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

wrapping SimpleCamera::lookat and visualSLAM's ISAM to MATLAB

release/4.3a0
Duy-Nguyen Ta 2012-06-06 09:42:27 +00:00
parent 3e36890fd1
commit 64beba42e4
1 changed files with 15 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
gtsam.h
View File

@ -450,6 +450,11 @@ class SimpleCamera {
// Standard Interface // Standard Interface
gtsam::Pose3 pose() const; gtsam::Pose3 pose() const;
// Convenient generators
static gtsam::SimpleCamera lookat(const gtsam::Point3& eye,
const gtsam::Point3& target, const gtsam::Point3& upVector,
const gtsam::Cal3_S2& k);
}; };
//************************************************************************* //*************************************************************************
@ -457,7 +462,6 @@ class SimpleCamera {
//************************************************************************* //*************************************************************************
//************************************************************************* //*************************************************************************
// linear // linear
//************************************************************************* //*************************************************************************
@ -912,9 +916,19 @@ class Graph {
void addPosePrior(size_t poseKey, const gtsam::Pose3& p, const gtsam::SharedNoiseModel& model); void addPosePrior(size_t poseKey, const gtsam::Pose3& p, const gtsam::SharedNoiseModel& model);
void addPointPrior(size_t pointKey, const gtsam::Point3& p, const gtsam::SharedNoiseModel& model); void addPointPrior(size_t pointKey, const gtsam::Point3& p, const gtsam::SharedNoiseModel& model);
void addRangeFactor(size_t poseKey, size_t pointKey, double range, const gtsam::SharedNoiseModel& model); void addRangeFactor(size_t poseKey, size_t pointKey, double range, const gtsam::SharedNoiseModel& model);
void addOdometry(size_t poseKey1, size_t poseKey2, const gtsam::Pose3& odometry, const gtsam::SharedNoiseModel& model);
visualSLAM::Values optimize(const visualSLAM::Values& initialEstimate) const; visualSLAM::Values optimize(const visualSLAM::Values& initialEstimate) const;
gtsam::Marginals marginals(const visualSLAM::Values& solution) const; gtsam::Marginals marginals(const visualSLAM::Values& solution) const;
}; };
class ISAM {
ISAM();
ISAM(int reorderInterval);
void print(string s) const;
visualSLAM::Values estimate() const;
Matrix marginalCovariance(size_t key) const;
void update(const visualSLAM::Graph& newFactors, const visualSLAM::Values& initialValues);
};
}///\namespace visualSLAM }///\namespace visualSLAM