Detailed Description

template<class kf2kf_pose_t, class landmark_t, class obs_t, class RBA_OPTIONS>
struct srba::TRBA_Problem_state< kf2kf_pose_t, landmark_t, obs_t, RBA_OPTIONS >

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

See also:: RbaEngine

Definition at line 549 of file srba_types.h.

#include <srba_types.h>

List of all members.

Classes
struct	TLinearSystem
struct	TSpanningTree
Public Types
typedef kf2kf_pose_t::pose_t	pose_t
typedef kf2kf_pose_traits < kf2kf_pose_t >::k2k_edge_t	k2k_edge_t
typedef kf2kf_pose_traits < kf2kf_pose_t > ::k2k_edge_vector_t	k2k_edge_vector_t
typedef kf2kf_pose_traits < kf2kf_pose_t > ::frameid2pose_map_t	frameid2pose_map_t
typedef kf2kf_pose_traits < kf2kf_pose_t >::pose_flag_t	pose_flag_t
typedef landmark_traits < landmark_t > ::TRelativeLandmarkPosMap	TRelativeLandmarkPosMap
typedef landmark_traits < landmark_t >::TLandmarkEntry	TLandmarkEntry
typedef hessian_traits < kf2kf_pose_t, landmark_t, obs_t >::landmarks2infmatrix_t	landmarks2infmatrix_t
typedef rba_joint_parameterization_traits_t < kf2kf_pose_t, landmark_t, obs_t >::keyframe_info	keyframe_info
typedef rba_joint_parameterization_traits_t < kf2kf_pose_t, landmark_t, obs_t >::k2f_edge_t	k2f_edge_t
typedef rba_joint_parameterization_traits_t < kf2kf_pose_t, landmark_t, obs_t >::new_kf_observations_t	new_kf_observations_t
typedef rba_joint_parameterization_traits_t < kf2kf_pose_t, landmark_t, obs_t >::new_kf_observation_t	new_kf_observation_t
typedef mrpt::aligned_containers < k2k_edge_t >::deque_t	k2k_edges_deque_t
typedef mrpt::aligned_containers < k2f_edge_t >::deque_t	all_observations_deque_t
typedef std::deque< keyframe_info >	keyframe_vector_t
	Index are "TKeyFrameID" IDs. There's no NEED to make this a deque<> for preservation of references, but is an efficiency improvement.
Public Member Functions
void	clear ()
	TRBA_Problem_state ()
bool	find_path_bfs (const TKeyFrameID from, const TKeyFrameID to, std::vector< TKeyFrameID > out_path_IDs, typename kf2kf_pose_traits< kf2kf_pose_t >::k2k_edge_vector_t out_path_edges=NULL) const
void	compute_all_node_degrees (double &out_mean_degree, double &out_std_degree, double &out_max_degree) const
bool	are_keyframes_connected (const TKeyFrameID id1, const TKeyFrameID id2) const
size_t	alloc_kf2kf_edge (const TPairKeyFrameID &ids, const pose_t &init_inv_pose_val=pose_t())
Public Attributes
Data
keyframe_vector_t	keyframes
	All key frames (global poses are not included in an RBA problem). Vector indices are "TKeyFrameID" IDs.
k2k_edges_deque_t	k2k_edges
	(unknowns) All keyframe-to-keyframe edges
TRelativeLandmarkPosMap	unknown_lms
	(unknown values) Landmarks with an unknown fixed 3D position relative to their base frame_id
landmarks2infmatrix_t	unknown_lms_inf_matrices
	Information matrices that model the uncertainty in each XYZ position for the unknown LMs - these matrices should be already scaled according to the camera noise in pixel standard deviations.
TRelativeLandmarkPosMap	known_lms
	(known values) Landmarks with a known, fixed 3D position relative to their base frame_id
mrpt::aligned_containers < TLandmarkEntry >::deque_t	all_lms
TSpanningTree	spanning_tree
all_observations_deque_t	all_observations
	All raw observation data (k2f edges)
TLinearSystem	lin_system
	The sparse linear system of equations.
std::deque< char >	all_observations_Jacob_validity
std::set< size_t >	last_timestep_touched_kfs

Constructor & Destructor Documentation

template<class kf2kf_pose_t, class landmark_t, class obs_t, class RBA_OPTIONS>

srba::TRBA_Problem_state< kf2kf_pose_t, landmark_t, obs_t, RBA_OPTIONS >::TRBA_Problem_state ( ) [inline]

Ctor

Definition at line 743 of file srba_types.h.

