PoseGraphOptimizationAlgorithm Class Reference

#include <ImFusion/Vision/PoseGraphOptimizationAlgorithm.h>

Pose graph optimization using motion-averaging or graph-based least squares solver. More...

Inheritance diagram for PoseGraphOptimizationAlgorithm:

Detailed Description

Pose graph optimization using motion-averaging or graph-based least squares solver.

The pose graph can be directly loaded via the controller or it is constructed on the fly from the input point clouds using ICP.

Public Types
enum	Mode { MotionAveraging = 0 , LeastSquares }
	Pose graph optimization solver. More...
Public Types inherited from Algorithm
enum	Status {   Unknown = -1 , Success = 0 , Error = 1 , InvalidInput ,   IncompleteInput , OutOfMemoryHost , OutOfMemoryGPU , UnsupportedGPU ,   UnknownAction , AbortedByUser , User = 1000 }
	Status codes. More...

Public Member Functions
	PoseGraphOptimizationAlgorithm (const std::vector< PointCloud * > &pcs)
	Construct pose graph optimization from input point clouds with their normals computed.
void	compute () override
	Runs pose graph optimization on the poses.
OwningDataList	takeOutput () override
	Returns the pose update map if the corresponding flag is set.
void	configure (const Properties *p) override
	Configure this object instance by de-serializing the given Properties.
void	configuration (Properties *p) const override
	Serialize the current object configuration into the given Properties object.
void	setPointClouds (const std::vector< PointCloud * > &pcs)
	Set the points clouds to run the pose graph optimization.
void	setMode (Mode mode)
	Set pose graph optimization solver.
Mode	mode () const
	Return pose graph optimization solver.
void	setIterations (int iter)
	Set number of full cycles of ICP based alignments and optimizations.
int	iterations () const
	Return number of full cycles of ICP based alignments and optimizations.
const SharedImageSet *	poseUpdateMap () const
	Returns the pose-update map.
void	setExportPoseUpdateMap (double exportPoseUpdateMap)
	Set whether to export pose-update map.
bool	exportPoseUpdateMap () const
	Return whether to export pose-update map.
void	setRecomputeOverlap (bool v)
	Set whether to recompute overlap every iteration, otherwise it is only computed once.
bool	recomputeOverlap () const
	Return whether to recompute overlap every iteration, otherwise it is only computed once.
void	setComputeBidirectionalRelativeMotion (bool v)
	Set whether to compute constraints (relative pose) bi-directionally for constraint (relative pose) calculation in ICP.
bool	computeBidirectionalRelativeMotion () const
	Return whether to compute constraints (relative pose) bi-directionally for constraint (relative pose) calculation in ICP.
void	setICPIterations (int iter)
	Set number of iterations in ICP.
int	ICPIterations () const
	Return number of iterations in ICP.
void	setMaxMatchDist (double maxMatchDist)
	Set max matching distance for relative constraint (pose calculation) in ICP.
double	maxMatchDist () const
	Return max matching distance for relative constraint (pose calculation) in ICP.
void	setMaxMatchAngle (double maxMatchAngle)
	Set max matching angle for constraint (relative pose) calculation in ICP.
double	maxMatchAngle () const
	Return max matching angle for constraint (relative pose) calculation in ICP.
void	setMinOverlap (double v)
	Set min overlap between pointclouds for constraint (relative pose) calculation in ICP.
double	minOverlap () const
	Return min overlap between pointclouds for constraint (relative pose) calculation in ICP.
void	setICPMatchingStrategy (ICP::MatchingStrategy v)
	Set min overlap between pointclouds for constraint (relative pose) calculation in ICP.
ICP::MatchingStrategy	ICPMatchingStrategy () const
	Return min overlap between pointclouds for constraint (relative pose) calculation in ICP.
void	setRobustKernel (LeastSquaresPoseGraphSolution::RobustKernel robustKernel)
	Set robustness kernel for the graph-based solution.
LeastSquaresPoseGraphSolution::RobustKernel	robustKernel () const
	Return robustness kernel for the graph-based solution.
void	setRobustKernelDelta (double robustKernelDelta)
	Set window size of the error, a squared error above delta^2 is considered as outlier in the data.
double	robustKernelDelta () const
	Return window size of the error, a squared error above delta^2 is considered as outlier in the data.
void	setApplySpanningTreeInitialization (bool applySpanningTreeInitialization)
	Set whether to apply spanning tree initialization for the least squares pose-graph optimization solution.
bool	applySpanningTreeInitialization () const
	Return whether to apply spanning tree initialization for the least squares pose-graph optimization solution.
void	setPoseGraphOptimizerIterations (int maxIter)
	Set maximum number of iterations for pose graph optimizer.
int	poseGraphOptimizerIterations () const
	Return maximum number of iterations for pose graph optimizer.
void	setGainThreshold (double gainThreshold)
	Set multiplicative delta for aborting optimization for pose-graph optimization.
double	gainThreshold () const
	Return multiplicative delta for aborting optimization for pose-graph optimization.
void	setPoses (std::map< int, mat4 > value)
	Set poses (nodes) explicitly.
std::map< int, mat4 >	poses () const
	Return the poses.
void	setConstraints (std::vector< PoseGraphOptimization::Constraint > value)
	Set constraints (edges) explicitly.
std::vector< PoseGraphOptimization::Constraint >	constraints () const
	Return the constraints.
Public Member Functions inherited from Algorithm
	Algorithm ()
	Default constructor will registers a single "compute" action that calls compute() and returns status().
virtual void	setProgress (Progress *progress)
	Sets a Progress interface the algorithm can use to notify observers about its computing progress.
Progress *	progress () const
	Returns the progress interface if set.
virtual int	status () const
	Indicates the status of the last call to compute().
virtual bool	survivesDataDeletion (const Data *) const
	Indicates whether the algorithm can handle (partial) deletion of the specified data, by default this checks whether the data is in the input list.
const FactoryInfo &	factoryInfo () const
	Returns the record describing how this Algorithm was instantiated by the AlgorithmFactory.
void	setFactoryInfo (const FactoryInfo &value)
	Sets the record describing how this Algorithm was instantiated by the AlgorithmFactory.
Status	runAction (const std::string &id)
	Run the action with name id if it exists.
const std::vector< Action > &	actions ()
	Get a mapping from Action id to Action as registered in this algorithm.
Public Member Functions inherited from Configurable
virtual void	configureDefaults ()
	Retrieve the properties of this object, replaces values with their defaults and sets it again.
void	registerParameter (ParameterBase *param)
	Register the given Parameter or SubProperty, so that it will be configured during configure()/configuration().
void	unregisterParameter (const ParameterBase *param)
	Remove the given Parameter or SubProperty from the list of registered parameters.
	Configurable (const Configurable &rhs)
	Configurable (Configurable &&rhs) noexcept
Configurable &	operator= (const Configurable &)
Configurable &	operator= (Configurable &&) noexcept

