gtsam::TranslationRecovery Class Reference

#include <TranslationRecovery.h>

Public Types
using	KeyPair = std::pair< Key, Key >
using	TranslationEdges = std::vector< BinaryMeasurement< Unit3 >>

Public Member Functions
void	addPrior (const double scale, NonlinearFactorGraph *graph, const SharedNoiseModel &priorNoiseModel=noiseModel::Isotropic::Sigma(3, 0.01)) const
	Add priors on ednpoints of first measurement edge. More...
NonlinearFactorGraph	buildGraph () const
	Build the factor graph to do the optimization. More...
Values	initalizeRandomly () const
	Create random initial translations. More...
Values	run (const double scale=1.0) const
	Build and optimize factor graph. More...
	TranslationRecovery (const TranslationEdges &relativeTranslations, const LevenbergMarquardtParams &lmParams=LevenbergMarquardtParams())
	Construct a new Translation Recovery object. More...

Static Public Member Functions
static TranslationEdges	SimulateMeasurements (const Values &poses, const std::vector< KeyPair > &edges)
	Simulate translation direction measurements. More...

Private Attributes
LevenbergMarquardtParams	params_
TranslationEdges	relativeTranslations_
std::map< Key, std::set< Key > >	sameTranslationNodes_

Detailed Description

Definition at line 51 of file TranslationRecovery.h.

Member Typedef Documentation

using gtsam::TranslationRecovery::KeyPair = std::pair<Key, Key>

Definition at line 53 of file TranslationRecovery.h.

using gtsam::TranslationRecovery::TranslationEdges = std::vector<BinaryMeasurement<Unit3>>

Definition at line 54 of file TranslationRecovery.h.

Constructor & Destructor Documentation

TranslationRecovery::TranslationRecovery	(	const TranslationEdges &	relativeTranslations,
		const LevenbergMarquardtParams &	lmParams = LevenbergMarquardtParams()
	)

Construct a new Translation Recovery object.

Parameters

relativeTranslations	the relative translations, in world coordinate frames, vector of BinaryMeasurements of Unit3, where each key of a measurement is a point in 3D.
lmParams	(optional) gtsam::LavenbergMarquardtParams that can be used to modify the parameters for the LM optimizer. By default, uses the default LM parameters.

Definition at line 38 of file TranslationRecovery.cpp.

Member Function Documentation

void TranslationRecovery::addPrior	(	const double	scale,
		NonlinearFactorGraph *	graph,
		const SharedNoiseModel &	priorNoiseModel = noiseModel::Isotropic::Sigma(3, 0.01)
	)		const

Add priors on ednpoints of first measurement edge.

Parameters

scale	scale for first relative translation which fixes gauge.
graph	factor graph to which prior is added.
priorNoiseModel	the noise model to use with the prior.

Definition at line 80 of file TranslationRecovery.cpp.

NonlinearFactorGraph TranslationRecovery::buildGraph

(

)

const

Build the factor graph to do the optimization.

Returns

NonlinearFactorGraph

Definition at line 68 of file TranslationRecovery.cpp.

Values TranslationRecovery::initalizeRandomly

(

)

const

Create random initial translations.

Returns

Values

Definition at line 91 of file TranslationRecovery.cpp.

Values TranslationRecovery::run

(

const double

scale = 1.0

)

const

Build and optimize factor graph.

Parameters

scale

scale for first relative translation which fixes gauge.

Returns

Values

Definition at line 118 of file TranslationRecovery.cpp.

TranslationRecovery::TranslationEdges TranslationRecovery::SimulateMeasurements ( const Values &  poses, const std::vector< KeyPair > &  edges  )

static

Simulate translation direction measurements.

Parameters

poses	SE(3) ground truth poses stored as Values
edges	pairs (a,b) for which a measurement w_aZb will be generated.

Returns

TranslationEdges vector of binary measurements where the keys are the cameras and the measurement is the simulated Unit3 translation direction between the cameras.

Definition at line 140 of file TranslationRecovery.cpp.

Member Data Documentation

LevenbergMarquardtParams gtsam::TranslationRecovery::params_

private

Definition at line 61 of file TranslationRecovery.h.

TranslationEdges gtsam::TranslationRecovery::relativeTranslations_

private

Definition at line 58 of file TranslationRecovery.h.

std::map<Key, std::set<Key> > gtsam::TranslationRecovery::sameTranslationNodes_

private

Definition at line 65 of file TranslationRecovery.h.

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The documentation for this class was generated from the following files:

• TranslationRecovery.h
• TranslationRecovery.cpp