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release/4.3a0
Frank Dellaert 2024-10-26 16:10:47 -07:00
parent 68c63ca043
commit 5b0580ff5f
4 changed files with 41 additions and 16 deletions
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5
gtsam/nonlinear/nonlinear.i
View File

@ -537,9 +537,8 @@ class ISAM2 {
gtsam::Values calculateEstimate() const;
template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2,
gtsam::Cal3Bundler, gtsam::EssentialMatrix,
gtsam::Cal3Bundler, gtsam::FundamentalMatrix,
gtsam::Cal3Bundler, gtsam::SimpleFundamentalMatrix,
gtsam::Cal3f, gtsam::Cal3Bundler,
gtsam::EssentialMatrix, gtsam::FundamentalMatrix, gtsam::SimpleFundamentalMatrix,
gtsam::PinholeCamera<gtsam::Cal3_S2>,
gtsam::PinholeCamera<gtsam::Cal3Bundler>,
gtsam::PinholeCamera<gtsam::Cal3Fisheye>,

42
gtsam/nonlinear/values.i
View File

@ -4,13 +4,14 @@
namespace gtsam {
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/geometry/Cal3DS2.h>
#include <gtsam/geometry/Cal3f.h>
#include <gtsam/geometry/Cal3Fisheye.h>
#include <gtsam/geometry/Cal3Unified.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/CalibratedCamera.h>
#include <gtsam/geometry/EssentialMatrix.h>
#include <gtsam/geometry/FundamentalMatrix.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/Point3.h>
@ -80,17 +81,24 @@ class Values {
void insert(size_t j, const gtsam::Rot3& rot3);
void insert(size_t j, const gtsam::Pose3& pose3);
void insert(size_t j, const gtsam::Unit3& unit3);
void insert(size_t j, const gtsam::Cal3f& cal3f);
void insert(size_t j, const gtsam::Cal3_S2& cal3_s2);
void insert(size_t j, const gtsam::Cal3DS2& cal3ds2);
void insert(size_t j, const gtsam::Cal3Bundler& cal3bundler);
void insert(size_t j, const gtsam::Cal3Fisheye& cal3fisheye);
void insert(size_t j, const gtsam::Cal3Unified& cal3unified);
void insert(size_t j, const gtsam::EssentialMatrix& essential_matrix);
void insert(size_t j, const gtsam::EssentialMatrix& E);
void insert(size_t j, const gtsam::FundamentalMatrix& F);
void insert(size_t j, const gtsam::SimpleFundamentalMatrix& F);
void insert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3f>& camera);
void insert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3_S2>& camera);
void insert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3DS2>& camera);
void insert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Bundler>& camera);
void insert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Fisheye>& camera);
void insert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Unified>& camera);
void insert(size_t j, const gtsam::PinholePose<gtsam::Cal3f>& camera);
void insert(size_t j, const gtsam::PinholePose<gtsam::Cal3_S2>& camera);
void insert(size_t j, const gtsam::PinholePose<gtsam::Cal3DS2>& camera);
void insert(size_t j, const gtsam::PinholePose<gtsam::Cal3Bundler>& camera);
void insert(size_t j, const gtsam::PinholePose<gtsam::Cal3Fisheye>& camera);
void insert(size_t j, const gtsam::PinholePose<gtsam::Cal3Unified>& camera);
@ -115,17 +123,24 @@ class Values {
void update(size_t j, const gtsam::Rot3& rot3);
void update(size_t j, const gtsam::Pose3& pose3);
void update(size_t j, const gtsam::Unit3& unit3);
void update(size_t j, const gtsam::Cal3f& cal3f);
void update(size_t j, const gtsam::Cal3_S2& cal3_s2);
void update(size_t j, const gtsam::Cal3DS2& cal3ds2);
void update(size_t j, const gtsam::Cal3Bundler& cal3bundler);
void update(size_t j, const gtsam::Cal3Fisheye& cal3fisheye);
void update(size_t j, const gtsam::Cal3Unified& cal3unified);
void update(size_t j, const gtsam::EssentialMatrix& essential_matrix);
void update(size_t j, const gtsam::EssentialMatrix& E);
void update(size_t j, const gtsam::FundamentalMatrix& F);
void update(size_t j, const gtsam::SimpleFundamentalMatrix& F);
void update(size_t j, const gtsam::PinholeCamera<gtsam::Cal3f>& camera);
void update(size_t j, const gtsam::PinholeCamera<gtsam::Cal3_S2>& camera);
void update(size_t j, const gtsam::PinholeCamera<gtsam::Cal3DS2>& camera);
void update(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Bundler>& camera);
void update(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Fisheye>& camera);
void update(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Unified>& camera);
void update(size_t j, const gtsam::PinholePose<gtsam::Cal3f>& camera);
void update(size_t j, const gtsam::PinholePose<gtsam::Cal3_S2>& camera);
void update(size_t j, const gtsam::PinholePose<gtsam::Cal3DS2>& camera);
void update(size_t j, const gtsam::PinholePose<gtsam::Cal3Bundler>& camera);
void update(size_t j, const gtsam::PinholePose<gtsam::Cal3Fisheye>& camera);
void update(size_t j, const gtsam::PinholePose<gtsam::Cal3Unified>& camera);
@ -147,23 +162,33 @@ class Values {
void insert_or_assign(size_t j, const gtsam::Rot3& rot3);
void insert_or_assign(size_t j, const gtsam::Pose3& pose3);
void insert_or_assign(size_t j, const gtsam::Unit3& unit3);
void insert_or_assign(size_t j, const gtsam::Cal3f& cal3f);
void insert_or_assign(size_t j, const gtsam::Cal3_S2& cal3_s2);
void insert_or_assign(size_t j, const gtsam::Cal3DS2& cal3ds2);
void insert_or_assign(size_t j, const gtsam::Cal3Bundler& cal3bundler);
void insert_or_assign(size_t j, const gtsam::Cal3Fisheye& cal3fisheye);
void insert_or_assign(size_t j, const gtsam::Cal3Unified& cal3unified);
void insert_or_assign(size_t j, const gtsam::EssentialMatrix& E);
void insert_or_assign(size_t j, const gtsam::FundamentalMatrix& F);
void insert_or_assign(size_t j, const gtsam::SimpleFundamentalMatrix& F);
void insert_or_assign(size_t j,
const gtsam::EssentialMatrix& essential_matrix);
const gtsam::PinholeCamera<gtsam::Cal3f>& camera);
void insert_or_assign(size_t j,
const gtsam::PinholeCamera<gtsam::Cal3_S2>& camera);
void insert_or_assign(size_t j,
const gtsam::PinholeCamera<gtsam::Cal3DS2>& camera);
void insert_or_assign(size_t j,
const gtsam::PinholeCamera<gtsam::Cal3Bundler>& camera);
void insert_or_assign(size_t j,
const gtsam::PinholeCamera<gtsam::Cal3Fisheye>& camera);
void insert_or_assign(size_t j,
const gtsam::PinholeCamera<gtsam::Cal3Unified>& camera);
void insert_or_assign(size_t j,
const gtsam::PinholePose<gtsam::Cal3f>& camera);
void insert_or_assign(size_t j,
const gtsam::PinholePose<gtsam::Cal3_S2>& camera);
void insert_or_assign(size_t j,
const gtsam::PinholePose<gtsam::Cal3DS2>& camera);
void insert_or_assign(size_t j,
const gtsam::PinholePose<gtsam::Cal3Bundler>& camera);
void insert_or_assign(size_t j,
@ -185,17 +210,24 @@ class Values {
gtsam::Rot3,
gtsam::Pose3,
gtsam::Unit3,
gtsam::Cal3f,
gtsam::Cal3_S2,
gtsam::Cal3DS2,
gtsam::Cal3Bundler,
gtsam::Cal3Fisheye,
gtsam::Cal3Unified,
gtsam::EssentialMatrix,
gtsam::FundamentalMatrix,
gtsam::SimpleFundamentalMatrix,
gtsam::PinholeCamera<gtsam::Cal3f>,
gtsam::PinholeCamera<gtsam::Cal3_S2>,
gtsam::PinholeCamera<gtsam::Cal3DS2>,
gtsam::PinholeCamera<gtsam::Cal3Bundler>,
gtsam::PinholeCamera<gtsam::Cal3Fisheye>,
gtsam::PinholeCamera<gtsam::Cal3Unified>,
gtsam::PinholePose<gtsam::Cal3f>,
gtsam::PinholePose<gtsam::Cal3_S2>,
gtsam::PinholePose<gtsam::Cal3DS2>,
gtsam::PinholePose<gtsam::Cal3Bundler>,
gtsam::PinholePose<gtsam::Cal3Fisheye>,
gtsam::PinholePose<gtsam::Cal3Unified>,

3
python/gtsam/examples/EssentialViewGraphExample.py
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@ -5,9 +5,6 @@
Authors: Frank Dellaert, et al. (see THANKS for the full author list)
See LICENSE for the license information
Solve a structure-from-motion problem from a "Bundle Adjustment in the Large" file
Author: Frank Dellaert (Python: Akshay Krishnan, John Lambert, Varun Agrawal)
"""
"""

5
python/gtsam/examples/ViewGraphExample.py
View File

@ -5,9 +5,6 @@
Authors: Frank Dellaert, et al. (see THANKS for the full author list)
See LICENSE for the license information
Solve a structure-from-motion problem from a "Bundle Adjustment in the Large" file
Author: Frank Dellaert (Python: Akshay Krishnan, John Lambert, Varun Agrawal)
"""
"""
@ -96,7 +93,7 @@ def main():
# Optimize the graph and print results
params = LevenbergMarquardtParams()
params.setLambdaInitial(1000.0) # Initialize lambda to a high value
params.setlambdaInitial(1000.0) # Initialize lambda to a high value
params.setVerbosityLM("SUMMARY")
optimizer = LevenbergMarquardtOptimizer(graph, initialEstimate, params)
result = optimizer.optimize()