Static Public Member Functions | List of all members
gtsam::InitializePose3 Struct Reference

#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 36 of file InitializePose3.h.

Member Function Documentation

◆ buildLinearOrientationGraph()

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

Definition at line 37 of file InitializePose3.cpp.

◆ buildPose3graph()

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 95 of file InitializePose3.cpp.

◆ computeOrientationsChordal()

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

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

Definition at line 102 of file InitializePose3.cpp.

◆ computeOrientationsGradient()

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 117 of file InitializePose3.cpp.

◆ computePoses()

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 288 of file InitializePose3.cpp.

◆ createSymbolicGraph()

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

Definition at line 221 of file InitializePose3.cpp.

◆ gradientTron()

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

Definition at line 256 of file InitializePose3.cpp.

◆ initialize() [1/2]

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 296 of file InitializePose3.cpp.

◆ initialize() [2/2]

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

Calls initialize above using Chordal method.

Definition at line 317 of file InitializePose3.cpp.

◆ initializeOrientations()

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 278 of file InitializePose3.cpp.

◆ normalizeRelaxedRotations()

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

Definition at line 75 of file InitializePose3.cpp.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:46:20