Detailed Description

Different parameters for the SRBA methods

Definition at line 424 of file RbaEngine.h.

#include <RbaEngine.h>

Inheritance diagram for srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSRBAParameters:

Public Member Functions
virtual void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
virtual void	saveToConfigFile (mrpt::utils::CConfigFileBase &out, const std::string &section) const
Public Attributes
topo_dist_t	max_tree_depth
topo_dist_t	max_optimize_depth
bool	optimize_new_edges_alone
	(Default:true) Before running a whole "local area" optimization, try to optimize new edges one by one to have a better starting point.
bool	use_robust_kernel
bool	use_robust_kernel_stage1
double	kernel_param
size_t	max_iters
double	max_error_per_obs_to_stop
	default: 1e-9
double	max_rho
	default: 1.0
double	max_lambda
	default: 1e20
double	min_error_reduction_ratio_to_relinearize
	default 0.01
bool	numeric_jacobians
	(Default:false) Use a numeric approximation of the Jacobians (very slow!) instead of analytical ones.
void(*	feedback_user_iteration )(unsigned int iter, const double total_sq_err, const double mean_sqroot_error)
bool	compute_condition_number
	Compute and return to the user the Hessian condition number of k2k edges (default=false)
bool	compute_sparsity_stats
	Compute stats on the sparsity of the problem matrices (default=false)
double	max_rmse_show_red_warning
	Minimum RSME to show optimization error in red color (default=0.5)
TCovarianceRecoveryPolicy	cov_recovery
	Recover covariance? What method to use? (Default: crpLandmarksApprox)

Member Function Documentation

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS >

void srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSRBAParameters::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)		`[virtual]`

Definition at line 60 of file rba_problem_common.h.

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS >

void srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSRBAParameters::saveToConfigFile	(	mrpt::utils::CConfigFileBase &	out,
		const std::string &	section
	)		const `[virtual]`

Definition at line 79 of file rba_problem_common.h.

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

The maximum topological distance of keyframes to be optimized around the most recent keyframe.

Definition at line 437 of file RbaEngine.h.

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

Maximum depth for maintained spanning trees.

Definition at line 434 of file RbaEngine.h.

The documentation for this struct was generated from the following files: