An optimizer that uses Numeric Cost function for Bundle Adjustment. More...

#include <BundleAdjustmentCERESNumeric.h>

Inheritance diagram for isae::BundleAdjustmentCERESNumeric:

Collaboration diagram for isae::BundleAdjustmentCERESNumeric:

Public Member Functions
	BundleAdjustmentCERESNumeric ()=default

	~BundleAdjustmentCERESNumeric ()=default

Public Member Functions inherited from isae::AOptimizer
	AOptimizer ()

void	resetMarginalization ()

bool	landmarkOptimization (std::shared_ptr< Frame > &frame)
	Structure only Bundle Adjustment for a frame. More...

bool	singleFrameOptimization (std::shared_ptr< Frame > &moving_frame)
	Motion only Bundle Adjustment for a frame. More...

bool	singleFrameVIOptimization (std::shared_ptr< isae::Frame > &moving_frame)
	Visual-Inertial Motion only Bundle Adjustment for a frame. More...

bool	localMapBA (std::shared_ptr< isae::LocalMap > &local_map, const size_t fixed_frame_number=0)
	Bundle Adjustment for a local map. More...

bool	localMapVIOptimization (std::shared_ptr< isae::LocalMap > &local_map, const size_t fixed_frame_number=0)
	Visual-Inertial Bundle Adjustment for a local map. More...

double	VIInit (std::shared_ptr< isae::LocalMap > &local_map, Eigen::Matrix3d &R_w_i, bool optim_scale=false)
	Visual-Inertial Initialization for a local map. More...

virtual bool	landmarkOptimizationNoFov (std::shared_ptr< Frame > &f, std::shared_ptr< Frame > &fp, Eigen::Affine3d &T_cam0_cam0p, double info_scale)
	Structure only Bundle Adjustment for a frame with non overlapping fields of view sensors. More...

virtual bool	marginalize (std::shared_ptr< Frame > &frame0, std::shared_ptr< Frame > &frame1, bool enable_sparsif)
	Marginalization of a frame and its landmarks. More...

virtual Eigen::MatrixXd	marginalizeRelative (std::shared_ptr< Frame > &frame0, std::shared_ptr< Frame > &frame1)
	Marginalization of all the landmarks linked to two frame and computation of the information matrix of the relative pose. More...

Protected Member Functions
uint	addResidualsLocalMap (ceres::Problem &problem, ceres::LossFunction loss_function, ceres::ParameterBlockOrdering ordering, std::vector< std::shared_ptr< Frame >> &frame_vector, size_t fixed_frame_number, std::shared_ptr< isae::LocalMap > &local_map) override
	Add visual residuals to a CERES problem for a local map. More...

uint	addSingleFrameResiduals (ceres::Problem &problem, ceres::LossFunction *loss_function, std::shared_ptr< Frame > &frame, typed_vec_landmarks &cloud_to_optimize) override
	Add visual residuals to a CERES problem for a motion only BA. More...

uint	addLandmarkResiduals (ceres::Problem &problem, ceres::LossFunction *loss_function, typed_vec_landmarks &cloud_to_optimize) override
	Add visual residuals to a CERES problem for structure only BA. More...

Protected Member Functions inherited from isae::AOptimizer
virtual uint	addMarginalizationResiduals (ceres::Problem &problem, ceres::LossFunction loss_function, ceres::ParameterBlockOrdering ordering)
	Add marginalization residuals to a CERES problem. More...

uint	addIMUResiduals (ceres::Problem &problem, ceres::LossFunction loss_function, ceres::ParameterBlockOrdering ordering, std::vector< std::shared_ptr< Frame >> &frame_vector, size_t fixed_frame_number)
	Add IMU residuals to a CERES problem. More...

