749 lines
24 KiB
C++
749 lines
24 KiB
C++
namespace gtsam {
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#include <gtsam/inference/Key.h>
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typedef size_t Key;
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#include <gtsam/base/FastVector.h>
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template<T> class FastVector {
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FastVector();
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FastVector(const This& f);
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void push_back(const T& e);
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//T& operator[](int);
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T at(int i);
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size_t size() const;
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};
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typedef gtsam::FastVector<gtsam::Key> KeyVector;
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//*************************************************************************
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// geometry
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//*************************************************************************
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#include <gtsam/geometry/Point2.h>
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class Point2 {
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// Standard Constructors
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Point2();
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Point2(double x, double y);
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Point2(Vector v);
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Point2(const gtsam::Point2& l);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::Point2& pose, double tol) const;
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// Group
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static gtsam::Point2 identity();
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// Standard Interface
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double x() const;
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double y() const;
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Vector vector() const;
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double distance(const gtsam::Point2& p2) const;
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double norm() const;
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// enabling serialization functionality
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void serialize() const;
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};
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#include <gtsam/geometry/Point3.h>
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class Point3 {
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// Standard Constructors
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Point3();
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Point3(double x, double y, double z);
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Point3(Vector v);
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Point3(const gtsam::Point3& l);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::Point3& p, double tol) const;
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// Group
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static gtsam::Point3 identity();
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// Standard Interface
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Vector vector() const;
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double x() const;
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double y() const;
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double z() const;
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// enabling serialization functionality
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void serialize() const;
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};
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#include <gtsam/geometry/Rot2.h>
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class Rot2 {
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// Standard Constructors and Named Constructors
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Rot2();
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Rot2(double theta);
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Rot2(const gtsam::Rot2& l);
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static gtsam::Rot2 fromAngle(double theta);
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static gtsam::Rot2 fromDegrees(double theta);
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static gtsam::Rot2 fromCosSin(double c, double s);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::Rot2& rot, double tol) const;
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// Group
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static gtsam::Rot2 identity();
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gtsam::Rot2 inverse();
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gtsam::Rot2 compose(const gtsam::Rot2& p2) const;
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gtsam::Rot2 between(const gtsam::Rot2& p2) const;
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// Manifold
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gtsam::Rot2 retract(Vector v) const;
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Vector localCoordinates(const gtsam::Rot2& p) const;
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// Lie Group
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static gtsam::Rot2 Expmap(Vector v);
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static Vector Logmap(const gtsam::Rot2& p);
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// Group Action on Point2
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gtsam::Point2 rotate(const gtsam::Point2& point) const;
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gtsam::Point2 unrotate(const gtsam::Point2& point) const;
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// Standard Interface
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static gtsam::Rot2 relativeBearing(const gtsam::Point2& d); // Ignoring derivative
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static gtsam::Rot2 atan2(double y, double x);
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double theta() const;
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double degrees() const;
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double c() const;
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double s() const;
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Matrix matrix() const;
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// enabling serialization functionality
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void serialize() const;
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};
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#include <gtsam/geometry/Rot3.h>
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class Rot3 {
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// Standard Constructors and Named Constructors
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Rot3();
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Rot3(Matrix R);
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Rot3(const gtsam::Rot3& l);
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static gtsam::Rot3 Rx(double t);
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static gtsam::Rot3 Ry(double t);
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static gtsam::Rot3 Rz(double t);
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static gtsam::Rot3 RzRyRx(double x, double y, double z);
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static gtsam::Rot3 RzRyRx(Vector xyz);
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static gtsam::Rot3 Yaw(double t); // positive yaw is to right (as in aircraft heading)
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static gtsam::Rot3 Pitch(double t); // positive pitch is up (increasing aircraft altitude)
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static gtsam::Rot3 Roll(double t); // positive roll is to right (increasing yaw in aircraft)
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static gtsam::Rot3 Ypr(double y, double p, double r);
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static gtsam::Rot3 Quaternion(double w, double x, double y, double z);
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static gtsam::Rot3 Rodrigues(Vector v);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::Rot3& rot, double tol) const;
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// Group
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static gtsam::Rot3 identity();
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gtsam::Rot3 inverse() const;
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gtsam::Rot3 compose(const gtsam::Rot3& p2) const;
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gtsam::Rot3 between(const gtsam::Rot3& p2) const;
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// Manifold
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//gtsam::Rot3 retractCayley(Vector v) const; // FIXME, does not exist in both Matrix and Quaternion options
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gtsam::Rot3 retract(Vector v) const;
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Vector localCoordinates(const gtsam::Rot3& p) const;
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// Group Action on Point3
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gtsam::Point3 rotate(const gtsam::Point3& p) const;
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gtsam::Point3 unrotate(const gtsam::Point3& p) const;
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// Standard Interface
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static gtsam::Rot3 Expmap(Vector v);
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static Vector Logmap(const gtsam::Rot3& p);
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Matrix matrix() const;
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Matrix transpose() const;
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gtsam::Point3 column(size_t index) const;
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Vector xyz() const;
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Vector ypr() const;
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Vector rpy() const;
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double roll() const;
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double pitch() const;
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double yaw() const;
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// Vector toQuaternion() const; // FIXME: Can't cast to Vector properly
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Vector quaternion() const;
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// enabling serialization functionality
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void serialize() const;
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};
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#include <gtsam/geometry/Pose2.h>
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class Pose2 {
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// Standard Constructor
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Pose2();
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Pose2(const gtsam::Pose2& pose);
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Pose2(double x, double y, double theta);
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Pose2(double theta, const gtsam::Point2& t);
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Pose2(const gtsam::Rot2& r, const gtsam::Point2& t);
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Pose2(Vector v);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::Pose2& pose, double tol) const;
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// Group
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static gtsam::Pose2 identity();
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gtsam::Pose2 inverse() const;
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gtsam::Pose2 compose(const gtsam::Pose2& p2) const;
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gtsam::Pose2 between(const gtsam::Pose2& p2) const;
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// Manifold
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gtsam::Pose2 retract(Vector v) const;
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Vector localCoordinates(const gtsam::Pose2& p) const;
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// Lie Group
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static gtsam::Pose2 Expmap(Vector v);
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static Vector Logmap(const gtsam::Pose2& p);
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Matrix AdjointMap() const;
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Vector Adjoint(const Vector& xi) const;
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static Matrix wedge(double vx, double vy, double w);
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// Group Actions on Point2
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gtsam::Point2 transform_from(const gtsam::Point2& p) const;
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gtsam::Point2 transform_to(const gtsam::Point2& p) const;
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// Standard Interface
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double x() const;
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double y() const;
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double theta() const;
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gtsam::Rot2 bearing(const gtsam::Point2& point) const;
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double range(const gtsam::Point2& point) const;
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gtsam::Point2 translation() const;
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gtsam::Rot2 rotation() const;
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Matrix matrix() const;
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// enabling serialization functionality
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void serialize() const;
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};
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#include <gtsam/geometry/Pose3.h>
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class Pose3 {
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// Standard Constructors
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Pose3();
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Pose3(const gtsam::Pose3& pose);
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Pose3(const gtsam::Rot3& r, const gtsam::Point3& t);
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Pose3(const gtsam::Pose2& pose2); // FIXME: shadows Pose3(Pose3 pose)
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Pose3(Matrix t);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::Pose3& pose, double tol) const;
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// Group
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static gtsam::Pose3 identity();
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gtsam::Pose3 inverse() const;
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gtsam::Pose3 compose(const gtsam::Pose3& p2) const;
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gtsam::Pose3 between(const gtsam::Pose3& p2) const;
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// Manifold
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gtsam::Pose3 retract(Vector v) const;
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Vector localCoordinates(const gtsam::Pose3& T2) const;
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// Lie Group
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static gtsam::Pose3 Expmap(Vector v);
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static Vector Logmap(const gtsam::Pose3& p);
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Matrix AdjointMap() const;
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Vector Adjoint(Vector xi) const;
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static Matrix wedge(double wx, double wy, double wz, double vx, double vy, double vz);
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// Group Action on Point3
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gtsam::Point3 transform_from(const gtsam::Point3& p) const;
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gtsam::Point3 transform_to(const gtsam::Point3& p) const;
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// Standard Interface
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gtsam::Rot3 rotation() const;
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gtsam::Point3 translation() const;
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double x() const;
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double y() const;
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double z() const;
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Matrix matrix() const;
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gtsam::Pose3 transform_to(const gtsam::Pose3& pose) const; // FIXME: shadows other transform_to()
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double range(const gtsam::Point3& point);
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double range(const gtsam::Pose3& pose);
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// enabling serialization functionality
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void serialize() const;
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};
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//*************************************************************************
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// noise
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//*************************************************************************
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namespace noiseModel {
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#include <gtsam/linear/NoiseModel.h>
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virtual class Base {
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};
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virtual class Gaussian : gtsam::noiseModel::Base {
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static gtsam::noiseModel::Gaussian* SqrtInformation(Matrix R);
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static gtsam::noiseModel::Gaussian* Covariance(Matrix R);
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Matrix R() const;
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bool equals(gtsam::noiseModel::Base& expected, double tol);
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void print(string s) const;
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// enabling serialization functionality
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void serializable() const;
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};
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virtual class Diagonal : gtsam::noiseModel::Gaussian {
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static gtsam::noiseModel::Diagonal* Sigmas(Vector sigmas);
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static gtsam::noiseModel::Diagonal* Variances(Vector variances);
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static gtsam::noiseModel::Diagonal* Precisions(Vector precisions);
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Matrix R() const;
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void print(string s) const;
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// enabling serialization functionality
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void serializable() const;
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};
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virtual class Constrained : gtsam::noiseModel::Diagonal {
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static gtsam::noiseModel::Constrained* MixedSigmas(const Vector& mu, const Vector& sigmas);