Static Public Member Functions
static bool	createCompatible (const DataList &data, Algorithm **a=nullptr)
Static Public Member Functions inherited from Algorithm
static bool	createCompatible (const DataList &data, Algorithm **a=nullptr)
	Factory function to check algorithm compatibility with input data and optionally instantiate it.

Additional Inherited Members
Public Attributes inherited from Algorithm
Signal	signalOutputChanged
	Signal should be emitted by Algorithms when their output/result has changed.
Signal	signalParametersChanged
	Signal should be emitted by Algorithms when their parameter configuration has changed.
Public Attributes inherited from Configurable
Signal	signalParametersChanged
	Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted.
Protected Member Functions inherited from Algorithm
void	loadDefaults ()
void	registerAction (const std::string &id, const std::string &guiName, const std::function< Algorithm::Status(void)> &action)
	Register an action to be run via runAction.
template<typename D>
void	registerAction (const std::string &id, const std::string &guiName, Algorithm::Status(D::*action)(void))
	Template version of runAction that can be used with a pointer to a member function.
void	registerAction (const Action &action)
	Register an action.
Protected Attributes inherited from Algorithm
std::string	m_name
	Algorithm name.
Progress *	m_progress = nullptr
	Non-owing pointer to a progress interface. May be a nullptr.
FactoryInfo	m_factoryInfo = {}
	Record describing how this algorithm was instantiated by the AlgorithmFactory.
int	m_status = Status::Unknown
	Algorithm status after last call to compute()
std::vector< Action >	m_actions
	Map of key given by the id of the action, of the available actions of this algorithm.
Protected Attributes inherited from Configurable
std::vector< Param >	m_params
	List of all registered Parameter and SubProperty instances.

Member Enumeration Documentation

Mode

enum Mode

Pose graph optimization solver.

Enumerator
MotionAveraging	Use motion averaging solver for pose graph optimization.
LeastSquares	Use least squares solver for pose graph optimization.

Member Function Documentation

compute()

void compute ( )

overridevirtual

Runs pose graph optimization on the poses.

The constraints are gathered via ICP based alignment if point clouds are set, otherwise, it is expected to have the constraints set explicitly. After the optimization is done, new poses are set inside the point clouds if they are available.

Implements Algorithm.

takeOutput()

OwningDataList takeOutput ( )

overridevirtual

Returns the pose update map if the corresponding flag is set.

Reimplemented from Algorithm.

configure()

void configure ( const Properties * p )

overridevirtual

Configure this object instance by de-serializing the given Properties.

The default implementation will do so automatically for all registered Parameter and SubProperty instances.

See also

configuration() for the inverse functionality

Reimplemented from Configurable.

configuration()

void configuration ( Properties * p ) const

overridevirtual

Serialize the current object configuration into the given Properties object.

The default implementation will do so automatically for all registered Parameter and SubProperty instances.

See also

configure() for the inverse functionality

Reimplemented from Configurable.

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

• ImFusion/Vision/PoseGraphOptimizationAlgorithm.h