Classes | |
class | TestSim3 |
Functions | |
Similarity3 | align_poses_sim3 (List[Pose3] aTi_list, List[Pose3] bTi_list) |
Similarity3 | align_poses_sim3_ignore_missing (List[Optional[Pose3]] aTi_list, List[Optional[Pose3]] bTi_list) |
GTSAM Copyright 2010-2019, Georgia Tech Research Corporation, Atlanta, Georgia 30332-0415 All Rights Reserved See LICENSE for the license information Sim3 unit tests. Author: John Lambert
Similarity3 test_Sim3.align_poses_sim3 | ( | List[Pose3] | aTi_list, |
List[Pose3] | bTi_list | ||
) |
Align two pose graphs via similarity transformation. Note: poses cannot be missing/invalid. We force SIM(3) alignment rather than SE(3) alignment. We assume the two trajectories are of the exact same length. Args: aTi_list: reference poses in frame "a" which are the targets for alignment bTi_list: input poses which need to be aligned to frame "a" Returns: aSb: Similarity(3) object that aligns the two pose graphs.
Definition at line 675 of file test_Sim3.py.
Similarity3 test_Sim3.align_poses_sim3_ignore_missing | ( | List[Optional[Pose3]] | aTi_list, |
List[Optional[Pose3]] | bTi_list | ||
) |
Align by similarity transformation, but allow missing estimated poses in the input. Note: this is a wrapper for align_poses_sim3() that allows for missing poses/dropped cameras. This is necessary, as align_poses_sim3() requires a valid pose for every input pair. We force SIM(3) alignment rather than SE(3) alignment. We assume the two trajectories are of the exact same length. Args: aTi_list: reference poses in frame "a" which are the targets for alignment bTi_list: input poses which need to be aligned to frame "a" Returns: aSb: Similarity(3) object that aligns the two pose graphs.
Definition at line 643 of file test_Sim3.py.