#include <InitializePose3.h>

Static Public Member Functions
static GaussianFactorGraph	buildLinearOrientationGraph (const NonlinearFactorGraph &g)

static NonlinearFactorGraph	buildPose3graph (const NonlinearFactorGraph &graph)

static Values	computeOrientationsChordal (const NonlinearFactorGraph &pose3Graph)

static Values	computeOrientationsGradient (const NonlinearFactorGraph &pose3Graph, const Values &givenGuess, size_t maxIter=10000, const bool setRefFrame=true)

static Values	computePoses (const Values &initialRot, NonlinearFactorGraph *poseGraph, bool singleIter=true)

static void	createSymbolicGraph (const NonlinearFactorGraph &pose3Graph, KeyVectorMap adjEdgesMap, KeyRotMap factorId2RotMap)

static Vector3	gradientTron (const Rot3 &R1, const Rot3 &R2, const double a, const double b)

static Values	initialize (const NonlinearFactorGraph &graph, const Values &givenGuess, bool useGradient=false)

static Values	initialize (const NonlinearFactorGraph &graph)
	Calls initialize above using Chordal method. More...

static Values	initializeOrientations (const NonlinearFactorGraph &graph)

static Values	normalizeRelaxedRotations (const VectorValues &relaxedRot3)

Detailed Description

Definition at line 37 of file InitializePose3.h.

Member Function Documentation

GaussianFactorGraph gtsam::InitializePose3::buildLinearOrientationGraph ( const NonlinearFactorGraph & g )

static

Definition at line 39 of file InitializePose3.cpp.

NonlinearFactorGraph gtsam::InitializePose3::buildPose3graph ( const NonlinearFactorGraph & graph )

static

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

Definition at line 97 of file InitializePose3.cpp.

Values gtsam::InitializePose3::computeOrientationsChordal ( const NonlinearFactorGraph & pose3Graph )

static

Return the orientations of a graph including only BetweenFactors<Pose3>

Definition at line 104 of file InitializePose3.cpp.

Values gtsam::InitializePose3::computeOrientationsGradient	(	const NonlinearFactorGraph &	pose3Graph,
		const Values &	givenGuess,
		size_t	maxIter = `10000`,
		const bool	setRefFrame = `true`
	)

static

Return the orientations of a graph including only BetweenFactors<Pose3>

Definition at line 119 of file InitializePose3.cpp.

Values gtsam::InitializePose3::computePoses	(	const Values &	initialRot,
		NonlinearFactorGraph *	posegraph,
		bool	singleIter = `true`
	)

static

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

************************************************************************* */

Definition at line 287 of file InitializePose3.cpp.

void gtsam::InitializePose3::createSymbolicGraph	(	const NonlinearFactorGraph &	pose3Graph,
		KeyVectorMap *	adjEdgesMap,
		KeyRotMap *	factorId2RotMap
	)

static

Definition at line 220 of file InitializePose3.cpp.

Vector3 gtsam::InitializePose3::gradientTron	(	const Rot3 &	R1,
		const Rot3 &	R2,
		const double	a,
		const double	b
	)

static

Definition at line 255 of file InitializePose3.cpp.

Values gtsam::InitializePose3::initialize	(	const NonlinearFactorGraph &	graph,
		const Values &	givenGuess,
		bool	useGradient = `false`
	)

static

"extract" the Pose3 subgraph of the original graph, get orientations from relative orientation measurements (using either gradient or chordal method), and finish up with 1 GN iteration on full poses.

Definition at line 295 of file InitializePose3.cpp.

Values gtsam::InitializePose3::initialize ( const NonlinearFactorGraph & graph )

static

Calls initialize above using Chordal method.

Definition at line 316 of file InitializePose3.cpp.

Values gtsam::InitializePose3::initializeOrientations ( const NonlinearFactorGraph & graph )

static

"extract" the Pose3 subgraph of the original graph, get orientations from relative orientation measurements using chordal method.

Definition at line 277 of file InitializePose3.cpp.

Values gtsam::InitializePose3::normalizeRelaxedRotations ( const VectorValues & relaxedRot3 )

static

Definition at line 77 of file InitializePose3.cpp.

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

Static Public Member Functions

Detailed Description

Member Function Documentation