optimizer.hpp File Reference

#include <graphite/graph.hpp>
#include <graphite/solver/solver.hpp>
#include <iomanip>

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Classes
class	graphite::optimizer::LevenbergMarquardtOptions< T, S >
	Levenberg-Marquardt options. More...

Functions
template<typename T , typename S >
T	graphite::optimizer::compute_rho (Graph< T, S > *graph, thrust::device_vector< T > &delta_x, const T chi2, const T new_chi2, const T mu, const bool step_is_good)
template<typename T , typename S >
bool	graphite::optimizer::levenberg_marquardt (Graph< T, S > *graph, LevenbergMarquardtOptions< T, S > *options)
	Levenberg-Marquardt optimization algorithm.
template<typename T , typename S >
bool	graphite::optimizer::levenberg_marquardt2 (Graph< T, S > *graph, LevenbergMarquardtOptions< T, S > *options)
	Levenberg-Marquardt with similar early termination stopping criteria to ORB-SLAM.

Function Documentation

levenberg_marquardt()

template<typename T , typename S >

bool graphite::optimizer::levenberg_marquardt	(	Graph< T, S > *	graph,
		LevenbergMarquardtOptions< T, S > *	options
	)

Levenberg-Marquardt optimization algorithm.

Template Parameters

T	Scalar type
S	Scalar type

Parameters

graph	Graph to optimize
options	Options for the optimization

Returns

true if optimization completed successfully, false otherwise

levenberg_marquardt2()

template<typename T , typename S >

bool graphite::optimizer::levenberg_marquardt2	(	Graph< T, S > *	graph,
		LevenbergMarquardtOptions< T, S > *	options
	)

Levenberg-Marquardt with similar early termination stopping criteria to ORB-SLAM.

Template Parameters

T	Scalar type
S	Scalar type

Parameters

graph	Graph to optimize
options	Options for the optimization

Returns

true if optimization completed successfully, false otherwise