ParameterBlock.hpp>
#include <okvis/ceres/HomogeneousPointLocalParameterization.hpp>
#include <okvis/ceres/PoseLocalParameterization.hpp>
#include <okvis/Time.hpp>
#include <okvis/FrameTypedefs.hpp>
#include <okvis/assert_macros.hpp>
#include <unordered_map>
#include <okvis/ceres/ErrorInterface.hpp>

Go to the source code of this file.

Classes
class	okvis::ceres::Map
	The Map class. This keeps track of how parameter blocks are connected to residual blocks. In essence, it encapsulates the ceres::Problem. This way, we can easily manipulate the optimisation problem. You could argue why not use cere's internal mechanisms to do that. We found that our implementation was faster... More...
struct	okvis::ceres::Map::ResidualBlockSpec
	Struct to store some infos about a residual. More...

Namespaces
	okvis
	okvis Main namespace of this package.
	okvis::ceres
	ceres Namespace for ceres-related functionality implemented in okvis.

Detailed Description

Header file for the Map class. This essentially encapsulates the ceres::Problem.

Author

Stefan Leutenegger