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static GaussianFactorGraph | buildLinearOrientationGraph (const NonlinearFactorGraph &g) |
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static Values | normalizeRelaxedRotations (const VectorValues &relaxedRot3) |
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static Values | computeOrientationsChordal (const NonlinearFactorGraph &pose3Graph) |
| | Return the orientations of a graph including only BetweenFactors<Pose3>.
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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>.
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static void | createSymbolicGraph (const NonlinearFactorGraph &pose3Graph, KeyVectorMap *adjEdgesMap, KeyRotMap *factorId2RotMap) |
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static Vector3 | gradientTron (const Rot3 &R1, const Rot3 &R2, const double a, const double b) |
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static NonlinearFactorGraph | buildPose3graph (const NonlinearFactorGraph &graph) |
| | Select the subgraph of betweenFactors and transforms priors into between wrt a fictitious node.
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| static Values | computePoses (const Values &initialRot, NonlinearFactorGraph *poseGraph, bool singleIter=true) |
| | Use Gauss-Newton optimizer to optimize for poses given rotation estimates.
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static Values | initializeOrientations (const NonlinearFactorGraph &graph) |
| | "extract" the Pose3 subgraph of the original graph, get orientations from relative orientation measurements using chordal method.
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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.
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static Values | initialize (const NonlinearFactorGraph &graph) |
| | Calls initialize above using Chordal method.
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1.16.1