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gtsam::GlobalPositioner Class Reference
Inheritance diagram for gtsam::GlobalPositioner:

Public Member Functions

 GlobalPositioner (const LevenbergMarquardtParams &lmParams)
 Construct with LM parameters.
 GlobalPositioner ()=default
 Default constructor.
Values initializeRandomly (const std::set< Key > &cameraKeys, const std::set< Key > &landmarkKeys, const CameraPointDirections &cameraPointDirections, const Values &initialValues=Values()) const
 Initialize cameras, landmarks, and BATA scale variables.
Values run (const CameraPointDirections &cameraPointDirections, const std::set< Key > &cameraKeys, const std::set< Key > &landmarkKeys, Key anchorCameraKey, const Values &initialValues=Values()) const
 Build graph, fix gauge, initialize, and optimize.
Public Member Functions inherited from gtsam::LocationRecovery
 LocationRecovery (const LevenbergMarquardtParams &lmParams)
 Construct with LM parameters.
 LocationRecovery ()=default
 Default constructor.
NonlinearFactorGraph buildGraph (const DirectionEdges &edges, bool bilinear=true) const
 Build factor graph from direction measurements.
void addAnchorPrior (Key anchorKey, NonlinearFactorGraph *graph, const SharedNoiseModel &priorNoiseModel=noiseModel::Isotropic::Sigma(3, 0.01)) const
 Add a prior pinning one key to the origin.
Values initializeRandomly (const std::set< Key > &keys, size_t numEdges, bool bilinear, std::mt19937 *rng, const Values &initialValues=Values()) const
 Random initialization of Point3 keys and BATA scale variables.
Values initializeRandomly (const std::set< Key > &keys, size_t numEdges, bool bilinear, const Values &initialValues=Values()) const
 Version of initializeRandomly with a fixed seed.

Public Types

using CameraPointDirection = BinaryMeasurement<Unit3>
using CameraPointDirections = std::vector<CameraPointDirection>
Public Types inherited from gtsam::LocationRecovery
using DirectionEdges = std::vector<BinaryMeasurement<Unit3>>

Additional Inherited Members

Static Protected Member Functions inherited from gtsam::LocationRecovery
static SharedNoiseModel convertNoiseModel (const SharedNoiseModel &unit3NoiseModel)
 Convert Unit3 (2D manifold) noise to Point3 (3D ambient) noise.
Protected Attributes inherited from gtsam::LocationRecovery
LevenbergMarquardtParams lmParams_

Member Function Documentation

◆ initializeRandomly()

Values GlobalPositioner::initializeRandomly ( const std::set< Key > & cameraKeys,
const std::set< Key > & landmarkKeys,
const CameraPointDirections & cameraPointDirections,
const Values & initialValues = Values() ) const

Initialize cameras, landmarks, and BATA scale variables.

Unions cameraKeys and landmarkKeys, derives numEdges from measurements.

◆ run()

Values GlobalPositioner::run ( const CameraPointDirections & cameraPointDirections,
const std::set< Key > & cameraKeys,
const std::set< Key > & landmarkKeys,
Key anchorCameraKey,
const Values & initialValues = Values() ) const

Build graph, fix gauge, initialize, and optimize.

Enforces bipartite structure: anchorCameraKey must be in cameraKeys. For custom configurations, use LocationRecovery directly.

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