PoseGraphOptimization Class Reference

#include <ImFusion/Vision/PoseGraphOptimization.h>

Pose graph optimization The first pose is the reference pose and will stay fixed, all other poses are free to change. More...

Inheritance diagram for PoseGraphOptimization:

Detailed Description

Pose graph optimization The first pose is the reference pose and will stay fixed, all other poses are free to change.

Classes
struct	Constraint
	Constraints between nodes, i.e. relative poses between them. More...

Public Member Functions
bool	addPose (const int &id, const mat4 &T, bool fixed=false)
	Add node with given pose. Returns false when node already existed. In this case the pose is not updated.
std::map< int, mat4 >	poses () const
	Return map of all poses (nodes) with their ids.
bool	addConstraint (const Constraint &constraint)
	Add constraint between nodes. Nodes must exist. Returns false when constraint was not added.
bool	addConstraint (const int &from, const int &to, const mat4 &T, const mat6 &information)
	Add constraint between nodes. Nodes must exist. Returns false when constraint was not added.
std::vector< Constraint >	constraints () const
	Get the set of constraints.
void	setMaximumIterations (int maxIter)
	Set maximum number of iterations to run the optimizer for.
int	maximumIterations () const
	Get the maximum number of iteration to run the optimizer for.
void	setGainThreshold (double gainThreshold)
	Set error improvement across iterations below which to abort the optimization.
double	gainThreshold () const
	Get error improvement across iterations below which to abort the optimization.
bool	isComplete ()
	Tests whether the pose graph is complete, i.e. there is only one connected component.
int	numConnectedComponents ()
	Gives the number of independed components of the added graph by applying Disjoint Set Union to search for the number of connected components.
std::vector< int >	connectedComponents ()
	Gives an index for each pose/node indicating to which component the pose/node belongs (Disjoint Set Union)
virtual bool	compute ()
	Run pose graph optimization.

Protected Member Functions
int	traceParents (int *parent, int x) const
	Traces back to the parent of a node in a graph; used by numConnectedComponents.
std::vector< int >	computeAllParents () const

Protected Attributes
int	m_maxIter = 400
	Number of iteration to run the optimizer for.
double	m_gainThreshold = 1e-2
	Multiplicative error improvement to abort optimization.
std::vector< mat4 >	m_poses
	Pose defined as transformation matrix relative to the global-frame.
std::vector< bool >	m_fixed
	Specifies whether pose should be optimized.
std::unordered_map< int, int >	m_origToConsecutivePoseIds
	Maps original id of a pose to its consecutive place in the computation sets (which we enforce to be consecutive from 0 to N)
std::vector< Constraint >	m_constraints
	Relative poses.

Member Function Documentation

compute()

virtual bool compute ( )

inlinevirtual

Run pose graph optimization.

Reimplemented in LeastSquaresPoseGraphSolution, and MotionAveragingPoseGraphSolution.

---

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

• ImFusion/Vision/PoseGraphOptimization.h