Function map_optimization::addVisualTermForKeypoint

Function Documentation

void map_optimization::addVisualTermForKeypoint(const int keypoint_idx, const int frame_idx, const bool fix_landmark_positions, const bool fix_intrinsics, const bool fix_extrinsics_rotation, const bool fix_extrinsics_translation, const std::shared_ptr<ceres::LocalParameterization> &pose_parameterization, const std::shared_ptr<ceres::LocalParameterization> &baseframe_parameterization, const std::shared_ptr<ceres::LocalParameterization> &camera_parameterization, vi_map::Vertex *vertex_ptr, OptimizationProblem *problem)