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<div class="title">[mrpt-graphslam]</div> </div>
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<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<p><small> <a href="index.html#libs">Back to list of all libraries</a> | <a href="modules.html">See all modules</a> </small> <br/>
</p>
<h2>Library <code>mrpt-graphslam</code></h2>
<hr/>
<p>Graph-SLAM: See the namespace <a class="el" href="namespacemrpt_1_1graphslam.html" title="SLAM methods related to graphs of pose constraints.">mrpt::graphslam</a> </p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1graphslam_1_1graphslam__traits.html">mrpt::graphslam::graphslam_traits</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Auxiliary traits template for use among graph-slam problems to make life easier with these complicated, long data type names. <a href="structmrpt_1_1graphslam_1_1graphslam__traits.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1graphslam_1_1_t_result_info_spa_lev_marq.html">mrpt::graphslam::TResultInfoSpaLevMarq</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Output information for <a class="el" href="group__mrpt__graphslam__grp.html#ga022f4a70be5ec7c432f46374e4bb9d66" title="Optimize a graph of pose constraints using the Sparse Pose Adjustment (SPA) sparse representation and...">mrpt::graphslam::optimize_graph_spa_levmarq()</a> <a href="structmrpt_1_1graphslam_1_1_t_result_info_spa_lev_marq.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="namespaces"></a>
Namespaces</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1graphslam.html">mrpt::graphslam</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>SLAM methods related to graphs of pose constraints. </p>
<br/></td></tr>
<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class GRAPH_T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__mrpt__graphslam__grp.html#ga022f4a70be5ec7c432f46374e4bb9d66">mrpt::graphslam::optimize_graph_spa_levmarq</a> (GRAPH_T &graph, <a class="el" href="structmrpt_1_1graphslam_1_1_t_result_info_spa_lev_marq.html">TResultInfoSpaLevMarq</a> &out_info, const <a class="el" href="classstd_1_1set.html">std::set</a>< <a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">mrpt::utils::TNodeID</a> > *in_nodes_to_optimize=NULL, const <a class="el" href="namespacemrpt_1_1utils.html#a694777f2a3544999baea34e43a42eceb">mrpt::utils::TParametersDouble</a> &extra_params=<a class="el" href="namespacemrpt_1_1utils.html#a694777f2a3544999baea34e43a42eceb">mrpt::utils::TParametersDouble</a>(), typename <a class="el" href="structmrpt_1_1graphslam_1_1graphslam__traits.html">graphslam_traits</a>< GRAPH_T >::TFunctorFeedback functor_feedback=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Optimize a graph of pose constraints using the Sparse Pose Adjustment (SPA) sparse representation and a Levenberg-Marquartd optimizer. <a href="#ga022f4a70be5ec7c432f46374e4bb9d66"></a><br/></td></tr>
</table>
<hr/><h2>Function Documentation</h2>
<a class="anchor" id="ga022f4a70be5ec7c432f46374e4bb9d66"></a><!-- doxytag: member="mrpt::graphslam::optimize_graph_spa_levmarq" ref="ga022f4a70be5ec7c432f46374e4bb9d66" args="(GRAPH_T &graph, TResultInfoSpaLevMarq &out_info, const std::set< mrpt::utils::TNodeID > *in_nodes_to_optimize=NULL, const mrpt::utils::TParametersDouble &extra_params=mrpt::utils::TParametersDouble(), typename graphslam_traits< GRAPH_T >::TFunctorFeedback functor_feedback=NULL)" -->
<div class="memitem">
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<div class="memtemplate">
template<class GRAPH_T > </div>
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<td class="memname">void mrpt::graphslam::optimize_graph_spa_levmarq </td>
<td>(</td>
<td class="paramtype">GRAPH_T & </td>
<td class="paramname"><em>graph</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1graphslam_1_1_t_result_info_spa_lev_marq.html">TResultInfoSpaLevMarq</a> & </td>
