Public Member Functions
	TranslationRecovery (const TranslationEdges &relativeTranslations, const LevenbergMarquardtParams &lmParams=LevenbergMarquardtParams())
	Construct a new Translation Recovery object. More...

NonlinearFactorGraph	buildGraph () const
	Build the factor graph to do the optimization. More...

void	addPrior (const double scale, NonlinearFactorGraph *graph, const SharedNoiseModel &priorNoiseModel=noiseModel::Isotropic::Sigma(3, 0.01)) const
	Add priors on ednpoints of first measurement edge. More...

Values	initalizeRandomly () const
	Create random initial translations. More...

Values	run (const double scale=1.0) const
	Build and optimize factor graph. More...

Static Public Member Functions
static TranslationEdges	SimulateMeasurements (const Values &poses, const std::vector< KeyPair > &edges)
	Simulate translation direction measurements. More...

Public Types
using	KeyPair = std::pair< Key, Key >

using	TranslationEdges = std::vector< BinaryMeasurement< Unit3 > >

Constructor & Destructor Documentation

◆ TranslationRecovery()

TranslationRecovery::TranslationRecovery	(	const TranslationEdges &	relativeTranslations,
		const LevenbergMarquardtParams &	lmParams = `LevenbergMarquardtParams()`
	)

Construct a new Translation Recovery object.

Parameters

relativeTranslations	the relative translations, in world coordinate frames, vector of BinaryMeasurements of Unit3, where each key of a measurement is a point in 3D.
lmParams	(optional) gtsam::LavenbergMarquardtParams that can be used to modify the parameters for the LM optimizer. By default, uses the default LM parameters.

void TranslationRecovery::addPrior	(	const double	scale,
		NonlinearFactorGraph *	graph,
		const SharedNoiseModel &	priorNoiseModel = `noiseModel::Isotropic::Sigma(3, 0.01)`
	)		const

Add priors on ednpoints of first measurement edge.

Parameters

scale	scale for first relative translation which fixes gauge.
graph	factor graph to which prior is added.
priorNoiseModel	the noise model to use with the prior.

NonlinearFactorGraph TranslationRecovery::buildGraph ( ) const

Build the factor graph to do the optimization.

Values TranslationRecovery::initalizeRandomly ( ) const

Create random initial translations.

Values TranslationRecovery::run ( const double scale = 1.0 ) const

Build and optimize factor graph.

Parameters

scale scale for first relative translation which fixes gauge.

TranslationRecovery::TranslationEdges TranslationRecovery::SimulateMeasurements	(	const Values &	poses,
		const std::vector< KeyPair > &	edges
	)

static

Simulate translation direction measurements.

Parameters

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 files: