Definition at line 50 of file treeoptimizer3.hh.
Public Types | |
| typedef std::vector< Pose > | PoseVector |
Public Member Functions | |
| TreeOptimizer3 () | |
| virtual | ~TreeOptimizer3 () |
| void | initializeTreeParameters () |
| void | initializeOptimization (EdgeCompareMode mode=EVComparator< Edge * >::CompareLevel) |
| void | initializeOnlineOptimization (EdgeCompareMode mode=EVComparator< Edge * >::CompareLevel) |
| void | initializeOnlineIterations () |
| void | iterate (TreePoseGraph3::EdgeSet *eset=0, bool noPreconditioner=false) |
| double | error (double *mre=0, double *mte=0, double *are=0, double *ate=0, TreePoseGraph3::EdgeSet *eset=0) const |
| double | angularError () const |
| double | translationalError () const |
| double | getRotGain () const |
| void | recomputeAllTransformations () |
Public Attributes | |
| bool | restartOnDivergence |
| int | iteration |
Protected Types | |
| typedef std::vector< PM_t > | PMVector |
Protected Member Functions | |
| Transformation | getPose (Vertex *v, Vertex *top) |
| Rotation | getRotation (Vertex *v, Vertex *top) |
| void | recomputeTransformations (Vertex *v, Vertex *top) |
| void | recomputeParameters (Vertex *v, Vertex *top) |
| void | computePreconditioner () |
| void | propagateErrorsPreconditioner () |
| void | propagateErrors () |
| double | error (const Edge *e) const |
| double | translationalError (const Edge *e) const |
| double | rotationalError (const Edge *e) const |
| double | traslationalError (const Edge *e) const |
| virtual void | onStepStart (Edge *e) |
| virtual void | onStepFinished (Edge *e) |
| virtual void | onIterationStart (int iteration) |
| virtual void | onIterationFinished (int iteration) |
| virtual bool | isDone () |
Protected Attributes | |
| double | gamma [2] |
| PMVector | M |
| int | mpl |
| std::vector< double > | maxRotationalErrors |
| std::vector< double > | maxTranslationalErrors |
| double | rotGain |
| double | trasGain |
Classes | |
| struct | PM_t |
| TreeOptimizer3::TreeOptimizer3 | ( | ) |
Constructor
Definition at line 76 of file treeoptimizer3.cpp.
| TreeOptimizer3::~TreeOptimizer3 | ( | ) | [virtual] |
Destructor
Definition at line 84 of file treeoptimizer3.cpp.
| void TreeOptimizer3::initializeTreeParameters | ( | ) |
Initialization function
Definition at line 87 of file treeoptimizer3.cpp.
| void TreeOptimizer3::initializeOptimization | ( | EdgeCompareMode | mode = EVComparator< Edge * >::CompareLevel |
) |
Initialization function
Definition at line 280 of file treeoptimizer3.cpp.
| void TreeOptimizer3::iterate | ( | TreePoseGraph3::EdgeSet * | eset = 0, |
|
| bool | noPreconditioner = false | |||
| ) |
Performs one iteration of the algorithm
Definition at line 98 of file treeoptimizer3.cpp.
| double TreeOptimizer3::error | ( | double * | mre = 0, |
|
| double * | mte = 0, |
|||
| double * | are = 0, |
|||
| double * | ate = 0, |
|||
| TreePoseGraph3::EdgeSet * | eset = 0 | |||
| ) | const |
Conmputes the gloabl error of the network
Definition at line 237 of file treeoptimizer3.cpp.
| double TreeOptimizer3::angularError | ( | ) | const |
Conmputes the gloabl error of the network
| double TreeOptimizer3::translationalError | ( | ) | const |
Conmputes the gloabl error of the network
| TreeOptimizer3::Transformation TreeOptimizer3::getPose | ( | Vertex * | v, | |
| Vertex * | top | |||
| ) | [protected] |
Recomputes only the pose of the node v wrt. to an arbitraty parent (top) of v in the tree
Definition at line 168 of file treeoptimizer3.cpp.
| TreeOptimizer3::Rotation TreeOptimizer3::getRotation | ( | Vertex * | v, | |
| Vertex * | top | |||
| ) | [protected] |
Recomputes only the pose of the node v wrt. to an arbitraty parent (top) of v in the tree
Definition at line 179 of file treeoptimizer3.cpp.
| double TreeOptimizer3::error | ( | const Edge * | e | ) | const [protected] |
Conmputes the error of the constraint/edge e
Definition at line 192 of file treeoptimizer3.cpp.
| double TreeOptimizer3::translationalError | ( | const Edge * | e | ) | const [protected] |
Conmputes the error of the constraint/edge e
| double TreeOptimizer3::rotationalError | ( | const Edge * | e | ) | const [protected] |
Conmputes the error of the constraint/edge e
Definition at line 223 of file treeoptimizer3.cpp.
Iteration counter
Definition at line 86 of file treeoptimizer3.hh.
double TreeOptimizer3::gamma[2] [protected] |
Used to compute the learning rate lambda
Definition at line 124 of file treeoptimizer3.hh.
1.5.0