<td class="paramname"><em>out_info</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classstd_1_1set.html">std::set</a>< <a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">mrpt::utils::TNodeID</a> > * </td>
<td class="paramname"><em>in_nodes_to_optimize</em> = <code>NULL</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="namespacemrpt_1_1utils.html#a694777f2a3544999baea34e43a42eceb">mrpt::utils::TParametersDouble</a> & </td>
<td class="paramname"><em>extra_params</em> = <code><a class="el" href="namespacemrpt_1_1utils.html#a694777f2a3544999baea34e43a42eceb">mrpt::utils::TParametersDouble</a>()</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">typename <a class="el" href="structmrpt_1_1graphslam_1_1graphslam__traits.html">graphslam_traits</a>< GRAPH_T >::TFunctorFeedback </td>
<td class="paramname"><em>functor_feedback</em> = <code>NULL</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
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<div class="memdoc">
<p>Optimize a graph of pose constraints using the Sparse Pose Adjustment (SPA) sparse representation and a Levenberg-Marquartd optimizer. </p>
<p>This method works for all types of graphs derived from <em>CNetworkOfPoses</em> (see its reference <a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses.html" title="A directed graph of pose constraints, with edges being the relative pose between pairs of nodes inden...">mrpt::graphs::CNetworkOfPoses</a> for the list). The input data are all the pose constraints in <em>graph</em> (graph.edges), and the gross first estimations of the "global" pose coordinates (in graph.nodes).</p>
<p>Note that these first coordinates can be obtained with <a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses.html#a5050d30406681b2bc2dd62830d5bc85b" title="Spanning tree computation of a simple estimation of the global coordinates of each node just from the...">mrpt::graphs::CNetworkOfPoses::dijkstra_nodes_estimate()</a>.</p>
<p>The method implemented in this file is based on this work:</p>
<ul>
<li>"Efficient Sparse Pose Adjustment for 2D Mapping", Kurt Konolige et al., 2010. , but generalized for not only 2D but 2D and 3D poses, and using on-manifold optimization.</li>
</ul>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramdir">[in,out]</td><td class="paramname">graph</td><td>The input edges and output poses. </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">out_info</td><td>Some basic output information on the process. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">nodes_to_optimize</td><td>The list of nodes whose global poses are to be optimized. If NULL (default), all the node IDs are optimized (but that marked as <em>root</em> in the graph). </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">extra_params</td><td>Optional parameters, see below. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">functor_feedback</td><td>Optional: a pointer to a user function can be set here to be called on each LM loop iteration (eg to refresh the current state and error, refresh a GUI, etc.)</td></tr>
</table>
</dd>
</dl>
<p>List of optional parameters by name in "extra_params":</p>
<ul>
<li>"verbose": (default=0) If !=0, produce verbose ouput.</li>
<li>"max_iterations": (default=100) Maximum number of Lev-Marq. iterations.</li>
<li>"scale_hessian": (default=0.1) Multiplies the Hessian matrix by this scalar (may improve convergence speed).</li>
<li>"initial_lambda": (default=0) <=0 means auto guess, otherwise, initial lambda value for the lev-marq algorithm.</li>
<li>"tau": (default=1e-3) Initial tau value for the lev-marq algorithm.</li>
<li>"e1": (default=1e-6) Lev-marq algorithm iteration stopping criterion #1: |gradient| < e1</li>
<li>"e2": (default=1e-6) Lev-marq algorithm iteration stopping criterion #2: |delta_incr| < e2*(x_norm+e2)</li>
</ul>