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static gtsam::noiseModel::Constrained* MixedSigmas(double m, const Vector& sigmas);
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static gtsam::noiseModel::Constrained* MixedVariances(const Vector& mu, const Vector& variances);
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static gtsam::noiseModel::Constrained* MixedVariances(const Vector& variances);
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static gtsam::noiseModel::Constrained* MixedPrecisions(const Vector& mu, const Vector& precisions);
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static gtsam::noiseModel::Constrained* MixedPrecisions(const Vector& precisions);
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static gtsam::noiseModel::Constrained* All(size_t dim);
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static gtsam::noiseModel::Constrained* All(size_t dim, double mu);
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gtsam::noiseModel::Constrained* unit() const;
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// enabling serialization functionality
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void serializable() const;
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};
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virtual class Isotropic : gtsam::noiseModel::Diagonal {
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static gtsam::noiseModel::Isotropic* Sigma(size_t dim, double sigma);
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static gtsam::noiseModel::Isotropic* Variance(size_t dim, double varianace);
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static gtsam::noiseModel::Isotropic* Precision(size_t dim, double precision);
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void print(string s) const;
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// enabling serialization functionality
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void serializable() const;
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};
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virtual class Unit : gtsam::noiseModel::Isotropic {
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static gtsam::noiseModel::Unit* Create(size_t dim);
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void print(string s) const;
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// enabling serialization functionality
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void serializable() const;
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};
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namespace mEstimator {
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virtual class Base {
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};
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virtual class Null: gtsam::noiseModel::mEstimator::Base {
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Null();
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Null(const gtsam::noiseModel::mEstimator::Null& other);
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void print(string s) const;
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static gtsam::noiseModel::mEstimator::Null* Create();
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// enabling serialization functionality
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void serializable() const;
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};
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virtual class Fair: gtsam::noiseModel::mEstimator::Base {
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Fair(double c);
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Fair(const gtsam::noiseModel::mEstimator::Fair& other);
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void print(string s) const;
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static gtsam::noiseModel::mEstimator::Fair* Create(double c);
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// enabling serialization functionality
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void serializable() const;
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};
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virtual class Huber: gtsam::noiseModel::mEstimator::Base {
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Huber(double k);
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Huber(const gtsam::noiseModel::mEstimator::Huber& other);
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void print(string s) const;
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static gtsam::noiseModel::mEstimator::Huber* Create(double k);
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// enabling serialization functionality
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void serializable() const;
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};
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virtual class Tukey: gtsam::noiseModel::mEstimator::Base {
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Tukey(double k);
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Tukey(const gtsam::noiseModel::mEstimator::Tukey& other);
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void print(string s) const;
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static gtsam::noiseModel::mEstimator::Tukey* Create(double k);
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// enabling serialization functionality
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void serializable() const;
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};
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}///\namespace mEstimator
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virtual class Robust : gtsam::noiseModel::Base {
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Robust(const gtsam::noiseModel::mEstimator::Base* robust, const gtsam::noiseModel::Base* noise);
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Robust(const gtsam::noiseModel::Robust& other);
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static gtsam::noiseModel::Robust* Create(const gtsam::noiseModel::mEstimator::Base* robust, const gtsam::noiseModel::Base* noise);
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void print(string s) const;
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// enabling serialization functionality
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void serializable() const;
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};
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}///\namespace noiseModel
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#include <gtsam/linear/Sampler.h>
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class Sampler {
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//Constructors
