SysSPA2d holds a set of nodes and constraints for sparse pose adjustment.
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#include <spa2d.h>
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| bool | addConstraint (int nd0, int nd1, const Vector3d &mean, const Matrix3d &prec) |
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| int | addNode (const Vector3d &pos, int id) |
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| double | calcCost (bool tcost=false) |
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| double | calcCost (double dist) |
| | calculate error assuming outliers > dist More...
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| int | doSPA (int niter, double sLambda=1.0e-4, int useCSparse=SBA_SPARSE_CHOLESKY, double initTol=1.0e-8, int CGiters=50) |
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| int | doSPAwindowed (int window, int niter, double sLambda, int useCSparse) |
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| void | getGraph (std::vector< float > &graph) |
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| std::vector< Node2d, Eigen::aligned_allocator< Node2d > > | getNodes () |
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| void | printStats () |
| | print some system stats More...
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| bool | removeConstraint (int ndi0, int ndi1) |
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| void | removeNode (int id) |
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| void | setupSparseSys (double sLambda, int iter, int sparseType) |
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| void | setupSys (double sLambda) |
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| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | SysSPA2d () |
| | constructor More...
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| void | useCholmod (bool yes) |
| | use CHOLMOD or CSparse More...
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| void | writeSparseA (char *fname, bool useCSparse=false) |
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SysSPA2d holds a set of nodes and constraints for sparse pose adjustment.
Definition at line 183 of file spa2d.h.
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW SysSPA2d::SysSPA2d |
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constructor
Definition at line 189 of file spa2d.h.
| bool SysSPA2d::addConstraint |
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int |
nd0, |
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int |
nd1, |
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const Vector3d & |
mean, |
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const Matrix3d & |
prec |
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| int SysSPA2d::addNode |
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const Vector3d & |
pos, |
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int |
id |
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add a node at a pose <pos> is x,y,th, with th in radians
Definition at line 208 of file spa2d.cpp.
| double SysSPA2d::calcCost |
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bool |
tcost = false | ) |
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calculate the error in the system; if <tcost> is true, just the distance error without weighting
Definition at line 174 of file spa2d.cpp.
| double SysSPA2d::calcCost |
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double |
dist | ) |
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calculate error assuming outliers > dist
| int SysSPA2d::doSPA |
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int |
niter, |
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double |
sLambda = 1.0e-4, |
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int |
useCSparse = SBA_SPARSE_CHOLESKY, |
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double |
initTol = 1.0e-8, |
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int |
maxCGiters = 50 |
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Run the LM algorithm that computes a nonlinear SPA estimate. <niter> is the max number of iterations to perform; returns the number actually performed. <lambda> is the diagonal augmentation for LM. <useCSparse> = 0 for dense Cholesky, 1 for sparse system, 2 for gradient system, 3 for block jacobian PCG <initTol> is the initial tolerance for CG <maxCGiters> is max # of iterations in BPCG
Definition at line 434 of file spa2d.cpp.
| int SysSPA2d::doSPAwindowed |
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int |
window, |
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int |
niter, |
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double |
sLambda, |
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int |
useCSparse |
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| void SysSPA2d::getGraph |
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std::vector< float > & |
graph | ) |
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return the graph of constraints x,y -> x',y' 4 floats per connection
Definition at line 993 of file spa2d.cpp.
| std::vector<Node2d,Eigen::aligned_allocator<Node2d> > SysSPA2d::getNodes |
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| void SysSPA2d::printStats |
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| bool SysSPA2d::removeConstraint |
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int |
ndi0, |
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int |
ndi1 |
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| void SysSPA2d::removeNode |
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int |
id | ) |
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| void SysSPA2d::setupSparseSys |
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double |
sLambda, |
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int |
iter, |
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int |
sparseType |
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| void SysSPA2d::setupSys |
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double |
sLambda | ) |
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set up linear system, from RSS submission (konolige 2010) <sLambda> is the diagonal augmentation for the LM step
Definition at line 259 of file spa2d.cpp.
| void SysSPA2d::useCholmod |
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bool |
yes | ) |
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inline |
use CHOLMOD or CSparse
Definition at line 261 of file spa2d.h.
| void SysSPA2d::writeSparseA |
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char * |
fname, |
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bool |
useCSparse = false |
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| Eigen::MatrixXd SysSPA2d::A |
linear system matrix and vector
Definition at line 254 of file spa2d.h.
| Eigen::VectorXd SysSPA2d::B |
sparse matrix object
Definition at line 258 of file spa2d.h.
do LM solution for system; returns number of iterations on finish. Argument is max number of iterations to perform, initial diagonal augmentation, and sparse form of Cholesky. useCSParse = 0 for dense Cholesky, 1 for sparse Cholesky, 2 for BPCG
Definition at line 239 of file spa2d.h.
Number of fixed nodes.
Definition at line 213 of file spa2d.h.
| std::vector<Node2d,Eigen::aligned_allocator<Node2d> > SysSPA2d::nodes |
set of nodes (camera frames) for SPA system, indexed by position;
Definition at line 205 of file spa2d.h.
| std::vector<Con2dP2,Eigen::aligned_allocator<Con2dP2> > SysSPA2d::p2cons |
Set of P2 constraints.
Definition at line 216 of file spa2d.h.
| bool SysSPA2d::print_iros_stats |
| std::vector< std::vector< Eigen::Vector2d, Eigen::aligned_allocator<Eigen::Vector2d> > > SysSPA2d::scans |
set of point scans, corresponding to nodes
Definition at line 210 of file spa2d.h.
| double SysSPA2d::sqMinDelta |
Convergence bound (square of minimum acceptable delta change)
Definition at line 251 of file spa2d.h.
if we want statistics
Definition at line 265 of file spa2d.h.
The documentation for this class was generated from the following files: