MRPT  1.9.9
List of all members | Public Member Functions | Static Public Member Functions
ExampleDemoGraphSLAM< my_graph_t > Struct Template Reference

Detailed Description

template<class my_graph_t>
struct ExampleDemoGraphSLAM< my_graph_t >

Definition at line 103 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 106 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 119 of file vision_stereo_rectify/test.cpp.




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