193 lines
16 KiB
Matlab
193 lines
16 KiB
Matlab
% 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
|
|
% LieScalar - class LieScalar, see Doxygen page for details
|
|
% LieVector - class LieVector, see Doxygen page for details
|
|
% LieMatrix - class LieMatrix, 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
|
|
% StereoPoint2 - class StereoPoint2, see Doxygen page for details
|
|
%
|
|
%% SLAM and SFM
|
|
% BearingFactor2D - class BearingFactor2D, see Doxygen page for details
|
|
% BearingRangeFactor2D - class BearingRangeFactor2D, see Doxygen page for details
|
|
% BetweenFactorLieMatrix - class BetweenFactorLieMatrix, see Doxygen page for details
|
|
% BetweenFactorLieScalar - class BetweenFactorLieScalar, see Doxygen page for details
|
|
% BetweenFactorLieVector - class BetweenFactorLieVector, 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
|
|
% NonlinearEqualityLieMatrix - class NonlinearEqualityLieMatrix, see Doxygen page for details
|
|
% NonlinearEqualityLieScalar - class NonlinearEqualityLieScalar, see Doxygen page for details
|
|
% NonlinearEqualityLieVector - class NonlinearEqualityLieVector, 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
|
|
% PriorFactorLieMatrix - class PriorFactorLieMatrix, see Doxygen page for details
|
|
% PriorFactorLieScalar - class PriorFactorLieScalar, see Doxygen page for details
|
|
% PriorFactorLieVector - class PriorFactorLieVector, 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
|
|
% RangeFactorPosePoint2 - class RangeFactorPosePoint2, see Doxygen page for details
|
|
% RangeFactorPosePoint3 - class RangeFactorPosePoint3, 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
|