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 std::vector< BinaryMeasurement< Unit3 >> &relativeTranslations, const double scale, const std::vector< BinaryMeasurement< Point3 >> &betweenTranslations, NonlinearFactorGraph *graph, const SharedNoiseModel &priorNoiseModel=noiseModel::Isotropic::Sigma(3, 0.01)) const
	Add 3 factors to the graph: More...
NonlinearFactorGraph	buildGraph (const std::vector< BinaryMeasurement< Unit3 >> &relativeTranslations) const
	Build the factor graph to do the optimization. More...
Values	initializeRandomly (const std::vector< BinaryMeasurement< Unit3 >> &relativeTranslations, const std::vector< BinaryMeasurement< Point3 >> &betweenTranslations, std::mt19937 *rng, const Values &initialValues=Values()) const
	Create random initial translations. More...
Values	initializeRandomly (const std::vector< BinaryMeasurement< Unit3 >> &relativeTranslations, const std::vector< BinaryMeasurement< Point3 >> &betweenTranslations, const Values &initialValues=Values()) const
	Version of initializeRandomly with a fixed seed. More...
Values	run (const TranslationEdges &relativeTranslations, const double scale=1.0, const std::vector< BinaryMeasurement< Point3 >> &betweenTranslations={}, const Values &initialValues=Values()) const
	Build and optimize factor graph. More...
	TranslationRecovery (const LevenbergMarquardtParams &lmParams)
	Construct a new Translation Recovery object. More...
	TranslationRecovery ()=default
	Default constructor. More...

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

Private Attributes
LevenbergMarquardtParams	lmParams_
TranslationEdges	relativeTranslations_

Detailed Description

Definition at line 51 of file TranslationRecovery.h.

Member Typedef Documentation

KeyPair

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

Definition at line 53 of file TranslationRecovery.h.

TranslationEdges

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

Definition at line 54 of file TranslationRecovery.h.

Constructor & Destructor Documentation

TranslationRecovery() [1/2]

gtsam::TranslationRecovery::TranslationRecovery ( const LevenbergMarquardtParams &  lmParams )

inline

Construct a new Translation Recovery object.

Parameters

lmParams

parameters for optimization.

Definition at line 69 of file TranslationRecovery.h.

TranslationRecovery() [2/2]

gtsam::TranslationRecovery::TranslationRecovery ( )

default

Default constructor.

Member Function Documentation

addPrior()

void TranslationRecovery::addPrior	(	const std::vector< BinaryMeasurement< Unit3 >> &	relativeTranslations,
		const double	scale,
		const std::vector< BinaryMeasurement< Point3 >> &	betweenTranslations,
		NonlinearFactorGraph *	graph,
		const SharedNoiseModel &	priorNoiseModel = noiseModel::Isotropic::Sigma(3, 0.01)
	)		const

Add 3 factors to the graph:

• A prior on the first point to lie at (0, 0, 0)
• If betweenTranslations is non-empty, between factors provided by it.
• If betweenTranslations is empty, a prior on scale of the first relativeTranslations edge.

Parameters

relativeTranslations	unit translation directions between translations to be estimated
scale	scale for first relative translation which fixes gauge.
graph	factor graph to which prior is added.
betweenTranslations	relative translations (with scale) between 2 points in world coordinate frame known a priori.
priorNoiseModel	the noise model to use with the prior.

Definition at line 111 of file TranslationRecovery.cpp.

buildGraph()

NonlinearFactorGraph TranslationRecovery::buildGraph

(

const std::vector< BinaryMeasurement< Unit3 >> &

relativeTranslations

)

const

Build the factor graph to do the optimization.

Parameters

relativeTranslations

unit translation directions between translations to be estimated

Returns

NonlinearFactorGraph

Definition at line 99 of file TranslationRecovery.cpp.

initializeRandomly() [1/2]

Values TranslationRecovery::initializeRandomly	(	const std::vector< BinaryMeasurement< Unit3 >> &	relativeTranslations,
		const std::vector< BinaryMeasurement< Point3 >> &	betweenTranslations,
		std::mt19937 *	rng,
		const Values &	initialValues = Values()
	)		const

Create random initial translations.

Parameters

relativeTranslations	unit translation directions between translations to be estimated
betweenTranslations	relative translations (with scale) between 2 points in world coordinate frame known a priori.
rng	random number generator
intialValues	(optional) initial values from a prior

Returns

Values

Definition at line 137 of file TranslationRecovery.cpp.

initializeRandomly() [2/2]

Values TranslationRecovery::initializeRandomly	(	const std::vector< BinaryMeasurement< Unit3 >> &	relativeTranslations,
		const std::vector< BinaryMeasurement< Point3 >> &	betweenTranslations,
		const Values &	initialValues = Values()
	)		const

Version of initializeRandomly with a fixed seed.

Parameters

relativeTranslations	unit translation directions between translations to be estimated
betweenTranslations	relative translations (with scale) between 2 points in world coordinate frame known a priori.
initialValues	(optional) initial values from a prior

Returns

Values

Definition at line 169 of file TranslationRecovery.cpp.

run()

Values TranslationRecovery::run	(	const TranslationEdges &	relativeTranslations,
		const double	scale = 1.0,
		const std::vector< BinaryMeasurement< Point3 >> &	betweenTranslations = {},
		const Values &	initialValues = Values()
	)		const

Build and optimize factor graph.

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. If a relative translation magnitude is zero, it is treated as a hard same-point constraint (the result of all nodes connected by a zero-magnitude edge will be the same).
scale	scale for first relative translation which fixes gauge. The scale is only used if betweenTranslations is empty.
betweenTranslations	relative translations (with scale) between 2 points in world coordinate frame known a priori. Unlike relativeTranslations, zero-magnitude betweenTranslations are not treated as hard constraints.
initialValues	intial values for optimization. Initializes randomly if not provided.

Returns

Values

Definition at line 177 of file TranslationRecovery.cpp.

SimulateMeasurements()

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 216 of file TranslationRecovery.cpp.

Member Data Documentation

lmParams_

LevenbergMarquardtParams gtsam::TranslationRecovery::lmParams_

private

Definition at line 61 of file TranslationRecovery.h.

relativeTranslations_

TranslationEdges gtsam::TranslationRecovery::relativeTranslations_

private

Definition at line 58 of file TranslationRecovery.h.

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

• TranslationRecovery.h
• TranslationRecovery.cpp