mrpt::srba Namespace Reference

Detailed Description

An heavily template-based implementation of Relative Bundle Adjustment (RBA) - See [mrpt-srba].

Namespaces
	internal
	kf2kf_poses
	landmarks
	observations
	options

Classes
struct	compute_jacobian_dAepsDx_deps
	Auxiliary sub-jacobian used in compute_jacobian_dh_dp() (it's a static method within specializations of this struct) More...
struct	compute_jacobian_dAepsDx_deps< jacob_point_landmark, 2, 3, RBA_ENGINE_T >
struct	compute_jacobian_dAepsDx_deps< jacob_point_landmark, 3, 3, RBA_ENGINE_T >
struct	compute_jacobian_dAepsDx_deps< jacob_point_landmark, 3, 6, RBA_ENGINE_T >
struct	compute_jacobian_dAepsDx_deps< jacob_relpose_landmark, 3, 3, RBA_ENGINE_T >
struct	compute_jacobian_dAepsDx_deps< jacob_relpose_landmark, 6, 6, RBA_ENGINE_T >
struct	compute_jacobian_dAepsDx_deps_SE2
	Case: 2D or 3D points, SE(2) poses Both cases are grouped because a SE(2) pose doesn't transform the "z" of 3D points, so both sets of Jacobians are almost identical. More...
struct	hessian_traits
	Types for the Hessian blocks: More...
struct	jacobian_traits
	Types for the Jacobians: More...
struct	kf2kf_pose_traits
	The argument "POSE_TRAITS" can be any of those defined in srba/models/kf2kf_poses.h (typically, either kf2kf_poses::SE3 or kf2kf_poses::SE2). More...
struct	landmark_rendering_as_point
	Render 2D/3D point landmarks. More...
struct	landmark_rendering_as_pose_constraints
	Render "fake graph-slam-like landmarks" as keyframe-to-keyframe constraints. More...
struct	landmark_rendering_none
	Not to be rendered. More...
struct	landmark_traits
	The argument "LM_TRAITS" can be any of those defined in srba/models/landmarks.h (typically, either landmarks::Euclidean3D or landmarks::Euclidean2D). More...
struct	LandmarkRendererBase
struct	LandmarkRendererBase< landmark_rendering_as_point >
	Landmark renderer for: landmark_rendering_as_point. More...
struct	LandmarkRendererBase< landmark_rendering_as_pose_constraints >
	Landmark renderer for: landmark_rendering_as_pose_constraints. More...
struct	LandmarkRendererBase< landmark_rendering_none >
	Landmark renderer for: landmark_rendering_none. More...
struct	observation_traits
struct	rba_joint_parameterization_traits_t
	Useful data structures that depend of a combination of "OBSERVATION_TYPE"+"LANDMARK_PARAMETERIZATION_TYPE"+"RELATIVE_POSE_PARAMETERIZATION". More...
struct	RBA_OPTIONS_DEFAULT
	The set of default settings for RbaEngine. More...
class	RbaEngine
	The main class for the mrpt-srba: it defines a Relative Bundle-Adjustment (RBA) problem with (optionally, partially known) landmarks, the methods to update it with new observations and to optimize the relative poses with least squares optimizers. More...
class	SchurComplement
	A generic symbolic and numeric Schur-complement handler for builing reduced systems of equations. More...
struct	sensor_model
	Generic declaration, of which specializations are defined for each combination of LM+OBS type. More...
struct	sensor_model< landmarks::Euclidean2D, observations::Cartesian_2D >
	Sensor model: 2D landmarks in Euclidean coordinates + Cartesian 2D observations. More...
struct	sensor_model< landmarks::Euclidean2D, observations::RangeBearing_2D >
	Sensor model: 2D landmarks in Euclidean coordinates + 2D Range-Bearing observations. More...
struct	sensor_model< landmarks::Euclidean3D, observations::Cartesian_3D >
	Sensor model: 3D landmarks in Euclidean coordinates + Cartesian 3D observations. More...
struct	sensor_model< landmarks::Euclidean3D, observations::MonocularCamera >
	Sensor model: 3D landmarks in Euclidean coordinates + Monocular camera observations (no distortion) More...
struct	sensor_model< landmarks::Euclidean3D, observations::RangeBearing_3D >
	Sensor model: 3D landmarks in Euclidean coordinates + 3D Range-Bearing observations. More...
struct	sensor_model< landmarks::Euclidean3D, observations::StereoCamera >
	Sensor model: 3D landmarks in Euclidean coordinates + Stereo camera observations (no distortion) More...
struct	sensor_model< landmarks::RelativePoses2D, observations::RelativePoses_2D >
	Sensor model: 2D relative poses landmarks and observations (relative 2D-graph SLAM) More...
struct	sensor_model< landmarks::RelativePoses3D, observations::RelativePoses_3D >
	Sensor model: 3D relative poses landmarks and observations (relative 3D-graph SLAM) More...
struct	TBFSEntry
struct	THessianSymbolicInfo
	Symbolic information of each Hessian block. More...
struct	TJacobianSymbolicInfo_dh_dAp
	Symbolic information of each Jacobian dh_dAp. More...
struct	TJacobianSymbolicInfo_dh_df
	Symbolic information of each Jacobian dh_df. More...
struct	TNewEdgeInfo
	Used in TNewKeyFrameInfo. More...
struct	TRBA_Problem_state
	All the important data of a RBA problem at any given instant of time Operations on this structure are performed via the public API of srba::RbaEngine. More...
struct	TSpanTreeEntry
	Used in TRBA_Problem_state. More...

Typedefs
typedef uint64_t	TKeyFrameID
	Numeric IDs for key-frames (KFs) More...
typedef uint64_t	TLandmarkID
	Numeric IDs for landmarks. More...
typedef uint64_t	topo_dist_t
	Unsigned integral type for topological distances in a graph/tree. More...
typedef std::pair< TKeyFrameID, TKeyFrameID >	TPairKeyFrameID
	Used to represent the IDs of a directed edge (first –> second) More...

Enumerations
enum	landmark_jacob_family_t { jacob_point_landmark, jacob_relpose_landmark }
	Specify the kind of Jacobian to be used for compute_jacobian_dAepsDx_deps<> More...
enum	TEdgeCreationPolicy { ecpICRA2013 = 0, ecpLinearGraph, ecpStarGraph }
	For usage in RbaEngine.parameters. More...
enum	TCovarianceRecoveryPolicy { crpNone = 0, crpLandmarksApprox }
	Covariances recovery from Hessian matrix policy, for usage in RbaEngine.parameters. More...

Functions
template<typename PAIR , typename V >
V	getTheOtherFromPair (const V one, const PAIR &p)
	Aux function for getting, from a std::pair, "the other" element which is different to a known given one. More...
template<typename K2K_EDGE , typename V >
V	getTheOtherFromPair2 (const V one, const K2K_EDGE &p)
	For usage with K2K_EDGE = typename kf2kf_pose_traits<POSE_TRAITS>::k2k_edge_t. More...

Typedef Documentation

typedef uint64_t mrpt::srba::TKeyFrameID

Numeric IDs for key-frames (KFs)

Definition at line 31 of file srba_types.h.

typedef uint64_t mrpt::srba::TLandmarkID

Numeric IDs for landmarks.

Definition at line 32 of file srba_types.h.

typedef uint64_t mrpt::srba::topo_dist_t

Unsigned integral type for topological distances in a graph/tree.

Definition at line 33 of file srba_types.h.

typedef std::pair<TKeyFrameID,TKeyFrameID> mrpt::srba::TPairKeyFrameID

Used to represent the IDs of a directed edge (first –> second)

Definition at line 34 of file srba_types.h.

Enumeration Type Documentation

enum mrpt::srba::landmark_jacob_family_t

Specify the kind of Jacobian to be used for compute_jacobian_dAepsDx_deps<>

Enumerator
jacob_point_landmark	Landmarks are points.
jacob_relpose_landmark	"fake landmarks" used for relative pose observations

Definition at line 16 of file landmark_jacob_families.h.

enum mrpt::srba::TCovarianceRecoveryPolicy

Covariances recovery from Hessian matrix policy, for usage in RbaEngine.parameters.

Note

Implements mrpt::utils::TEnumType

Enumerator
crpNone	Don't recover any covariance information.
crpLandmarksApprox	Approximate covariances of landmarks as the inverse of the hessian diagonal blocks.

Definition at line 176 of file srba_types.h.

enum mrpt::srba::TEdgeCreationPolicy

For usage in RbaEngine.parameters.

Note

Implements mrpt::utils::TEnumType

Enumerator
ecpICRA2013	The sub-map method introduced in the ICRA2013 paper.
ecpLinearGraph	Each keyframe is only connected to its predecessor (no loop closures)
ecpStarGraph	All keyframes are connected to the first one (it can be used to emulate global coordinates)

Definition at line 164 of file srba_types.h.

Function Documentation

template<typename PAIR , typename V >

V mrpt::srba::getTheOtherFromPair	(	const V	one,
		const PAIR &	p
	)

Aux function for getting, from a std::pair, "the other" element which is different to a known given one.

Definition at line 185 of file srba_types.h.

Referenced by mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::update_symbolic_new_node().

template<typename K2K_EDGE , typename V >

V mrpt::srba::getTheOtherFromPair2	(	const V	one,
		const K2K_EDGE &	p
	)

For usage with K2K_EDGE = typename kf2kf_pose_traits<POSE_TRAITS>::k2k_edge_t.

Definition at line 191 of file srba_types.h.

Referenced by mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::are_keyframes_connected(), mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::bfs_visitor(), mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::create_complete_spanning_tree(), and mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::find_path_bfs().