symforce.examples.bundle_adjustment_fixed_size.build_values module

This file builds a Values with all symbols needed for the fixed-size example.

define_view(index)[source]

Creates a symbolic pose + calibration representing a single image

Parameters:

index (int) –

Return type:

Values

define_feature_match(index, match_num)[source]

Create a symbolic correspondence definition with the given specs. This includes every symbol specific to defining and optimizing a single 2D-2D match.

Parameters:
  • index (int) – Camera index

  • match_num (int) – Feature match number for this specific target camera

  • create_landmark (bool) – Use landmark variable parameterization

Return type:

Values

define_pose_prior(source_cam_index, target_cam_index)[source]

Create symbols for a pose prior and uncertainty.

Parameters:
  • source_cam_index (int) –

  • target_cam_index (int) –

Return type:

Values

define_objective_costs()[source]

Define parameters for objectives

Return type:

Values

build_values(num_views, num_landmarks)[source]

Create a Values object with all symbols needed for optimization of a set of camera views with sparse feature matches.

Parameters:
  • num_views (int) – Number of camera views

  • num_landmarks (int) – Fixed number of landmarks

Returns:

Values to optimize + constants

Return type:

(Values)