gtsam  4.1.0
gtsam
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)
 Return the orientations of a graph including only BetweenFactors<Pose3>
 
static Values computeOrientationsGradient (const NonlinearFactorGraph &pose3Graph, const Values &givenGuess, size_t maxIter=10000, const bool setRefFrame=true)
 Return the orientations of a graph including only BetweenFactors<Pose3>
 
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)
 Select the subgraph of betweenFactors and transforms priors into between wrt a fictitious node.
 
static Values computePoses (const Values &initialRot, NonlinearFactorGraph *poseGraph, bool singleIter=true)
 Use Gauss-Newton optimizer to optimize for poses given rotation estimates. More...
 
static Values initializeOrientations (const NonlinearFactorGraph &graph)
 "extract" the Pose3 subgraph of the original graph, get orientations from relative orientation measurements using chordal method.
 
static Values initialize (const NonlinearFactorGraph &graph, const Values &givenGuess, bool useGradient=false)
 "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.
 
static Values initialize (const NonlinearFactorGraph &graph)
 Calls initialize above using Chordal method.
 

Member Function Documentation

◆ computePoses()

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

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

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