#include <keyframe_graph_solver_isam.h>

Inheritance diagram for rgbdtools::KeyframeGraphSolverISAM:

Public Types
typedef std::pair< int, int >	Observation
typedef std::pair< int, int >	Observation
Public Member Functions
void	add_aruco (aruco::Marker marker, isam::Pose3d_Node *from, isam::Noise noise3)
void	add_aruco (aruco::Marker marker, isam::Pose3d_Node *from, isam::Noise noise3)
void	add_edge (isam::Pose3d_Node from, isam::Pose3d_Node to, double x, double y, double z, double roll, double pitch, double yaw, isam::Noise noise)
void	add_edge (isam::Pose3d_Node from, isam::Pose3d_Node to, double x, double y, double z, double roll, double pitch, double yaw, isam::Noise noise)
void	add_edge (isam::Pose3d_Node from, isam::Pose3d_Node to, const AffineTransform &pose, isam::Noise noise)
void	add_edge (isam::Pose3d_Node from, isam::Pose3d_Node to, const AffineTransform &pose, isam::Noise noise)
void	add_edges (u_int kf_idx, KeyframeVector &keyframes, const KeyframeAssociationVector &associations)
void	add_edges (u_int kf_idx, KeyframeVector &keyframes, const KeyframeAssociationVector &associations)
void	add_landmark (KeyframeVector &keyframes, KeyframeAssociation association, int from_idx, int to_idx, int j, isam::Noise noise3)
void	add_landmark (KeyframeVector &keyframes, KeyframeAssociation association, int from_idx, int to_idx, int j, isam::Noise noise3)
void	add_landmark_from_file (int from_idx, int to_idx, double x, double y, double z, isam::Noise noise3)
void	add_landmark_from_file (int from_idx, int to_idx, double x, double y, double z, isam::Noise noise3)
void	add_pose (Pose pose, isam::Noise noise)
void	add_pose (Pose pose, isam::Noise noise)
void	add_pose (double x, double y, double z, double roll, double pitch, double yaw, isam::Noise noise)
void	add_pose (double x, double y, double z, double roll, double pitch, double yaw, isam::Noise noise)
void	add_prior (isam::Pose3d_Node *pose_node, double x, double y, double z, double roll, double pitch, double yaw, isam::Noise noise)
void	add_prior (isam::Pose3d_Node *pose_node, double x, double y, double z, double roll, double pitch, double yaw, isam::Noise noise)
void	add_vo (isam::Pose3d_Node from, isam::Pose3d_Node to, AffineTransform pose, isam::Noise noise)
void	add_vo (isam::Pose3d_Node from, isam::Pose3d_Node to, AffineTransform pose, isam::Noise noise)
void	getArucoPos (std::vector< std::vector< double > > positions, std::vector< int > marker_kfs, KeyframeVector &keyframes)
void	getArucoPos (std::vector< std::vector< double > > positions, std::vector< int > marker_kfs, KeyframeVector &keyframes)
u_int	getNOriginalPoses ()
u_int	getNOriginalPoses ()
void	getOptimizedPoses (AffineTransformVector &poses_)
void	getOptimizedPoses (AffineTransformVector &poses_)
void	giveMarkers (std::vector< aruco::Marker > markers)
void	giveMarkers (std::vector< aruco::Marker > markers)
	KeyframeGraphSolverISAM ()
	Constructor.
	KeyframeGraphSolverISAM ()
	Constructor.
void	load_landmarks (std::string filepath)
void	load_landmarks (std::string filepath)
void	optimizeGraph ()
void	optimizeGraph ()
void	parse (std::string fname, rgbdtools::KeyframeVector keyframes)
void	parse (std::string fname, rgbdtools::KeyframeVector keyframes)
void	parse_line (char *str)
void	parse_line (char *str)
void	save_graph (std::string filepath)
void	save_graph (std::string filepath)
void	save_landmarks (std::string filepath)
void	save_landmarks (std::string filepath)
void	solve (KeyframeVector &keyframes, const KeyframeAssociationVector &associations)
	Main method to call to perform graph solving.
void	solve (KeyframeVector &keyframes, const KeyframeAssociationVector &associations)
	Main method to call to perform graph solving.
void	solve (KeyframeVector &keyframes, const KeyframeAssociationVector &associations, AffineTransformVector &path)
void	solve (KeyframeVector &keyframes, const KeyframeAssociationVector &associations, AffineTransformVector &path)
void	solve_Iterative (KeyframeVector &keyframes)
void	solve_Iterative (KeyframeVector &keyframes)
void	solve_rgb_Iterative (KeyframeVector &keyframes)
void	solve_rgb_Iterative (KeyframeVector &keyframes)
	~KeyframeGraphSolverISAM ()
	Default destructor.
	~KeyframeGraphSolverISAM ()
	Default destructor.
Public Attributes
std::vector < isam::Pose3d_Point3d_Factor * >	landmark_observations
std::map< Observation, isam::Point3d_Node * >	landmarks
std::vector< isam::Point3d_Node * >	landmarks_explicit
std::vector< int >	marker_kf
std::vector < isam::Pose3d_Point3d_Factor * >	marker_observations
std::vector< isam::Point3d_Node * >	marker_poses
std::vector< aruco::Marker >	markers_
u_int	n_original_poses
std::vector< isam::Pose3d_Node * >	poses
std::vector< isam::Factor * >	priors
isam::Slam	slam
std::vector< bool >	valid_markers
std::vector< bool >	valid_poses
std::vector < isam::Pose3d_Pose3d_Factor * >	vodom
Private Member Functions
void	parse_factors ()
void	parse_factors ()
void	parse_nodes ()
void	parse_nodes ()

