Source code for recovering translations when rotations are given. More...

#include <gtsam/base/DSFMap.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Unit3.h>
#include <gtsam/linear/NoiseModel.h>
#include <gtsam/nonlinear/ExpressionFactor.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/sfm/TranslationFactor.h>
#include <gtsam/sfm/TranslationRecovery.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/slam/PriorFactor.h>
#include <gtsam/slam/expressions.h>
#include <set>
#include <utility>

Include dependency graph for TranslationRecovery.cpp:

Go to the source code of this file.

Functions
Values	addSameTranslationNodes (const Values &result, const DSFMap< Key > &sameTranslationDSFMap)

DSFMap< Key >	getSameTranslationDSFMap (const std::vector< BinaryMeasurement< Unit3 >> &relativeTranslations)

static std::mt19937	kRandomNumberGenerator (42)

template<typename T >
std::vector< BinaryMeasurement< T > >	removeSameTranslationNodes (const std::vector< BinaryMeasurement< T >> &edges, const DSFMap< Key > &sameTranslationDSFMap)

Detailed Description

Source code for recovering translations when rotations are given.

Author: Frank Dellaert, Akshay Krishnan

Date: March 2020

Definition in file TranslationRecovery.cpp.

Function Documentation

◆ addSameTranslationNodes()

Values addSameTranslationNodes	(	const Values &	result,
		const DSFMap< Key > &	sameTranslationDSFMap
	)

Definition at line 80 of file TranslationRecovery.cpp.

◆ getSameTranslationDSFMap()

DSFMap<Key> getSameTranslationDSFMap ( const std::vector< BinaryMeasurement< Unit3 >> & relativeTranslations )

Definition at line 49 of file TranslationRecovery.cpp.

◆ kRandomNumberGenerator()

static std::mt19937 kRandomNumberGenerator ( 42 )

static

◆ removeSameTranslationNodes()

template<typename T >

std::vector<BinaryMeasurement<T> > removeSameTranslationNodes	(	const std::vector< BinaryMeasurement< T >> &	edges,
		const DSFMap< Key > &	sameTranslationDSFMap
	)