Member Function Documentation

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

size_t srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::alloc_kf2kf_edge	(	const TPairKeyFrameID &	ids,
		const pose_t &	init_inv_pose_val = `pose_t()`
	)

Creates a new kf2kf edge variable. Called from create_kf2kf_edge()

Parameters:

[in] init_inv_pose_val The initial value for the inverse pose stored in edge first->second, i.e. the pose of first wrt. second.

Returns:: The ID of the new kf2kf edge, which coincides with the 0-based index of the new entry in "rba_state.k2k_edges"

Note:: Runs in O(1)

Definition at line 17 of file alloc_kf2kf_edge.h.

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

bool srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::are_keyframes_connected	(	const TKeyFrameID	id1,
		const TKeyFrameID	id2
	)		const

Returns true if the pair of KFs are connected thru a kf2kf edge, no matter the direction of the edge. Runs in worst-case O(D) with D the degree of the KF graph (that is, the maximum number of edges adjacent to one KF)

Definition at line 123 of file rba_problem_common.h.

template<class kf2kf_pose_t, class landmark_t, class obs_t, class RBA_OPTIONS>

void srba::TRBA_Problem_state< kf2kf_pose_t, landmark_t, obs_t, RBA_OPTIONS >::clear ( void ) [inline]

Empties all members

Definition at line 729 of file srba_types.h.

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

void srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::compute_all_node_degrees	(	double &	out_mean_degree,
		double &	out_std_degree,
		double &	out_max_degree
	)		const

Computes stats on the degree (# of adjacent nodes) of all the nodes in the graph. Runs in O(N) with N=# of keyframes

Definition at line 98 of file rba_problem_common.h.

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

bool srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::find_path_bfs	(	const TKeyFrameID	from,
		const TKeyFrameID	to,
		std::vector< TKeyFrameID > *	out_path_IDs,
		typename kf2kf_pose_traits< KF2KF_POSE_TYPE >::k2k_edge_vector_t *	out_path_edges = `NULL`
	)		const

Auxiliary, brute force (BFS) method for finding the shortest path between any two Keyframes. Use only when the distance between nodes can be larger than the maximum depth of incrementally-built spanning trees

Parameters:

[in,out]	out_path_IDs	(Ignored if ==NULL) Just leave this vector uninitialized at input, it'll be automatically initialized to the right size and values.
[in,out]	out_path_edges	(Ignored if ==NULL) Just like out_path_IDs, but here you'll receive the list of traversed edges, instead of the IDs of the visited KFs.

Returns:: false if no path was found.

Definition at line 227 of file spantree_update_symbolic.h.

Member Data Documentation

template<class kf2kf_pose_t, class landmark_t, class obs_t, class RBA_OPTIONS>

mrpt::aligned_containers<TLandmarkEntry>::deque_t srba::TRBA_Problem_state< kf2kf_pose_t, landmark_t, obs_t, RBA_OPTIONS >::all_lms

Index (by feat ID) of ALL landmarks stored in unknown_lms and known_lms. Note that if gaps occur in the observed feature IDs, some pointers here will be NULL and some mem will be wasted, but in turn we have a O(1) search mechanism for all LMs.

Definition at line 711 of file srba_types.h.

template<class kf2kf_pose_t, class landmark_t, class obs_t, class RBA_OPTIONS>

std::deque<char> srba::TRBA_Problem_state< kf2kf_pose_t, landmark_t, obs_t, RBA_OPTIONS >::all_observations_Jacob_validity

Its size grows simultaneously to all_observations, its values are updated during optimization to reflect invalid conditions in some Jacobians so we can completely discard their information while building the Hessian.

Note:: Kept as deque so we can have references to this.

Definition at line 722 of file srba_types.h.

template<class kf2kf_pose_t, class landmark_t, class obs_t, class RBA_OPTIONS>

std::set<size_t> srba::TRBA_Problem_state< kf2kf_pose_t, landmark_t, obs_t, RBA_OPTIONS >::last_timestep_touched_kfs

List of KFs touched by new KF2KF edges in the previous timesteps. Used in determine_kf2kf_edges_to_create() to bootstrap initial relative poses.

Definition at line 725 of file srba_types.h.

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

Detailed Description

template<class kf2kf_pose_t, class landmark_t, class obs_t, class RBA_OPTIONS> struct srba::TRBA_Problem_state< kf2kf_pose_t, landmark_t, obs_t, RBA_OPTIONS >

Classes

Public Types

Public Member Functions

Public Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class kf2kf_pose_t, class landmark_t, class obs_t, class RBA_OPTIONS>
struct srba::TRBA_Problem_state< kf2kf_pose_t, landmark_t, obs_t, RBA_OPTIONS >