Function map_optimization::addVisualTermsForVertices

Function Documentation

int map_optimization::addVisualTermsForVertices(const bool fix_landmark_positions, const bool fix_intrinsics, const bool fix_extrinsics_rotation, const bool fix_extrinsics_translation, const size_t min_landmarks_per_frame, const std::shared_ptr<ceres::LocalParameterization> &pose_parameterization, const std::shared_ptr<ceres::LocalParameterization> &baseframe_parameterization, const std::shared_ptr<ceres::LocalParameterization> &camera_parameterization, const pose_graph::VertexIdList &vertices, OptimizationProblem *problem)