<dl class="note"><dt><b>Note:</b></dt><dd>The following graph types are supported: <a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses2_d.html" title="The specialization of CNetworkOfPoses for poses of type CPose2D (not a PDF!), also implementing seria...">mrpt::graphs::CNetworkOfPoses2D</a>, <a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses3_d.html" title="The specialization of CNetworkOfPoses for poses of type CPose3D (not a PDF!), also implementing seria...">mrpt::graphs::CNetworkOfPoses3D</a>, <a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses2_d_inf.html" title="The specialization of CNetworkOfPoses for poses of type CPosePDFGaussianInf, also implementing serial...">mrpt::graphs::CNetworkOfPoses2DInf</a>, <a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses3_d_inf.html" title="The specialization of CNetworkOfPoses for poses of type CPose3DPDFGaussianInf, also implementing seri...">mrpt::graphs::CNetworkOfPoses3DInf</a></dd></dl>
<dl><dt><b>Template Parameters:</b></dt><dd>
<table class="">
<tr><td class="paramname">GRAPH_T</td><td>Normally a mrpt::graphs::CNetworkOfPoses<EDGE_TYPE,MAPS_IMPLEMENTATION>. Users won't have to write this template argument by hand, since the compiler will auto-fit it depending on the type of the graph object. </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd>The example "graph_slam_demo"</dd></dl>
<dl class="note"><dt><b>Note:</b></dt><dd>Implementation can be found in file <em><a class="el" href="levmarq__impl_8h.html">levmarq_impl.h</a></em> </dd></dl>
<p>Definition at line <a class="el" href="levmarq_8h_source.html#l00073">73</a> of file <a class="el" href="levmarq_8h_source.html">levmarq.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00370">MRPT_START</a>, <a class="el" href="_c_time_logger_8h_source.html#l00080">mrpt::utils::CTimeLogger::enter()</a>, <a class="el" href="_c_time_logger_8h_source.html#l00085">mrpt::utils::CTimeLogger::leave()</a>, <a class="el" href="mrpt__macros_8h_source.html#l00288">ASSERT_ABOVE_</a>, <a class="el" href="levmarq_8h.html#a1c3b443696ddb6ac515b86e5c188d851">VERBOSE_PREFIX</a>, <a class="el" href="mrpt__macros_8h_source.html#l00305">ASSERTDEBMSG_</a>, <a class="el" href="mrpt__macros_8h_source.html#l00304">ASSERTDEB_</a>, <a class="el" href="stl__extensions_8h_source.html#l00196">mrpt::utils::find_in_vector()</a>, <a class="el" href="mrpt__macros_8h_source.html#l00285">ASSERT_EQUAL_</a>, <a class="el" href="group__mrpt__system__os.html#gae1184cfb1f617787dc4c9da98becbe3a">mrpt::system::os::memcpy()</a>, <a class="el" href="eigen__plugins_8h_source.html#l00271">norm_inf()</a>, <a class="el" href="math__frwds_8h_source.html#l00102">mrpt::math::UNINITIALIZED_MATRIX</a>, <a class="el" href="eigen__plugins_8h_source.html#l00046">begin()</a>, <a class="el" href="bits_8h_source.html#l00194">mrpt::utils::keep_max()</a>, <a class="el" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#abc4058c15d5a02f8d56853de8cbab18b">mrpt::math::CSparseMatrix::insert_entry_fast()</a>, <a class="el" href="_c_sparse_matrix_8h_source.html#l00272">mrpt::math::CSparseMatrix::insert_submatrix()</a>, <a class="el" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#a0ff96fdc90f43ad4bc9c2b4876e42089">mrpt::math::CSparseMatrix::compressFromTriplet()</a>, <a class="el" href="ops__containers_8h_source.html#l00115">mrpt::math::norm()</a>, <a class="el" href="bits_8h_source.html#l00161">mrpt::utils::square()</a>, <a class="el" href="namespacemrpt.html#a3a27af794b658df5491e2b7678f8ccb8">mrpt::format()</a>, <a class="el" href="_c_pose_or_point_8h_source.html#l00057">mrpt::poses::UNINITIALIZED_POSE</a>, <a class="el" href="_core_source.html#l00336">Eigen::Matrix::swap()</a>, <a class="el" href="graphslam_2include_2mrpt_2graphslam_2types_8h_source.html#l00082">mrpt::graphslam::TResultInfoSpaLevMarq::num_iters</a>, <a class="el" href="graphslam_2include_2mrpt_2graphslam_2types_8h_source.html#l00083">mrpt::graphslam::TResultInfoSpaLevMarq::final_total_sq_error</a>, and <a class="el" href="mrpt__macros_8h_source.html#l00374">MRPT_END</a>.</p>
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