gtsam::InitializePose3 Struct Reference

Static Public Member Functions
static GaussianFactorGraph	buildLinearOrientationGraph (const NonlinearFactorGraph &g)
static Values	normalizeRelaxedRotations (const VectorValues &relaxedRot3)
static Values	computeOrientationsChordal (const NonlinearFactorGraph &pose3Graph)
static Values	computeOrientationsGradient (const NonlinearFactorGraph &pose3Graph, const Values &givenGuess, size_t maxIter=10000, const bool setRefFrame=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 NonlinearFactorGraph	buildPose3graph (const NonlinearFactorGraph &graph)
static Values	computePoses (const Values &initialRot, NonlinearFactorGraph *poseGraph, bool singleIter=true)
static Values	initializeOrientations (const NonlinearFactorGraph &graph)
static Values	initialize (const NonlinearFactorGraph &graph, const Values &givenGuess, bool useGradient=false)
static Values	initialize (const NonlinearFactorGraph &graph)
	Calls initialize above using Chordal method.

Member Function Documentation

buildPose3graph()

static NonlinearFactorGraph gtsam::InitializePose3::buildPose3graph ( const NonlinearFactorGraph &  graph )

static

Select the subgraph of betweenFactors and transforms priors into between wrt a fictitious node

computeOrientationsChordal()

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

static

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

computeOrientationsGradient()

static 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>

computePoses()

static Values gtsam::InitializePose3::computePoses ( const Values &  initialRot, NonlinearFactorGraph *  poseGraph, bool  singleIter = true  )

static

Use Gauss-Newton optimizer to optimize for poses given rotation estimates

initialize()

static 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.

initializeOrientations()

static 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.

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

• /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/slam/InitializePose3.h