Bundle Adjustment

Optimalization of poses and landmarks. More...

Classes
class	vslam::g2o_types::EdgeSE3PointXYZ< PoseGraphT >
	Edge class for g2o representing error constraint between verices. More...
class	vslam::G2OConstActiveDistanceBuilder< G >
	Optimizes all poses in fixed distance from a given vertex and all landmarks that are visible from the optimized poses. More...
class	vslam::G2OGraphBuilder< G >
	Interface for building g2o graph. More...
class	vslam::G2ORunner2< G >
	Interfaces g2o representation with our representation and runs BA. More...
class	vslam::g2o_types::SE3G2O
	Sophus's SE3 adapted for use in g2o vertices. More...
class	vslam::g2o_types::VertexPointXYZ< PoseGraphT >
	Represents landmark variable (vertex) in g2o graph. More...
class	vslam::g2o_types::VertexSE3< PoseGraphT >
	Represents pose variable (vertex) in g2o graph. More...
Namespaces
namespace	vslam::g2o_types
	types that for g2o framework that are specific to our task.
Files
file	edge_pose_landmark.h
	Edge class for g2o representing error constraint between verices.
file	graph_opt.h
	Optimalization of poses and landmarks.
file	se3_for_g2o.h
	Sophus's SE3 adapted for use in g2o vertices.
file	vertex_landmark.h
	Represents landmark variable (vertex) in g2o graph.
file	vertex_pose.h
	Camera pose vertex for g2o framework.

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Detailed Description

Optimalization of poses and landmarks.

Code that performs sliding window BA on poses in pose-graph and landmarks in Points. This code uses G2O framework for the optimalization. It is recommanded to consult G2O documentation that is available at www.openslam.org.

Note:

There are data alignement issues with Eigen3 library that have implication on use of g2o. See Eigen Alignment Issues with Visual Odometry for details.