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adapt examples to new direct member access

release/4.3a0
senselessDev 2022-01-29 22:35:24 +01:00
parent 11b2135eb3
commit 65d72ab7a1
12 changed files with 12 additions and 12 deletions
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2
matlab/+gtsam/VisualISAMInitialize.m
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@ -7,7 +7,7 @@ import gtsam.*
%% Initialize iSAM %% Initialize iSAM
params = gtsam.ISAM2Params; params = gtsam.ISAM2Params;
if options.alwaysRelinearize if options.alwaysRelinearize
params.setRelinearizeSkip(1); params.relinearizeSkip = 1;
end end
isam = ISAM2(params); isam = ISAM2(params);

2
matlab/gtsam_examples/IMUKittiExampleGPS.m
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@ -52,7 +52,7 @@ IMU_params.setOmegaCoriolis(w_coriolis);
%% Solver object %% Solver object
isamParams = ISAM2Params; isamParams = ISAM2Params;
isamParams.setFactorization('CHOLESKY'); isamParams.setFactorization('CHOLESKY');
isamParams.setRelinearizeSkip(10); isamParams.relinearizeSkip = 10;
isam = gtsam.ISAM2(isamParams); isam = gtsam.ISAM2(isamParams);
newFactors = NonlinearFactorGraph; newFactors = NonlinearFactorGraph;
newValues = Values; newValues = Values;

2
matlab/unstable_examples/+imuSimulator/IMUComparison.m
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@ -46,7 +46,7 @@ posesIMUbody(1).R = poses(1).R;
%% Solver object %% Solver object
isamParams = ISAM2Params; isamParams = ISAM2Params;
isamParams.setRelinearizeSkip(1); isamParams.relinearizeSkip = 1;
isam = gtsam.ISAM2(isamParams); isam = gtsam.ISAM2(isamParams);
initialValues = Values; initialValues = Values;

2
matlab/unstable_examples/+imuSimulator/IMUComparison_with_cov.m
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@ -34,7 +34,7 @@ poses(1).R = currentPoseGlobal.rotation.matrix;
%% Solver object %% Solver object
isamParams = ISAM2Params; isamParams = ISAM2Params;
isamParams.setRelinearizeSkip(1); isamParams.relinearizeSkip = 1;
isam = gtsam.ISAM2(isamParams); isam = gtsam.ISAM2(isamParams);
sigma_init_x = 1.0; sigma_init_x = 1.0;

2
matlab/unstable_examples/+imuSimulator/coriolisExample.m
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@ -119,7 +119,7 @@ h = figure;
% Solver object % Solver object
isamParams = ISAM2Params; isamParams = ISAM2Params;
isamParams.setFactorization('CHOLESKY'); isamParams.setFactorization('CHOLESKY');
isamParams.setRelinearizeSkip(10); isamParams.relinearizeSkip = 10;
isam = gtsam.ISAM2(isamParams); isam = gtsam.ISAM2(isamParams);
newFactors = NonlinearFactorGraph; newFactors = NonlinearFactorGraph;
newValues = Values; newValues = Values;

2
matlab/unstable_examples/IMUKittiExampleAdvanced.m
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@ -82,7 +82,7 @@ w_coriolis = [0;0;0];
%% Solver object %% Solver object
isamParams = ISAM2Params; isamParams = ISAM2Params;
isamParams.setFactorization('QR'); isamParams.setFactorization('QR');
isamParams.setRelinearizeSkip(1); isamParams.relinearizeSkip = 1;
isam = gtsam.ISAM2(isamParams); isam = gtsam.ISAM2(isamParams);
newFactors = NonlinearFactorGraph; newFactors = NonlinearFactorGraph;
newValues = Values; newValues = Values;

2
matlab/unstable_examples/IMUKittiExampleVO.m
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@ -58,7 +58,7 @@ w_coriolis = [0;0;0];
%% Solver object %% Solver object
isamParams = ISAM2Params; isamParams = ISAM2Params;
isamParams.setFactorization('CHOLESKY'); isamParams.setFactorization('CHOLESKY');
isamParams.setRelinearizeSkip(10); isamParams.relinearizeSkip = 10;
isam = gtsam.ISAM2(isamParams); isam = gtsam.ISAM2(isamParams);
newFactors = NonlinearFactorGraph; newFactors = NonlinearFactorGraph;
newValues = Values; newValues = Values;

2
python/gtsam/examples/IMUKittiExampleGPS.py
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@ -203,7 +203,7 @@ def optimize(gps_measurements: List[GpsMeasurement],
# Set ISAM2 parameters and create ISAM2 solver object # Set ISAM2 parameters and create ISAM2 solver object
isam_params = gtsam.ISAM2Params() isam_params = gtsam.ISAM2Params()
isam_params.setFactorization("CHOLESKY") isam_params.setFactorization("CHOLESKY")
isam_params.setRelinearizeSkip(10) isam_params.relinearizeSkip = 10
isam = gtsam.ISAM2(isam_params) isam = gtsam.ISAM2(isam_params)

2
python/gtsam/examples/Pose2ISAM2Example.py
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@ -111,7 +111,7 @@ def Pose2SLAM_ISAM2_example():
# update calls are required to perform the relinearization. # update calls are required to perform the relinearization.
parameters = gtsam.ISAM2Params() parameters = gtsam.ISAM2Params()
parameters.setRelinearizeThreshold(0.1) parameters.setRelinearizeThreshold(0.1)
parameters.setRelinearizeSkip(1) parameters.relinearizeSkip = 1
isam = gtsam.ISAM2(parameters) isam = gtsam.ISAM2(parameters)
# Create the ground truth odometry measurements of the robot during the trajectory. # Create the ground truth odometry measurements of the robot during the trajectory.

2
python/gtsam/examples/Pose3ISAM2Example.py
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@ -140,7 +140,7 @@ def Pose3_ISAM2_example():
# update calls are required to perform the relinearization. # update calls are required to perform the relinearization.
parameters = gtsam.ISAM2Params() parameters = gtsam.ISAM2Params()
parameters.setRelinearizeThreshold(0.1) parameters.setRelinearizeThreshold(0.1)
parameters.setRelinearizeSkip(1) parameters.relinearizeSkip = 1
isam = gtsam.ISAM2(parameters) isam = gtsam.ISAM2(parameters)
# Create the ground truth poses of the robot trajectory. # Create the ground truth poses of the robot trajectory.

2
python/gtsam/examples/VisualISAM2Example.py
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@ -81,7 +81,7 @@ def visual_ISAM2_example():
# will approach the batch result. # will approach the batch result.
parameters = gtsam.ISAM2Params() parameters = gtsam.ISAM2Params()
parameters.setRelinearizeThreshold(0.01) parameters.setRelinearizeThreshold(0.01)
parameters.setRelinearizeSkip(1) parameters.relinearizeSkip = 1
isam = gtsam.ISAM2(parameters) isam = gtsam.ISAM2(parameters)
# Create a Factor Graph and Values to hold the new data # Create a Factor Graph and Values to hold the new data

2
python/gtsam/utils/visual_isam.py
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@ -17,7 +17,7 @@ def initialize(data, truth, options):
# Initialize iSAM # Initialize iSAM
params = gtsam.ISAM2Params() params = gtsam.ISAM2Params()
if options.alwaysRelinearize: if options.alwaysRelinearize:
params.setRelinearizeSkip(1) params.relinearizeSkip = 1
isam = gtsam.ISAM2(params=params) isam = gtsam.ISAM2(params=params)
# Add constraints/priors # Add constraints/priors