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Sampler(gtsam::noiseModel::Diagonal* model, int seed);
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Sampler(Vector sigmas, int seed);
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Sampler(int seed);
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Sampler(const gtsam::Sampler& other);
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//Standard Interface
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size_t dim() const;
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Vector sigmas() const;
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gtsam::noiseModel::Diagonal* model() const;
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Vector sample();
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Vector sampleNewModel(gtsam::noiseModel::Diagonal* model);
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};
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#include <gtsam/linear/VectorValues.h>
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class VectorValues {
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//Constructors
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VectorValues();
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VectorValues(const gtsam::VectorValues& other);
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//Named Constructors
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static gtsam::VectorValues Zero(const gtsam::VectorValues& model);
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//Standard Interface
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size_t size() const;
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size_t dim(size_t j) const;
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bool exists(size_t j) const;
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void print(string s) const;
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bool equals(const gtsam::VectorValues& expected, double tol) const;
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void insert(size_t j, Vector value);
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Vector vector() const;
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Vector at(size_t j) const;
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void update(const gtsam::VectorValues& values);
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//Advanced Interface
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void setZero();
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gtsam::VectorValues add(const gtsam::VectorValues& c) const;
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void addInPlace(const gtsam::VectorValues& c);
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gtsam::VectorValues subtract(const gtsam::VectorValues& c) const;
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gtsam::VectorValues scale(double a) const;
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void scaleInPlace(double a);
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bool hasSameStructure(const gtsam::VectorValues& other) const;
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double dot(const gtsam::VectorValues& V) const;
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double norm() const;
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double squaredNorm() const;
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// enabling serialization functionality
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void serialize() const;
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};
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#include <gtsam/linear/GaussianFactor.h>
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virtual class GaussianFactor {
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gtsam::KeyVector keys() const;
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void print(string s) const;
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bool equals(const gtsam::GaussianFactor& lf, double tol) const;
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double error(const gtsam::VectorValues& c) const;
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gtsam::GaussianFactor* clone() const;
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gtsam::GaussianFactor* negate() const;
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Matrix augmentedInformation() const;
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Matrix information() const;
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Matrix augmentedJacobian() const;
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pair<Matrix, Vector> jacobian() const;
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size_t size() const;
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bool empty() const;
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};
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#include <gtsam/linear/JacobianFactor.h>
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virtual class JacobianFactor : gtsam::GaussianFactor {
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//Constructors
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JacobianFactor();
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JacobianFactor(const gtsam::GaussianFactor& factor);
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JacobianFactor(Vector b_in);
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JacobianFactor(size_t i1, Matrix A1, Vector b,
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const gtsam::noiseModel::Diagonal* model);
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JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, Vector b,
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const gtsam::noiseModel::Diagonal* model);
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JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, size_t i3, Matrix A3,
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Vector b, const gtsam::noiseModel::Diagonal* model);
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//JacobianFactor(const gtsam::GaussianFactorGraph& graph);
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JacobianFactor(const gtsam::JacobianFactor& other);
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//Testable
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void print(string s) const;
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void printKeys(string s) const;
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bool equals(const gtsam::GaussianFactor& lf, double tol) const;
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size_t size() const;
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Vector unweighted_error(const gtsam::VectorValues& c) const;
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Vector error_vector(const gtsam::VectorValues& c) const;