Detailed Description

Definition at line 36 of file include/rgbdtools/graph/keyframe_graph_solver_isam.h.

Member Typedef Documentation

typedef std::pair<int,int> rgbdtools::KeyframeGraphSolverISAM::Observation

Definition at line 68 of file include/rgbdtools/graph/keyframe_graph_solver_isam.h.

typedef std::pair<int,int> rgbdtools::KeyframeGraphSolverISAM::Observation

Definition at line 68 of file rgbdtools_git/include/rgbdtools/graph/keyframe_graph_solver_isam.h.

Constructor & Destructor Documentation

rgbdtools::KeyframeGraphSolverISAM::KeyframeGraphSolverISAM ( )

Constructor.

Definition at line 32 of file keyframe_graph_solver_isam.cpp.

rgbdtools::KeyframeGraphSolverISAM::~KeyframeGraphSolverISAM ( )

Default destructor.

Definition at line 41 of file keyframe_graph_solver_isam.cpp.

rgbdtools::KeyframeGraphSolverISAM::KeyframeGraphSolverISAM ( )

Constructor.

rgbdtools::KeyframeGraphSolverISAM::~KeyframeGraphSolverISAM ( )

Default destructor.

Member Function Documentation

void rgbdtools::KeyframeGraphSolverISAM::add_aruco	(	aruco::Marker	marker,
		isam::Pose3d_Node *	from,
		isam::Noise	noise3
	)

Definition at line 512 of file keyframe_graph_solver_isam.cpp.

void rgbdtools::KeyframeGraphSolverISAM::add_aruco	(	aruco::Marker	marker,
		isam::Pose3d_Node *	from,
		isam::Noise	noise3
	)

void rgbdtools::KeyframeGraphSolverISAM::add_edge	(	isam::Pose3d_Node *	from,
		isam::Pose3d_Node *	to,
		double	x,
		double	y,
		double	z,
		double	roll,
		double	pitch,
		double	yaw,
		isam::Noise	noise
	)

Definition at line 205 of file keyframe_graph_solver_isam.cpp.

void rgbdtools::KeyframeGraphSolverISAM::add_edge	(	isam::Pose3d_Node *	from,
		isam::Pose3d_Node *	to,
		double	x,
		double	y,
		double	z,
		double	roll,
		double	pitch,
		double	yaw,
		isam::Noise	noise
	)

void rgbdtools::KeyframeGraphSolverISAM::add_edge	(	isam::Pose3d_Node *	from,
		isam::Pose3d_Node *	to,
		const AffineTransform &	pose,
		isam::Noise	noise
	)

