sba_utils.h File Reference

#include "g2o/types/slam3d/se3_ops.h"
#include "g2o_types_sba_api.h"

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Namespaces
namespace	g2o
namespace	g2o::internal

Functions
Vector3	g2o::internal::invert_depth (const Vector3 &x)
Eigen::Matrix< double, 2, 3, Eigen::ColMajor >	g2o::internal::d_proj_d_y (const double &f, const Vector3 &xyz)
Eigen::Matrix< double, 3, 6, Eigen::ColMajor >	g2o::internal::d_expy_d_y (const Vector3 &y)
Matrix3	g2o::internal::d_Tinvpsi_d_psi (const SE3Quat &T, const Vector3 &psi)