% GTSAM MATLAB toolbox interface to the Georgia Tech Smoothing and Mapping C++ library % Version 2.1 08-Sep-2012 % %% Basic Utilities % linear_independent - check whether the rows of two matrices are linear independent % Permutation - class Permutation, see Doxygen page for details % %% General Inference Classes % IndexFactor - class IndexFactor, see Doxygen page for details % SymbolicFactorGraph - class SymbolicFactorGraph, see Doxygen page for details % IndexConditional - class IndexConditional, see Doxygen page for details % SymbolicBayesNet - class SymbolicBayesNet, see Doxygen page for details % SymbolicBayesTreeClique - class SymbolicBayesTreeClique, see Doxygen page for details % SymbolicBayesTree - class SymbolicBayesTree, see Doxygen page for details % SymbolicMultifrontalSolver - class SymbolicMultifrontalSolver, see Doxygen page for details % SymbolicSequentialSolver - class SymbolicSequentialSolver, see Doxygen page for details % VariableIndex - class VariableIndex, see Doxygen page for details % %% Linear-Gaussian Graphical Models % Errors - class Errors, see Doxygen page for details % VectorValues - class VectorValues, see Doxygen page for details % GaussianFactor - class GaussianFactor, see Doxygen page for details % HessianFactor - class HessianFactor, see Doxygen page for details % JacobianFactor - class JacobianFactor, see Doxygen page for details % GaussianFactorGraph - class GaussianFactorGraph, see Doxygen page for details % GaussianDensity - class GaussianDensity, see Doxygen page for details % GaussianConditional - class GaussianConditional, see Doxygen page for details % GaussianBayesNet - class GaussianBayesNet, see Doxygen page for details % GaussianBayesTreeClique - class GaussianBayesTreeClique, see Doxygen page for details % GaussianBayesTree - class GaussianBayesTree, see Doxygen page for details % GaussianISAM - class GaussianISAM, see Doxygen page for details % noiseModel.Gaussian - class noiseModel.Gaussian, see Doxygen page for details % noiseModel.Diagonal - class noiseModel.Diagonal, see Doxygen page for details % noiseModel.Constrained - class noiseModel.Constrained, see Doxygen page for details % noiseModel.Isotropic - class noiseModel.Isotropic, see Doxygen page for details % noiseModel.Unit - class noiseModel.Unit, see Doxygen page for details % %% Linear Inference % GaussianSequentialSolver - class GaussianSequentialSolver, see Doxygen page for details % GaussianMultifrontalSolver - class GaussianMultifrontalSolver, see Doxygen page for details % IterativeOptimizationParameters - class IterativeOptimizationParameters, see Doxygen page for details % KalmanFilter - class KalmanFilter, see Doxygen page for details % SubgraphSolver - class SubgraphSolver, see Doxygen page for details % SubgraphSolverParameters - class SubgraphSolverParameters, see Doxygen page for details % SuccessiveLinearizationParams - class SuccessiveLinearizationParams, see Doxygen page for details % Sampler - class Sampler, see Doxygen page for details % %% Nonlinear Factor Graphs % Ordering - class Ordering, see Doxygen page for details % Value - class Value, see Doxygen page for details % Values - class Values, see Doxygen page for details % NonlinearFactor - class NonlinearFactor, see Doxygen page for details % NonlinearFactorGraph - class NonlinearFactorGraph, see Doxygen page for details % %% Nonlinear Optimization % ConjugateGradientParameters - class ConjugateGradientParameters, see Doxygen page for details % DoglegOptimizer - class DoglegOptimizer, see Doxygen page for details % DoglegParams - class DoglegParams, see Doxygen page for details % GaussNewtonOptimizer - class GaussNewtonOptimizer, see Doxygen page for details % GaussNewtonParams - class GaussNewtonParams, see Doxygen page for details % ISAM2Clique - class ISAM2Clique, see Doxygen page for details % ISAM2BayesTree - class ISAM2BayesTree, see Doxygen page for details % ISAM2 - class ISAM2, see Doxygen page for details % ISAM2DoglegParams - class ISAM2DoglegParams, see Doxygen page for details % ISAM2GaussNewtonParams - class ISAM2GaussNewtonParams, see Doxygen page for details % ISAM2Params - class ISAM2Params, see Doxygen page for details % ISAM2Result - class ISAM2Result, see Doxygen page for details % ISAM2ThresholdMap - class ISAM2ThresholdMap, see Doxygen page for details % ISAM2ThresholdMapValue - class ISAM2ThresholdMapValue, see Doxygen page for details % InvertedOrdering - class InvertedOrdering, see Doxygen page for details % JointMarginal - class JointMarginal, see Doxygen page for details % KeyList - class KeyList, see Doxygen page for details % KeySet - class KeySet, see Doxygen page for details % KeyVector - class KeyVector, see Doxygen page for details % LevenbergMarquardtOptimizer - class LevenbergMarquardtOptimizer, see Doxygen page for details % LevenbergMarquardtParams - class LevenbergMarquardtParams, see Doxygen page for details % Marginals - class Marginals, see Doxygen page for details % NonlinearISAM - class NonlinearISAM, see Doxygen page for details % NonlinearOptimizer - class NonlinearOptimizer, see Doxygen page for details % NonlinearOptimizerParams - class NonlinearOptimizerParams, see Doxygen page for details % %% Geometry % Cal3_S2 - class Cal3_S2, see Doxygen page for details % Cal3_S2Stereo - class Cal3_S2Stereo, see Doxygen page for details % Cal3DS2 - class Cal3DS2, see Doxygen page for details % CalibratedCamera - class CalibratedCamera, see Doxygen page for details % Point2 - class Point2, see Doxygen page for details % Point3 - class Point3, see Doxygen page for details % Pose2 - class Pose2, see Doxygen page for details % Pose3 - class Pose3, see Doxygen page for details % Rot2 - class Rot2, see Doxygen page for details % Rot3 - class Rot3, see Doxygen page for details % SimpleCamera - class SimpleCamera, see Doxygen page for details % PinholeCameraCal3_S2 - class PinholeCameraCal3_S2, see Doxygen page for details % StereoPoint2 - class StereoPoint2, see Doxygen page for details % %% SLAM and SFM % BearingFactor2D - class BearingFactor2D, see Doxygen page for details % BearingFactor3D - class BearingFactor3D, see Doxygen page for details % BearingRangeFactor2D - class BearingRangeFactor2D, see Doxygen page for details % BetweenFactorPoint2 - class BetweenFactorPoint2, see Doxygen page for details % BetweenFactorPoint3 - class BetweenFactorPoint3, see Doxygen page for details % BetweenFactorPose2 - class BetweenFactorPose2, see Doxygen page for details % BetweenFactorPose3 - class BetweenFactorPose3, see Doxygen page for details % BetweenFactorRot2 - class BetweenFactorRot2, see Doxygen page for details % BetweenFactorRot3 - class BetweenFactorRot3, see Doxygen page for details % GeneralSFMFactor2Cal3_S2 - class GeneralSFMFactor2Cal3_S2, see Doxygen page for details % GeneralSFMFactorCal3_S2 - class GeneralSFMFactorCal3_S2, see Doxygen page for details % GenericProjectionFactorCal3_S2 - class GenericProjectionFactorCal3_S2, see Doxygen page for details % GenericStereoFactor3D - class GenericStereoFactor3D, see Doxygen page for details % NonlinearEqualityCal3_S2 - class NonlinearEqualityCal3_S2, see Doxygen page for details % NonlinearEqualityCalibratedCamera - class NonlinearEqualityCalibratedCamera, see Doxygen page for details % NonlinearEqualityPoint2 - class NonlinearEqualityPoint2, see Doxygen page for details % NonlinearEqualityPoint3 - class NonlinearEqualityPoint3, see Doxygen page for details % NonlinearEqualityPose2 - class NonlinearEqualityPose2, see Doxygen page for details % NonlinearEqualityPose3 - class NonlinearEqualityPose3, see Doxygen page for details % NonlinearEqualityRot2 - class NonlinearEqualityRot2, see Doxygen page for details % NonlinearEqualityRot3 - class NonlinearEqualityRot3, see Doxygen page for details % NonlinearEqualitySimpleCamera - class NonlinearEqualitySimpleCamera, see Doxygen page for details % NonlinearEqualityStereoPoint2 - class NonlinearEqualityStereoPoint2, see Doxygen page for details % PriorFactorCal3_S2 - class PriorFactorCal3_S2, see Doxygen page for details % PriorFactorCalibratedCamera - class PriorFactorCalibratedCamera, see Doxygen page for details % PriorFactorPoint2 - class PriorFactorPoint2, see Doxygen page for details % PriorFactorPoint3 - class PriorFactorPoint3, see Doxygen page for details % PriorFactorPose2 - class PriorFactorPose2, see Doxygen page for details % PriorFactorPose3 - class PriorFactorPose3, see Doxygen page for details % PriorFactorRot2 - class PriorFactorRot2, see Doxygen page for details % PriorFactorRot3 - class PriorFactorRot3, see Doxygen page for details % PriorFactorSimpleCamera - class PriorFactorSimpleCamera, see Doxygen page for details % PriorFactorStereoPoint2 - class PriorFactorStereoPoint2, see Doxygen page for details % RangeFactorCalibratedCamera - class RangeFactorCalibratedCamera, see Doxygen page for details % RangeFactorCalibratedCameraPoint - class RangeFactorCalibratedCameraPoint, see Doxygen page for details % RangeFactorPose2 - class RangeFactorPose2, see Doxygen page for details % RangeFactorPose3 - class RangeFactorPose3, see Doxygen page for details % RangeFactor2D - class RangeFactor2D, see Doxygen page for details % RangeFactor3D - class RangeFactor3D, see Doxygen page for details % RangeFactorSimpleCamera - class RangeFactorSimpleCamera, see Doxygen page for details % RangeFactorSimpleCameraPoint - class RangeFactorSimpleCameraPoint, see Doxygen page for details % VisualISAMGenerateData - VisualISAMGenerateData creates data for viusalSLAM::iSAM examples % VisualISAMInitialize - VisualISAMInitialize initializes visualSLAM::iSAM object and noise parameters % VisualISAMPlot - VisualISAMPlot plots current state of ISAM2 object % VisualISAMStep - VisualISAMStep executes one update step of visualSLAM::iSAM object % %% MATLAB-only Utilities % CHECK - throw an error if an assertion fails % circlePose2 - circlePose2 generates a set of poses in a circle. This function % circlePose3 - circlePose3 generates a set of poses in a circle. This function % covarianceEllipse - covarianceEllipse plots a Gaussian as an uncertainty ellipse % covarianceEllipse3D - covarianceEllipse3D plots a Gaussian as an uncertainty ellipse % EQUALITY - test equality of two vectors/matrices up to tolerance % findExampleDataFile - Find a dataset in the examples folder % load2D - load2D reads a TORO-style 2D pose graph % load3D - load3D reads a TORO-style 3D pose graph % plot2DPoints - Plots the Point2's in a values, with optional covariances % plot2DTrajectory - Plots the Pose2's in a values, with optional covariances % plot3DPoints - Plots the Point3's in a values, with optional covariances % plot3DTrajectory - plot3DTrajectory plots a 3D trajectory % plotCamera - % plotPoint2 - plotPoint2 shows a Point2, possibly with covariance matrix % plotPoint3 - Plot a Point3 with an optional covariance matrix % plotPose2 - plotPose2 shows a Pose2, possibly with covariance matrix % plotPose3 - plotPose3 shows a Pose, possibly with covariance matrix % symbol - create a Symbol key % symbolChr - get character from a symbol key % symbolIndex - get index from a symbol key % %% Wrapped C++ Convenience Functions for use within MATLAB % utilities.createKeyList - Create KeyList from indices % utilities.createKeyVector - Create KeyVector from indices % utilities.createKeySet - Create KeySet from indices % utilities.extractPoint2 - Extract all Point2 values into a single matrix [x y] % utilities.extractPoint3 - Extract all Point3 values into a single matrix [x y z] % utilities.extractPose2 - Extract all Pose2 values into a single matrix [x y theta] % utilities.allPose3s - Extract all Pose3 values % utilities.extractPose3 - Extract all Pose3 values into a single matrix [r11 r12 r13 r21 r22 r23 r31 r32 r33 x y z] % utilities.perturbPoint2 - Perturb all Point2 values using normally distributed noise % utilities.perturbPose2 - Perturb all Pose2 values using normally distributed noise % utilities.perturbPoint3 - Perturb all Point3 values using normally distributed noise % utilities.insertBackprojections - Insert a number of initial point values by backprojecting % utilities.insertProjectionFactors - Insert multiple projection factors for a single pose key % utilities.reprojectionErrors - Calculate the errors of all projection factors in a graph % utilities.localToWorld - Convert from local to world coordinates