Additional Inherited Members
Protected Attributes inherited from isae::AOptimizer
std::unordered_map< std::shared_ptr< Frame >, PoseParametersBlock >	_map_frame_posepar
	map for pose parameters More...

std::unordered_map< std::shared_ptr< Frame >, PointXYZParametersBlock >	_map_frame_velpar
	map for velocity parameters More...

std::unordered_map< std::shared_ptr< Frame >, PointXYZParametersBlock >	_map_frame_dbapar
	map for accelerometer bias parameters More...

std::unordered_map< std::shared_ptr< Frame >, PointXYZParametersBlock >	_map_frame_dbgpar
	map for gyroscope bias parameters More...

std::unordered_map< std::shared_ptr< ALandmark >, PointXYZParametersBlock >	_map_lmk_ptpar
	map for landmark point parameters More...

std::unordered_map< std::shared_ptr< ALandmark >, PoseParametersBlock >	_map_lmk_posepar
	map for landmark pose parameters More...

bool	_enable_sparsif = false
	enable sparsification of the marginalization More...

std::shared_ptr< Marginalization >	_marginalization
	marginalization object More...

std::shared_ptr< Marginalization >	_marginalization_last
	marginalization object of the last optimization More...

Detailed Description

An optimizer that uses Numeric Cost function for Bundle Adjustment.

Constructor & Destructor Documentation

◆ BundleAdjustmentCERESNumeric()

isae::BundleAdjustmentCERESNumeric::BundleAdjustmentCERESNumeric ( )

default

◆ ~BundleAdjustmentCERESNumeric()

isae::BundleAdjustmentCERESNumeric::~BundleAdjustmentCERESNumeric ( )

default

Member Function Documentation

◆ addLandmarkResiduals()

uint isae::BundleAdjustmentCERESNumeric::addLandmarkResiduals	(	ceres::Problem &	problem,
		ceres::LossFunction *	loss_function,
		typed_vec_landmarks &	cloud_to_optimize
	)

overrideprotectedvirtual

Add visual residuals to a CERES problem for structure only BA.

Parameters

problem	The CERES problem to which the residuals will be added.
loss_function	The loss function to be used for the residuals.
cloud_to_optimize	The landmarks to be optimized.

Returns: The number of residuals added.

Implements isae::AOptimizer.

◆ addResidualsLocalMap()

uint isae::BundleAdjustmentCERESNumeric::addResidualsLocalMap	(	ceres::Problem &	problem,
		ceres::LossFunction *	loss_function,
		ceres::ParameterBlockOrdering *	ordering,
		std::vector< std::shared_ptr< Frame >> &	frame_vector,
		size_t	fixed_frame_number,
		std::shared_ptr< isae::LocalMap > &	local_map
	)

overrideprotectedvirtual

Add visual residuals to a CERES problem for a local map.

Parameters

problem	The CERES problem to which the residuals will be added.
loss_function	The loss function to be used for the residuals.
ordering	The parameter block ordering for the problem.
frame_vector	The vector of frames in the local map.
fixed_frame_number	The number of frames to fix during optimization.
local_map	The local map to which the residuals will be added.

Returns: The number of residuals added.

Implements isae::AOptimizer.

◆ addSingleFrameResiduals()

uint isae::BundleAdjustmentCERESNumeric::addSingleFrameResiduals	(	ceres::Problem &	problem,
		ceres::LossFunction *	loss_function,
		std::shared_ptr< Frame > &	frame,
		typed_vec_landmarks &	cloud_to_optimize
	)

overrideprotectedvirtual

Add visual residuals to a CERES problem for a motion only BA.

Parameters

problem	The CERES problem to which the residuals will be added.
loss_function	The loss function to be used for the residuals.
frame	The frame to which the residuals will be added.
cloud_to_optimize	The landmarks belonging to the frame.

Returns: The number of residuals added.

Implements isae::AOptimizer.

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

/home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/include/isaeslam/optimizers/BundleAdjustmentCERESNumeric.h
/home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/src/optimizers/BundleAdjustmentCERESNumeric.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BundleAdjustmentCERESNumeric()

◆ ~BundleAdjustmentCERESNumeric()

Member Function Documentation

◆ addLandmarkResiduals()

◆ addResidualsLocalMap()

◆ addSingleFrameResiduals()