Definition at line 120 of file keyframe_graph_solver_isam.cpp.

void rgbdtools::KeyframeGraphSolverISAM::add_edge	(	isam::Pose3d_Node *	from,
		isam::Pose3d_Node *	to,
		const AffineTransform &	pose,
		isam::Noise	noise
	)

void rgbdtools::KeyframeGraphSolverISAM::add_edges	(	u_int	kf_idx,
		KeyframeVector &	keyframes,
		const KeyframeAssociationVector &	associations
	)

Definition at line 130 of file keyframe_graph_solver_isam.cpp.

void rgbdtools::KeyframeGraphSolverISAM::add_edges	(	u_int	kf_idx,
		KeyframeVector &	keyframes,
		const KeyframeAssociationVector &	associations
	)

void rgbdtools::KeyframeGraphSolverISAM::add_landmark	(	KeyframeVector &	keyframes,
		KeyframeAssociation	association,
		int	from_idx,
		int	to_idx,
		int	j,
		isam::Noise	noise3
	)

Definition at line 469 of file keyframe_graph_solver_isam.cpp.

void rgbdtools::KeyframeGraphSolverISAM::add_landmark	(	KeyframeVector &	keyframes,
		KeyframeAssociation	association,
		int	from_idx,
		int	to_idx,
		int	j,
		isam::Noise	noise3
	)

void rgbdtools::KeyframeGraphSolverISAM::add_landmark_from_file	(	int	from_idx,
		int	to_idx,
		double	x,
		double	y,
		double	z,
		isam::Noise	noise3
	)

Definition at line 459 of file keyframe_graph_solver_isam.cpp.

void rgbdtools::KeyframeGraphSolverISAM::add_landmark_from_file	(	int	from_idx,
		int	to_idx,
		double	x,
		double	y,
		double	z,
		isam::Noise	noise3
	)

void rgbdtools::KeyframeGraphSolverISAM::add_pose	(	Pose	pose,
		isam::Noise	noise
	)

Definition at line 411 of file keyframe_graph_solver_isam.cpp.

void rgbdtools::KeyframeGraphSolverISAM::add_pose	(	Pose	pose,
		isam::Noise	noise
	)

void rgbdtools::KeyframeGraphSolverISAM::add_pose	(	double	x,
		double	y,
		double	z,
		double	roll,
		double	pitch,
		double	yaw,
		isam::Noise	noise
	)

Definition at line 428 of file keyframe_graph_solver_isam.cpp.

void rgbdtools::KeyframeGraphSolverISAM::add_pose	(	double	x,
		double	y,
		double	z,
		double	roll,
		double	pitch,
		double	yaw,
		isam::Noise	noise
	)

void rgbdtools::KeyframeGraphSolverISAM::add_prior	(	isam::Pose3d_Node *	pose_node,
		double	x,
		double	y,
		double	z,
		double	roll,
		double	pitch,
		double	yaw,
		isam::Noise	noise
	)

Definition at line 445 of file keyframe_graph_solver_isam.cpp.

void rgbdtools::KeyframeGraphSolverISAM::add_prior	(	isam::Pose3d_Node *	pose_node,
		double	x,
		double	y,
		double	z,
		double	roll,
		double	pitch,
		double	yaw,
		isam::Noise	noise
	)

void rgbdtools::KeyframeGraphSolverISAM::add_vo	(	isam::Pose3d_Node *	from,
		isam::Pose3d_Node *	to,
		AffineTransform	pose,
		isam::Noise	noise
	)

void rgbdtools::KeyframeGraphSolverISAM::add_vo	(	isam::Pose3d_Node *	from,
		isam::Pose3d_Node *	to,
		AffineTransform	pose,
		isam::Noise	noise
	)

void rgbdtools::KeyframeGraphSolverISAM::getArucoPos	(	std::vector< std::vector< double > > *	positions,
		std::vector< int > *	marker_kfs,
		KeyframeVector &	keyframes
	)

