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docstring updates

release/4.3a0
Akshay Krishnan 2022-05-07 18:36:00 -07:00
parent c0e5ce9ef9
commit 3b77df652c
1 changed files with 18 additions and 4 deletions
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22
gtsam/sfm/TranslationRecovery.h
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@ -11,7 +11,7 @@
/** /**
* @file TranslationRecovery.h * @file TranslationRecovery.h
* @author Frank Dellaert * @author Frank Dellaert, Akshay Krishnan
* @date March 2020 * @date March 2020
* @brief Recovering translations in an epipolar graph when rotations are given. * @brief Recovering translations in an epipolar graph when rotations are given.
*/ */
@ -78,12 +78,16 @@ class TranslationRecovery {
TranslationRecovery(const TranslationRecoveryParams &params) TranslationRecovery(const TranslationRecoveryParams &params)
: params_(params) {} : params_(params) {}
// Same as above, with default parameters. /**
* @brief Default constructor.
*/
TranslationRecovery() = default; TranslationRecovery() = default;
/** /**
* @brief Build the factor graph to do the optimization. * @brief Build the factor graph to do the optimization.
* *
* @param relativeTranslations unit translation directions between
* translations to be estimated
* @return NonlinearFactorGraph * @return NonlinearFactorGraph
*/ */
NonlinearFactorGraph buildGraph( NonlinearFactorGraph buildGraph(
@ -92,8 +96,12 @@ class TranslationRecovery {
/** /**
* @brief Add priors on ednpoints of first measurement edge. * @brief Add priors on ednpoints of first measurement edge.
* *
* @param relativeTranslations unit translation directions between
* translations to be estimated
* @param scale scale for first relative translation which fixes gauge. * @param scale scale for first relative translation which fixes gauge.
* @param graph factor graph to which prior is added. * @param graph factor graph to which prior is added.
* @param betweenTranslations relative translations (with scale) between 2
* points in world coordinate frame known a priori.
* @param priorNoiseModel the noise model to use with the prior. * @param priorNoiseModel the noise model to use with the prior.
*/ */
void addPrior( void addPrior(
@ -105,8 +113,11 @@ class TranslationRecovery {
noiseModel::Isotropic::Sigma(3, 0.01)) const; noiseModel::Isotropic::Sigma(3, 0.01)) const;
/** /**
* @brief Create random initial translations. * @brief Create random initial translations. Uses inial values from params if
* provided.
* *
* @param relativeTranslations unit translation directions between
* translations to be estimated
* @param rng random number generator * @param rng random number generator
* @return Values * @return Values
*/ */
@ -115,8 +126,11 @@ class TranslationRecovery {
std::mt19937 *rng) const; std::mt19937 *rng) const;
/** /**
* @brief Version of initializeRandomly with a fixed seed. * @brief Version of initializeRandomly with a fixed seed. Uses initial values
* from params if provided.
* *
* @param relativeTranslations unit translation directions between
* translations to be estimated
* @return Values * @return Values
*/ */
Values initializeRandomly( Values initializeRandomly(