gtsam::initialize Namespace Reference

Functions
template<class Pose >
static NonlinearFactorGraph	buildPoseGraph (const NonlinearFactorGraph &graph)
template<class Pose >
static Values	computePoses (const Values &initialRot, NonlinearFactorGraph *posegraph, bool singleIter=true)

Variables
static constexpr Key	kAnchorKey = 99999999

Function Documentation

buildPoseGraph()

template<class Pose >

static NonlinearFactorGraph gtsam::initialize::buildPoseGraph ( const NonlinearFactorGraph &  graph )

static

Select the subgraph of betweenFactors and transforms priors into between wrt a fictitious node

Definition at line 37 of file InitializePose.h.

computePoses()

template<class Pose >

static Values gtsam::initialize::computePoses ( const Values &  initialRot, NonlinearFactorGraph *  posegraph, bool  singleIter = true  )

static

Use Gauss-Newton optimizer to optimize for poses given rotation estimates

Definition at line 58 of file InitializePose.h.

Variable Documentation

kAnchorKey

constexpr Key gtsam::initialize::kAnchorKey = 99999999

staticconstexpr

Definition at line 30 of file InitializePose.h.