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static BinaryMeasurement< Rot3 > | gtsam::convert (const BetweenFactor< Pose3 >::shared_ptr &f) |
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static ShonanAveraging3::Measurements | gtsam::extractRot3Measurements (const BetweenFactorPose3s &factors) |
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template<typename T , size_t d> |
static double | gtsam::Kappa (const BinaryMeasurement< T > &measurement, const ShonanAveragingParameters< d > ¶meters) |
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static std::mt19937 | gtsam::kRandomNumberGenerator (42) |
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template<size_t d> |
static size_t | gtsam::NrUnknowns (const typename ShonanAveraging< d >::Measurements &measurements) |
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static Vector | gtsam::perturb (const Vector &initialVector) |
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static bool | gtsam::PowerMinimumEigenValue (const Sparse &A, const Matrix &S, double &minEigenValue, Vector *minEigenVector=0, size_t *numIterations=0, size_t maxIterations=1000, double minEigenvalueNonnegativityTolerance=10e-4) |
| MINIMUM EIGENVALUE COMPUTATIONS. More...
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template<size_t d> |
static Matrix | gtsam::RoundSolutionS (const Matrix &S) |
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static bool | gtsam::SparseMinimumEigenValue (const Sparse &A, const Matrix &S, double *minEigenValue, Vector *minEigenVector=0, size_t *numIterations=0, size_t maxIterations=1000, double minEigenvalueNonnegativityTolerance=10e-4, Eigen::Index numLanczosVectors=20) |
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Shonan Averaging algorithm.
- Date
- March 2019 - August 2020
- Author
- Frank Dellaert, David Rosen, and Jing Wu
Definition in file ShonanAveraging.cpp.