12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

update doc in header

release/4.3a0
Akshay Krishnan 2022-06-18 11:56:21 -07:00
parent 6fae6f4231
commit e18840baff
1 changed files with 6 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
gtsam/sfm/TranslationRecovery.h
View File

@ -143,11 +143,15 @@ class TranslationRecovery {
* *
* @param relativeTranslations the relative translations, in world coordinate * @param relativeTranslations the relative translations, in world coordinate
* frames, vector of BinaryMeasurements of Unit3, where each key of a * frames, vector of BinaryMeasurements of Unit3, where each key of a
* measurement is a point in 3D. * measurement is a point in 3D. If a relative translation magnitude is zero,
* it is treated as a hard same-point constraint (the result of all nodes
* connected by a zero-magnitude edge will be the same).
* @param scale scale for first relative translation which fixes gauge. * @param scale scale for first relative translation which fixes gauge.
* The scale is only used if betweenTranslations is empty. * The scale is only used if betweenTranslations is empty.
* @param betweenTranslations relative translations (with scale) between 2 * @param betweenTranslations relative translations (with scale) between 2
* points in world coordinate frame known a priori. * points in world coordinate frame known a priori. Unlike
* relativeTranslations, zero-magnitude betweenTranslations are not treated as
* hard constraints.
* @param initialValues intial values for optimization. Initializes randomly * @param initialValues intial values for optimization. Initializes randomly
* if not provided. * if not provided.
* @return Values * @return Values