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double error(const gtsam::VectorValues& c) const;
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//Standard Interface
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Matrix getA() const;
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Vector getb() const;
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size_t rows() const;
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size_t cols() const;
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bool isConstrained() const;
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pair<Matrix, Vector> jacobianUnweighted() const;
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Matrix augmentedJacobianUnweighted() const;
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void transposeMultiplyAdd(double alpha, const Vector& e, gtsam::VectorValues& x) const;
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gtsam::JacobianFactor whiten() const;
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//pair<gtsam::GaussianConditional*, gtsam::JacobianFactor*> eliminate(const gtsam::Ordering& keys) const;
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void setModel(bool anyConstrained, const Vector& sigmas);
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gtsam::noiseModel::Diagonal* get_model() const;
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// enabling serialization functionality
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void serialize() const;
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};
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#include <gtsam/linear/HessianFactor.h>
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virtual class HessianFactor : gtsam::GaussianFactor {
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//Constructors
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HessianFactor();
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HessianFactor(const gtsam::GaussianFactor& factor);
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HessianFactor(size_t j, Matrix G, Vector g, double f);
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HessianFactor(size_t j, Vector mu, Matrix Sigma);
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HessianFactor(size_t j1, size_t j2, Matrix G11, Matrix G12, Vector g1, Matrix G22,
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Vector g2, double f);
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HessianFactor(size_t j1, size_t j2, size_t j3, Matrix G11, Matrix G12, Matrix G13,
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Vector g1, Matrix G22, Matrix G23, Vector g2, Matrix G33, Vector g3,
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double f);
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//HessianFactor(const gtsam::GaussianFactorGraph& factors);
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HessianFactor(const gtsam::HessianFactor& other);
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|
|
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//Testable
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size_t size() const;
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void print(string s) const;
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void printKeys(string s) const;
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bool equals(const gtsam::GaussianFactor& lf, double tol) const;
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double error(const gtsam::VectorValues& c) const;
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|
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//Standard Interface
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size_t rows() const;
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Matrix information() const;
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double constantTerm() const;
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Vector linearTerm() const;
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|
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// enabling serialization functionality
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void serialize() const;
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};
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|
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#include <gtsam/nonlinear/Values.h>
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class Values {
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Values();
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Values(const gtsam::Values& other);
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size_t size() const;
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bool empty() const;
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void clear();
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|
size_t dim() const;
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|
|
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void print(string s) const;
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bool equals(const gtsam::Values& other, double tol) const;
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|
|
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void insert(const gtsam::Values& values);
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void update(const gtsam::Values& values);
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|
void erase(size_t j);
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|
void swap(gtsam::Values& values);
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|
|
|
bool exists(size_t j) const;
|
|
gtsam::KeyVector keys() const;
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|
|
|
gtsam::VectorValues zeroVectors() const;
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|
|
|
gtsam::Values retract(const gtsam::VectorValues& delta) const;
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|
gtsam::VectorValues localCoordinates(const gtsam::Values& cp) const;
|
|
|
|
// enabling serialization functionality
|
|
void serialize() const;
|
|
|
|
// New in 4.0, we have to specialize every insert/update/at to generate wrappers
|
|
// Instead of the old:
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// void insert(size_t j, const gtsam::Value& value);
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// void update(size_t j, const gtsam::Value& val);
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|
// gtsam::Value at(size_t j) const;
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|
|
|
template <T = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
|
|
gtsam::Rot3, gtsam::Pose3}>
|
|
void insert(size_t j, const T& t);
|
|
|
|
template <T = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
|
|
gtsam::Rot3, gtsam::Pose3}>
|
|
void update(size_t j, const T& t);
|
