utilities.h File Reference

Contains generic global functions designed particularly for the matlab interface. More...

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Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Functions
FastList< Key >	gtsam::utilities::createKeyList (const Vector &I)
FastList< Key >	gtsam::utilities::createKeyList (std::string s, const Vector &I)
KeyVector	gtsam::utilities::createKeyVector (const Vector &I)
KeyVector	gtsam::utilities::createKeyVector (std::string s, const Vector &I)
KeySet	gtsam::utilities::createKeySet (const Vector &I)
KeySet	gtsam::utilities::createKeySet (std::string s, const Vector &I)
Matrix	gtsam::utilities::extractPoint2 (const Values &values)
	Extract all Point2 values into a single matrix [x y].
Matrix	gtsam::utilities::extractPoint3 (const Values &values)
	Extract all Point3 values into a single matrix [x y z].
Values	gtsam::utilities::allPose2s (const Values &values)
	Extract all Pose3 values.
Matrix	gtsam::utilities::extractPose2 (const Values &values)
	Extract all Pose2 values into a single matrix [x y theta].
Values	gtsam::utilities::allPose3s (const Values &values)
	Extract all Pose3 values.
Matrix	gtsam::utilities::extractPose3 (const Values &values)
	Extract all Pose3 values into a single matrix [r11 r12 r13 r21 r22 r23 r31 r32 r33 x y z].
Matrix	gtsam::utilities::extractVectors (const Values &values, char c)
	Extract all Vector values with a given symbol character into an mxn matrix, where m is the number of symbols that match the character and n is the dimension of the variables.
void	gtsam::utilities::perturbPoint2 (Values &values, double sigma, int32_t seed=42u)
	Perturbs all 2D point values in a Values container using isotropic Gaussian noise.
void	gtsam::utilities::perturbPose2 (Values &values, double sigmaT, double sigmaR, int32_t seed=42u)
	Perturbs all 2D pose values (Pose2) in a Values container using diagonal Gaussian noise.
void	gtsam::utilities::perturbPoint3 (Values &values, double sigma, int32_t seed=42u)
	Perturbs all 3D point values in a Values container using isotropic Gaussian noise.
void	gtsam::utilities::perturbPose3 (Values &values, double sigmaT, double sigmaR, int32_t seed=42u)
	Perturbs all 3D pose values (Pose3) in a Values container using diagonal Gaussian noise.
void	gtsam::utilities::insertBackprojections (Values &values, const PinholeCamera< Cal3_S2 > &camera, const Vector &J, ConstMatrixView Z, double depth)
	Insert a number of initial point values by backprojecting.
void	gtsam::utilities::insertProjectionFactors (NonlinearFactorGraph &graph, Key i, const Vector &J, ConstMatrixView Z, const SharedNoiseModel &model, const Cal3_S2::shared_ptr K, const Pose3 &body_P_sensor=Pose3())
	Insert multiple projection factors for a single pose key.
Matrix	gtsam::utilities::reprojectionErrors (const NonlinearFactorGraph &graph, const Values &values)
	Calculate the errors of all projection factors in a graph.
Values	gtsam::utilities::localToWorld (const Values &local, const Pose2 &base, const KeyVector user_keys=KeyVector())
	Convert from local to world coordinates.

Detailed Description

Contains generic global functions designed particularly for the matlab interface.

Author

Stephen Williams

Function Documentation

extractVectors()

Matrix gtsam::utilities::extractVectors	(	const Values &	values,
		char	c )

Extract all Vector values with a given symbol character into an mxn matrix, where m is the number of symbols that match the character and n is the dimension of the variables.

If not all variables have dimension n, then a runtime error will be thrown. The order of returned values are sorted by the symbol. For example, calling extractVector(values, 'x'), where values contains 200 variables x1, x2, ..., x200 of type Vector each 5-dimensional, will return a 200x5 matrix with row i containing xi.

insertBackprojections()

void gtsam::utilities::insertBackprojections	(	Values &	values,
		const PinholeCamera< Cal3_S2 > &	camera,
		const Vector &	J,
		ConstMatrixView	Z,
		double	depth )

Insert a number of initial point values by backprojecting.

Parameters

values	The values dict to insert the backprojections to.
camera	The camera model.
J	Vector of key indices.
Z	2*J matrix of pixel values.
depth	Initial depth value.

insertProjectionFactors()

void gtsam::utilities::insertProjectionFactors	(	NonlinearFactorGraph &	graph,
		Key	i,
		const Vector &	J,
		ConstMatrixView	Z,
		const SharedNoiseModel &	model,
		const Cal3_S2::shared_ptr	K,
		const Pose3 &	body_P_sensor = Pose3() )

Insert multiple projection factors for a single pose key.

Parameters

graph	The nonlinear factor graph to add the factors to.
i	Camera key.
J	Vector of key indices.
Z	2*J matrix of pixel values.
model	Factor noise model.
K	Calibration matrix.
body_P_sensor	Pose of the camera sensor in the body frame.

perturbPoint2()

void gtsam::utilities::perturbPoint2	(	Values &	values,
		double	sigma,
		int32_t	seed = 42u )

Perturbs all 2D point values in a Values container using isotropic Gaussian noise.

This updates in-place both Point2 entries and any Vector entries of size 2 by adding zero-mean Gaussian noise with the given standard deviation.

Parameters

values	Values whose Point2/2D Vector entries will be perturbed.
sigma	Standard deviation of the isotropic Gaussian noise applied.
seed	Random seed used by the Sampler (default 42u).

perturbPoint3()

void gtsam::utilities::perturbPoint3	(	Values &	values,
		double	sigma,
		int32_t	seed = 42u )

Perturbs all 3D point values in a Values container using isotropic Gaussian noise.

This updates in-place both Point3 entries and any Vector entries of size 3 by adding zero-mean Gaussian noise with the given standard deviation.

Parameters

values	Values whose Point3 and 3D Vector entries will be perturbed.
sigma	Standard deviation of the isotropic Gaussian noise applied.
seed	Random seed used by the Sampler (default 42u).

perturbPose2()

void gtsam::utilities::perturbPose2	(	Values &	values,
		double	sigmaT,
		double	sigmaR,
		int32_t	seed = 42u )

Perturbs all 2D pose values (Pose2) in a Values container using diagonal Gaussian noise.

The translational components (x, y) are perturbed with sigmaT, and the rotational component (theta) is perturbed with sigmaR.

Parameters

values	Values container whose Pose2 entries will be perturbed.
sigmaT	Standard deviation for translational noise.
sigmaR	Standard deviation for rotational noise (applied to theta).
seed	Random seed used by the Sampler (default 42u).

perturbPose3()

void gtsam::utilities::perturbPose3	(	Values &	values,
		double	sigmaT,
		double	sigmaR,
		int32_t	seed = 42u )

Perturbs all 3D pose values (Pose3) in a Values container using diagonal Gaussian noise.

The noise is applied in the tangent space order [rx, ry, rz, tx, ty, tz], where rotational components are perturbed with sigmaR and translational components with sigmaT.

Parameters

values	Values container whose Pose3 entries will be perturbed.
sigmaT	Standard deviation for translational noise.
sigmaR	Standard deviation for rotational noise.
seed	Random seed used by the Sampler (default 42u).