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| | TranslationRecovery (const LevenbergMarquardtParams &lmParams) |
| | Construct a new Translation Recovery object. More...
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| TranslationRecovery ()=default |
| | Default constructor.
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| NonlinearFactorGraph | buildGraph (const std::vector< BinaryMeasurement< Unit3 >> &relativeTranslations) const |
| | Build the factor graph to do the optimization. More...
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| 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...
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| 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...
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| 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...
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| 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...
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◆ TranslationRecovery()
Construct a new Translation Recovery object.
- Parameters
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| lmParams | parameters for optimization. |
◆ addPrior()
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
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| 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. |
◆ buildGraph()
Build the factor graph to do the optimization.
- Parameters
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| relativeTranslations | unit translation directions between translations to be estimated |
- Returns
- NonlinearFactorGraph
◆ initializeRandomly() [1/2]
Create random initial translations.
- Parameters
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| 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
◆ initializeRandomly() [2/2]
Version of initializeRandomly with a fixed seed.
- Parameters
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| 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
◆ run()
| Values gtsam::TranslationRecovery::run |
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const TranslationEdges & |
relativeTranslations, |
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const double |
scale = 1.0, |
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const std::vector< BinaryMeasurement< Point3 >> & |
betweenTranslations = {}, |
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const Values & |
initialValues = Values() |
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| const |
Build and optimize factor graph.
- Parameters
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| 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
◆ SimulateMeasurements()
| static TranslationEdges gtsam::TranslationRecovery::SimulateMeasurements |
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const Values & |
poses, |
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const std::vector< KeyPair > & |
edges |
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Simulate translation direction measurements.
- Parameters
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| 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.
The documentation for this class was generated from the following file:
- /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/sfm/TranslationRecovery.h
