高翔视觉slam代码

高翔视觉slam代码整理版，包含个人注释与代码解读以及书中使用到的数据

#include 
#include 
#include “ceres/ceres.h“

#include “SnavelyReprojectionerror.h“
#include “common/BALProblem.h“
#include “common/BundleParams.h“


using namespace ceres;

void SetLinearSolver（ceres::Solver::Options* options const BundleParams& params）
{
    CHECK（ceres::StringToLinearSolverType（params.linear_solver &options->linear_solver_type））;
    CHECK（ceres::StringToSparseLinearAlgebraLibraryType（params.sparse_linear_algebra_library &options->sparse_linear_algebra_library_type））;
    CHECK（ceres::StringToDenseLinearAlgebraLibraryType（params.dense_linear_algebra_library &options->dense_linear_algebra_library_type））;
    options->num_linear_solver_threads = params.num_threads;

}


void SetOrdering（BALProblem* bal_problem ceres::Solver::Options* options const BundleParams& params）
{
    const int num_points = bal_problem->num_points（）;
    const int point_block_size = bal_problem->point_block_size（）;
    double* points = bal_problem->mutable_points（）;

    const int num_cameras = bal_problem->num_cameras（）;
    const int camera_block_size = bal_problem->camera_block_size（）;
    double* cameras = bal_problem->mutable_cameras（）;


    if （params.ordering == “automatic“）
        return;

    ceres::ParameterBlockOrdering* ordering = new ceres::ParameterBlockOrdering;

    // The points come before the cameras
    for（int i = 0; i < num_points; ++i）
       ordering->AddElementToGroup（points + point_block_size * i 0）;
       
    
    for（int i = 0; i < num_cameras; ++i）
        ordering->AddElementToGroup（cameras + camera_block_size * i 1）;

    options->linear_solver_ordering.reset（ordering）;

}

void SetMinimizerOptions（Solver::Options* options const BundleParams& params）{
    options->max_num_iterations = params.num_iterations;
    options->minimizer_progress_to_stdout = true;
    options->num_threads = params.num_threads;
    // options->eta = params.eta;
    // options->max_solver_time_in_seconds = params.max_solver_time;
    
    CHECK（StringToTrustRegionStrategyType（params.trust_region_strategy
                                        &options->trust_region_strategy_type））;
    
}

void SetSolverOptionsFromFlags（BALProblem* bal_problem
                               const BundleParams& params Solver::Options* options）{
    SetMinimizerOptions（optionsparams）;
    SetLinearSolver（optionsparams）;
    SetOrdering（bal_problem optionsparams）;
}

void BuildProblem（BALProblem* bal_problem Problem* problem const BundleParams& params）
{
    const int point_block_size = bal_problem->point_block_size（）;
    const int camera_block_size = bal_problem->camera_block_size（）;
    double* points = bal_problem->mutable_points（）;
    double* cameras = bal_problem->mutable_cameras（）;

    // Observations is 2 * num_observations long array observations
    // [u_1 u_2 ... u_n] where each u_i is two dimensional the x 
    // and y position of the observation. 
    const double* observations = bal_problem->observations（）;

 属性            大小     日期    时间   名称
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     文件         80  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\.gitignore

     文件   14605482  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\3rdparty\ceres-solver.tar.gz

     文件    1243868  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\3rdparty\DBow3.tar.gz

     文件    8342066  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\3rdparty\g2o.tar.gz

     文件    3527776  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\3rdparty\Pangolin.tar.gz

     文件     281794  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\3rdparty\Sophus.tar.gz

     文件         23  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\ch10\ceres_custombundle\.gitignore

     文件       5935  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\ch10\ceres_custombundle\ceresBundle.cpp

     文件        770  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\ch10\ceres_custombundle\CMakeLists.txt

     文件       8880  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\ch10\ceres_custombundle\common\BALProblem.cpp

     文件       3003  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\ch10\ceres_custombundle\common\BALProblem.h

     文件       2516  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\ch10\ceres_custombundle\common\BundleParams.h

     文件      13387  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\ch10\ceres_custombundle\common\flags\command_args.cpp

     文件       3170  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\ch10\ceres_custombundle\common\flags\command_args.h

     文件       1086  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\ch10\ceres_custombundle\common\projection.h

     文件        448  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\ch10\ceres_custombundle\common\tools\random.h

     文件       5451  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\ch10\ceres_custombundle\common\tools\rotation.h

     文件    4783974  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\ch10\ceres_custombundle\data\problem-16-22106-pre.txt

     文件        211  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\ch10\ceres_custombundle\Readme.md

     文件       1121  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\ch10\ceres_custombundle\SnavelyReprojectionerror.h

     文件         23  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\ch10\g2o_custombundle\.gitignore

     文件      12222  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\ch10\g2o_custombundle\ceres\autodiff.h

     文件       3491  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\ch10\g2o_custombundle\ceres\eigen.h

     文件       6977  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\ch10\g2o_custombundle\ceres\fixed_array.h

     文件       3334  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\ch10\g2o_custombundle\ceres\fpclassify.h

     文件      24025  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\ch10\g2o_custombundle\ceres\jet.h

     文件       1580  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\ch10\g2o_custombundle\ceres\LICENSE

     文件       7447  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\ch10\g2o_custombundle\ceres\macros.h

     文件       8050  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\ch10\g2o_custombundle\ceres\manual_constructor.h

     文件       6640  2017-12-10 20:58  slambook-master（14讲对应代码）\slambook-master\ch10\g2o_custombundle\ceres\variadic_evaluate.h

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