utilities.h File Reference

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

Go to the source code of this file.

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].
void	gtsam::utilities::perturbPoint2 (Values &values, double sigma, int32_t seed=42u)
	Perturb all Point2 values using normally distributed noise.
void	gtsam::utilities::perturbPose2 (Values &values, double sigmaT, double sigmaR, int32_t seed=42u)
	Perturb all Pose2 values using normally distributed noise.
void	gtsam::utilities::perturbPoint3 (Values &values, double sigma, int32_t seed=42u)
	Perturb all Point3 values using normally distributed noise.
void	gtsam::utilities::insertBackprojections (Values &values, const PinholeCamera< Cal3_S2 > &camera, const Vector &J, const Matrix &Z, double depth)
	Insert a number of initial point values by backprojecting. More...
void	gtsam::utilities::insertProjectionFactors (NonlinearFactorGraph &graph, Key i, const Vector &J, const Matrix &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. More...
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

insertBackprojections()

void gtsam::utilities::insertBackprojections	(	Values &	values,
		const PinholeCamera< Cal3_S2 > &	camera,
		const Vector &	J,
		const Matrix &	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,
		const Matrix &	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.