#include "g2o/core/sparse_optimizer.h"
#include "g2o/types/slam3d/edge_se3.h"
#include "scoped_timer.h"

Include dependency graph for covariance_estimation.h:

This graph shows which files directly or indirectly include this file:

Typedefs
typedef std::set < g2o::HyperGraph::Edge * >	EdgeSet
typedef std::set < g2o::HyperGraph::Edge * > ::iterator	EdgeSetIt
typedef Eigen::Matrix< double, 6, 6 >	InfoMatType
typedef Eigen::Matrix< double, 6, Eigen::Dynamic >	Matrix6Xd
typedef Eigen::Matrix< double, 6, 1 >	Vector6d
Functions
InfoMatType	computeEmpiricalInformationMatrix (const Matrix6Xd &measurements, const Matrix6Xd &errors, const Vector6d &currentMeasurement, const Vector6d &stdDeviation)
template<class EDGETYPE >
void	edgesToErrorMatrix (const EdgeSet &edges, Matrix6Xd &output)
template<class EDGETYPE >
void	edgesToMeasurementMatrix (const EdgeSet &edges, Matrix6Xd &output)
	Convert Isometry to vector6d of which the last 3 parameters represent the.

Typedef Documentation

typedef std::set<g2o::HyperGraph::Edge*> EdgeSet

Definition at line 10 of file covariance_estimation.h.

typedef std::set<g2o::HyperGraph::Edge*>::iterator EdgeSetIt

Definition at line 11 of file covariance_estimation.h.

typedef Eigen::Matrix<double,6,6> InfoMatType

Definition at line 7 of file covariance_estimation.h.

typedef Eigen::Matrix<double,6,Eigen::Dynamic> Matrix6Xd

Definition at line 9 of file covariance_estimation.h.

typedef Eigen::Matrix<double,6,1> Vector6d

Definition at line 8 of file covariance_estimation.h.

Function Documentation

InfoMatType computeEmpiricalInformationMatrix	(	const Matrix6Xd &	measurements,
		const Matrix6Xd &	errors,
		const Vector6d &	currentMeasurement,
		const Vector6d &	stdDeviation
	)

FIXME: Why are the results worse than without inverse, which is wrong?

Definition at line 41 of file covariance_estimation.cpp.

template<class EDGETYPE >

Definition at line 52 of file covariance_estimation.h.

template<class EDGETYPE >

void edgesToMeasurementMatrix	(	const EdgeSet &	edges,
		Matrix6Xd &	output
	)

Convert Isometry to vector6d of which the last 3 parameters represent the.

Convert Isometry to vector6d of which the last 3 parameters represent the

Definition at line 32 of file covariance_estimation.h.