|
|
|
template <T = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
|
|
gtsam::Rot3, gtsam::Pose3}>
|
|
T at(size_t j);
|
|
|
|
/// version for double
|
|
void insertDouble(size_t j, double c);
|
|
double atDouble(size_t j) const;
|
|
};
|
|
|
|
#include <gtsam/nonlinear/NonlinearFactor.h>
|
|
virtual class NonlinearFactor {
|
|
// Factor base class
|
|
size_t size() const;
|
|
gtsam::KeyVector keys() const;
|
|
void print(string s) const;
|
|
void printKeys(string s) const;
|
|
// NonlinearFactor
|
|
bool equals(const gtsam::NonlinearFactor& other, double tol) const;
|
|
|
|
double error(const gtsam::Values& c) const;
|
|
size_t dim() const;
|
|
bool active(const gtsam::Values& c) const;
|
|
gtsam::GaussianFactor* linearize(const gtsam::Values& c) const;
|
|
gtsam::NonlinearFactor* clone() const;
|
|
// gtsam::NonlinearFactor* rekey(const gtsam::KeyVector& newKeys) const; //FIXME: Conversion from KeyVector to std::vector does not happen
|
|
};
|
|
|
|
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
|
|
class NonlinearFactorGraph {
|
|
NonlinearFactorGraph();
|
|
NonlinearFactorGraph(const gtsam::NonlinearFactorGraph& graph);
|
|
|
|
// FactorGraph
|
|
void print(string s) const;
|
|
bool equals(const gtsam::NonlinearFactorGraph& fg, double tol) const;
|
|
size_t size() const;
|
|
bool empty() const;
|
|
void remove(size_t i);
|
|
size_t nrFactors() const;
|
|
gtsam::NonlinearFactor* at(size_t idx) const;
|
|
void push_back(const gtsam::NonlinearFactorGraph& factors);
|
|
void push_back(gtsam::NonlinearFactor* factor);
|
|
void add(gtsam::NonlinearFactor* factor);
|
|
bool exists(size_t idx) const;
|
|
// gtsam::KeySet keys() const;
|
|
|
|
// NonlinearFactorGraph
|
|
double error(const gtsam::Values& values) const;
|
|
double probPrime(const gtsam::Values& values) const;
|
|
//gtsam::Ordering orderingCOLAMD() const;
|
|
// Ordering* orderingCOLAMDConstrained(const gtsam::Values& c, const std::map<gtsam::Key,int>& constraints) const;
|
|
//gtsam::GaussianFactorGraph* linearize(const gtsam::Values& values) const;
|
|
gtsam::NonlinearFactorGraph clone() const;
|
|
|
|
// enabling serialization functionality
|
|
void serialize() const;
|
|
};
|
|
|
|
#include <gtsam/nonlinear/NonlinearFactor.h>
|
|
virtual class NoiseModelFactor: gtsam::NonlinearFactor {
|
|
void equals(const gtsam::NoiseModelFactor& other, double tol) const;
|
|
gtsam::noiseModel::Base* get_noiseModel() const; // deprecated by below
|
|
gtsam::noiseModel::Base* noiseModel() const;
|
|
Vector unwhitenedError(const gtsam::Values& x) const;
|
|
Vector whitenedError(const gtsam::Values& x) const;
|
|
};
|
|
|
|
#include <gtsam/slam/PriorFactor.h>
|
|
template<T = {Vector, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3}>
|
|
virtual class PriorFactor : gtsam::NoiseModelFactor {
|
|
PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
|
|
PriorFactor(const This& other);
|
|
T prior() const;
|
|
|
|
// enabling serialization functionality
|
|
void serialize() const;
|
|
};
|
|
|
|
|
|
#include <gtsam/slam/BetweenFactor.h>
|
|
template<T = {Vector, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3}>
|
|
virtual class BetweenFactor : gtsam::NoiseModelFactor {
|
|
BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel);
|
|
BetweenFactor(const This& other);
|
|
T measured() const;
|
|
|
|
// enabling serialization functionality
|
|
void serialize() const;
|
|
};
|
|
|
|
#include <gtsam/inference/Symbol.h>
|
|
size_t symbol(char chr, size_t index);
|
|
char symbolChr(size_t key);
|
|
size_t symbolIndex(size_t key);
|
|
|
|
#include <gtsam/inference/Key.h>
|
|
// Default keyformatter
|
|
void PrintKeyVector(const gtsam::KeyVector& keys);
|
|
void PrintKeyVector(const gtsam::KeyVector& keys, string s);
|
|
|
|
#include <gtsam/nonlinear/NonlinearOptimizer.h>
|
|
bool checkConvergence(double relativeErrorTreshold,
|
|
double absoluteErrorTreshold, double errorThreshold,
|
|
double currentError, double newError);
|
|
|
|
#include <gtsam/slam/dataset.h>
|
|
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
|
|
gtsam::noiseModel::Diagonal* model, int maxID, bool addNoise, bool smart);
|
|
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
|
|
gtsam::noiseModel::Diagonal* model, int maxID, bool addNoise);
|
|
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
|
|
gtsam::noiseModel::Diagonal* model, int maxID);
|
|
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
|
|
gtsam::noiseModel::Diagonal* model);
|
|
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename);
|
|
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D_robust(string filename,
|
|
gtsam::noiseModel::Base* model);
|
|
void save2D(const gtsam::NonlinearFactorGraph& graph,
|
|
const gtsam::Values& config, gtsam::noiseModel::Diagonal* model,
|
|
string filename);
|
|
|
|
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> readG2o(string filename);
|
|
void writeG2o(const gtsam::NonlinearFactorGraph& graph,
|
|
const gtsam::Values& estimate, string filename);
|
|
|
|
//*************************************************************************
|
|
// Utilities
|
|
//*************************************************************************
|
|
|
|
namespace utilities {
|
|
|
|
#include <gtsam/nonlinear/utilities.h>
|
|
// gtsam::KeyList createKeyList(Vector I);
|
|
// gtsam::KeyList createKeyList(string s, Vector I);
|
|
gtsam::KeyVector createKeyVector(Vector I);
|
|
gtsam::KeyVector createKeyVector(string s, Vector I);
|
|
// gtsam::KeySet createKeySet(Vector I);
|
|
// gtsam::KeySet createKeySet(string s, Vector I);
|
|
Matrix extractPoint2(const gtsam::Values& values);
|
|
Matrix extractPoint3(const gtsam::Values& values);
|
|
Matrix extractPose2(const gtsam::Values& values);
|
|
gtsam::Values allPose3s(gtsam::Values& values);
|
|
Matrix extractPose3(const gtsam::Values& values);
|
|
void perturbPoint2(gtsam::Values& values, double sigma, int seed);
|
|
void perturbPose2 (gtsam::Values& values, double sigmaT, double sigmaR, int seed);
|
|
void perturbPoint3(gtsam::Values& values, double sigma, int seed);
|
|
// void insertBackprojections(gtsam::Values& values, const gtsam::SimpleCamera& c, Vector J, Matrix Z, double depth);
|
|
// void insertProjectionFactors(gtsam::NonlinearFactorGraph& graph, size_t i, Vector J, Matrix Z, const gtsam::noiseModel::Base* model, const gtsam::Cal3_S2* K);
|
|
// void insertProjectionFactors(gtsam::NonlinearFactorGraph& graph, size_t i, Vector J, Matrix Z, const gtsam::noiseModel::Base* model, const gtsam::Cal3_S2* K, const gtsam::Pose3& body_P_sensor);
|
|
Matrix reprojectionErrors(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values);
|
|
gtsam::Values localToWorld(const gtsam::Values& local, const gtsam::Pose2& base);
|
|
gtsam::Values localToWorld(const gtsam::Values& local, const gtsam::Pose2& base, const gtsam::KeyVector& keys);
|
|
|
|
} //\namespace utilities
|
|
} //\namespace gtsam
|