ExampleDemoGraphSLAM< my_graph_t > Struct Template Reference

Detailed Description

template<class my_graph_t>
struct ExampleDemoGraphSLAM< my_graph_t >

Definition at line 104 of file vision_stereo_rectify/test.cpp.

Public Member Functions
void	run (bool add_extra_tightening_edge)

Static Public Member Functions
template<class GRAPH_T >
static void	my_levmarq_feedback (const GRAPH_T &graph, const size_t iter, const size_t max_iter, const double cur_sq_error)

Member Function Documentation

my_levmarq_feedback()

template<class my_graph_t>

template<class GRAPH_T >

static void ExampleDemoGraphSLAM< my_graph_t >::my_levmarq_feedback ( const GRAPH_T &  graph, const size_t  iter, const size_t  max_iter, const double  cur_sq_error  )

inlinestatic

Definition at line 107 of file vision_stereo_rectify/test.cpp.

run()

template<class my_graph_t>

void ExampleDemoGraphSLAM< my_graph_t >::run ( bool  add_extra_tightening_edge )

inline

Initialize the PRNG from the given random seed. Method used to initially randomise the generator

First add all the nodes (so that, when I add edges, I can refer to them

Add some edges Also initialize the information matrix used for EACH constraint. For simplicity the same information matrix is used for each one of the edges. This information matrix is RELATIVE to each constraint/edge (not in global ref. frame) see also: https://groups.google.com/d/msg/mrpt-users/Sr9LSydArgY/wYFeU2BXr4kJ

add the edges using the node ids added to the graph before

Definition at line 120 of file vision_stereo_rectify/test.cpp.