Definition at line 746 of file keyframe_graph_solver_isam.cpp.

void rgbdtools::KeyframeGraphSolverISAM::getArucoPos	(	std::vector< std::vector< double > > *	positions,
		std::vector< int > *	marker_kfs,
		KeyframeVector &	keyframes
	)

u_int rgbdtools::KeyframeGraphSolverISAM::getNOriginalPoses ( ) [inline]

Definition at line 66 of file rgbdtools_git/include/rgbdtools/graph/keyframe_graph_solver_isam.h.

u_int rgbdtools::KeyframeGraphSolverISAM::getNOriginalPoses ( ) [inline]

Definition at line 66 of file include/rgbdtools/graph/keyframe_graph_solver_isam.h.

void rgbdtools::KeyframeGraphSolverISAM::getOptimizedPoses ( AffineTransformVector & poses_ )

Definition at line 773 of file keyframe_graph_solver_isam.cpp.

void rgbdtools::KeyframeGraphSolverISAM::giveMarkers ( std::vector< aruco::Marker > markers )

Definition at line 45 of file keyframe_graph_solver_isam.cpp.

void rgbdtools::KeyframeGraphSolverISAM::giveMarkers ( std::vector< aruco::Marker > markers )

void rgbdtools::KeyframeGraphSolverISAM::load_landmarks ( std::string filepath )

Definition at line 73 of file keyframe_graph_solver_isam.cpp.

void rgbdtools::KeyframeGraphSolverISAM::optimizeGraph ( )

Definition at line 767 of file keyframe_graph_solver_isam.cpp.

void rgbdtools::KeyframeGraphSolverISAM::parse	(	std::string	fname,
		rgbdtools::KeyframeVector	keyframes
	)

void rgbdtools::KeyframeGraphSolverISAM::parse	(	std::string	fname,
		rgbdtools::KeyframeVector	keyframes
	)

Definition at line 369 of file keyframe_graph_solver_isam.cpp.

void rgbdtools::KeyframeGraphSolverISAM::parse_factors ( ) [private]

Definition at line 246 of file keyframe_graph_solver_isam.cpp.

void rgbdtools::KeyframeGraphSolverISAM::parse_line ( char * str )

Definition at line 340 of file keyframe_graph_solver_isam.cpp.

void rgbdtools::KeyframeGraphSolverISAM::parse_nodes ( ) [private]

Definition at line 217 of file keyframe_graph_solver_isam.cpp.

void rgbdtools::KeyframeGraphSolverISAM::save_graph ( std::string filepath )

Definition at line 50 of file keyframe_graph_solver_isam.cpp.

void rgbdtools::KeyframeGraphSolverISAM::save_graph ( std::string filepath )

void rgbdtools::KeyframeGraphSolverISAM::save_landmarks ( std::string filepath )

Definition at line 56 of file keyframe_graph_solver_isam.cpp.

void rgbdtools::KeyframeGraphSolverISAM::solve	(	KeyframeVector &	keyframes,
		const KeyframeAssociationVector &	associations
	)		`[virtual]`

Main method to call to perform graph solving.

The keyframe poses will be modified according to some error propagation model informed by the graph defined by the keyframe associations.

Parameters:

keyframes	vector of keyframes
associations	vector of input keyframe associations

Implements rgbdtools::KeyframeGraphSolver.

void rgbdtools::KeyframeGraphSolverISAM::solve	(	KeyframeVector &	keyframes,
		const KeyframeAssociationVector &	associations
	)		`[virtual]`

Main method to call to perform graph solving.

The keyframe poses will be modified according to some error propagation model informed by the graph defined by the keyframe associations.

Parameters:

keyframes	vector of keyframes
associations	vector of input keyframe associations

Implements rgbdtools::KeyframeGraphSolver.

