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)
	Calls initialize above using Chordal method. More...
static Values	initialize (const NonlinearFactorGraph &graph, const Values &givenGuess, bool useGradient=false)
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

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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 )

static

Calls initialize above using Chordal method.

Definition at line 317 of file InitializePose3.cpp.

initialize() [2/2]

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.

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.

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

• InitializePose3.h
• InitializePose3.cpp