Definition at line 524 of file keyframe_graph_solver_isam.cpp.

void rgbdtools::KeyframeGraphSolverISAM::solve	(	KeyframeVector &	keyframes,
		const KeyframeAssociationVector &	associations,
		AffineTransformVector &	path
	)		`[virtual]`

Implements rgbdtools::KeyframeGraphSolver.

Definition at line 689 of file keyframe_graph_solver_isam.cpp.

void rgbdtools::KeyframeGraphSolverISAM::solve	(	KeyframeVector &	keyframes,
		const KeyframeAssociationVector &	associations,
		AffineTransformVector &	path
	)		`[virtual]`

Implements rgbdtools::KeyframeGraphSolver.

void rgbdtools::KeyframeGraphSolverISAM::solve_Iterative ( KeyframeVector & keyframes )

Definition at line 696 of file keyframe_graph_solver_isam.cpp.

void rgbdtools::KeyframeGraphSolverISAM::solve_rgb_Iterative ( KeyframeVector & keyframes )

Definition at line 728 of file keyframe_graph_solver_isam.cpp.

void rgbdtools::KeyframeGraphSolverISAM::solve_rgb_Iterative ( KeyframeVector & keyframes )

Member Data Documentation

std::vector< isam::Pose3d_Point3d_Factor * > rgbdtools::KeyframeGraphSolverISAM::landmark_observations

Definition at line 82 of file include/rgbdtools/graph/keyframe_graph_solver_isam.h.

std::map< Observation, isam::Point3d_Node * > rgbdtools::KeyframeGraphSolverISAM::landmarks

Definition at line 71 of file include/rgbdtools/graph/keyframe_graph_solver_isam.h.

std::vector< isam::Point3d_Node * > rgbdtools::KeyframeGraphSolverISAM::landmarks_explicit

Definition at line 72 of file include/rgbdtools/graph/keyframe_graph_solver_isam.h.

std::vector< int > rgbdtools::KeyframeGraphSolverISAM::marker_kf

Definition at line 74 of file include/rgbdtools/graph/keyframe_graph_solver_isam.h.

std::vector< isam::Pose3d_Point3d_Factor * > rgbdtools::KeyframeGraphSolverISAM::marker_observations

Definition at line 75 of file include/rgbdtools/graph/keyframe_graph_solver_isam.h.

std::vector< isam::Point3d_Node * > rgbdtools::KeyframeGraphSolverISAM::marker_poses

Definition at line 73 of file include/rgbdtools/graph/keyframe_graph_solver_isam.h.

std::vector< aruco::Marker > rgbdtools::KeyframeGraphSolverISAM::markers_

Definition at line 76 of file include/rgbdtools/graph/keyframe_graph_solver_isam.h.

u_int rgbdtools::KeyframeGraphSolverISAM::n_original_poses

Definition at line 70 of file include/rgbdtools/graph/keyframe_graph_solver_isam.h.

std::vector< isam::Pose3d_Node * > rgbdtools::KeyframeGraphSolverISAM::poses

Definition at line 77 of file include/rgbdtools/graph/keyframe_graph_solver_isam.h.

std::vector< isam::Factor * > rgbdtools::KeyframeGraphSolverISAM::priors

Definition at line 81 of file include/rgbdtools/graph/keyframe_graph_solver_isam.h.

isam::Slam rgbdtools::KeyframeGraphSolverISAM::slam

Definition at line 83 of file include/rgbdtools/graph/keyframe_graph_solver_isam.h.

std::vector< bool > rgbdtools::KeyframeGraphSolverISAM::valid_markers

Definition at line 79 of file include/rgbdtools/graph/keyframe_graph_solver_isam.h.

std::vector< bool > rgbdtools::KeyframeGraphSolverISAM::valid_poses

Definition at line 78 of file include/rgbdtools/graph/keyframe_graph_solver_isam.h.

std::vector< isam::Pose3d_Pose3d_Factor * > rgbdtools::KeyframeGraphSolverISAM::vodom

Definition at line 80 of file include/rgbdtools/graph/keyframe_graph_solver_isam.h.

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

Public Types

Public Member Functions

Public Attributes

Private Member Functions

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation