gtsam.examples.Pose2SLAMExample_g2o Namespace Reference

Functions
def	vector3 (x, y, z)

Variables
	_
	action
	args = parser.parse_args()
	choices
	default
	g2oFile = gtsam.findExampleDataFile("noisyToyGraph.txt")ifargs.inputisNone\
	graph
	graphNoKernel
	help
	initial
bool	is3D = False
int	maxIterations = 100
	optimizer = gtsam.GaussNewtonOptimizer(graph, initial, params)
	outputFile = args.output
	params = gtsam.GaussNewtonParams()
	parser
	priorModel = gtsam.noiseModel.Diagonal.Variances(vector3(1e-6, 1e-6, 1e-8))
	result = optimizer.optimize()
	resultPoses = gtsam.utilities.extractPose2(result)
	type

Detailed Description

GTSAM Copyright 2010-2018, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved
Authors: Frank Dellaert, et al. (see THANKS for the full author list)

See LICENSE for the license information

A 2D Pose SLAM example that reads input from g2o, converts it to a factor graph
and does the optimization. Output is written on a file, in g2o format

Function Documentation

def gtsam.examples.Pose2SLAMExample_g2o.vector3	(		x,
			y,
			z
	)

Create 3d double numpy array.

Definition at line 24 of file Pose2SLAMExample_g2o.py.

Variable Documentation

gtsam.examples.Pose2SLAMExample_g2o._

private

Definition at line 80 of file Pose2SLAMExample_g2o.py.

gtsam.examples.Pose2SLAMExample_g2o.action

Definition at line 40 of file Pose2SLAMExample_g2o.py.

gtsam.examples.Pose2SLAMExample_g2o.args = parser.parse_args()

Definition at line 42 of file Pose2SLAMExample_g2o.py.

gtsam.examples.Pose2SLAMExample_g2o.choices

Definition at line 38 of file Pose2SLAMExample_g2o.py.

gtsam.examples.Pose2SLAMExample_g2o.default

Definition at line 39 of file Pose2SLAMExample_g2o.py.

gtsam.examples.Pose2SLAMExample_g2o.g2oFile = gtsam.findExampleDataFile("noisyToyGraph.txt")ifargs.inputisNone\

Definition at line 44 of file Pose2SLAMExample_g2o.py.

gtsam.examples.Pose2SLAMExample_g2o.graph

Definition at line 51 of file Pose2SLAMExample_g2o.py.

gtsam.examples.Pose2SLAMExample_g2o.graphNoKernel

Definition at line 80 of file Pose2SLAMExample_g2o.py.

gtsam.examples.Pose2SLAMExample_g2o.help

Definition at line 33 of file Pose2SLAMExample_g2o.py.

gtsam.examples.Pose2SLAMExample_g2o.initial

Definition at line 51 of file Pose2SLAMExample_g2o.py.

bool gtsam.examples.Pose2SLAMExample_g2o.is3D = False

Definition at line 49 of file Pose2SLAMExample_g2o.py.

int gtsam.examples.Pose2SLAMExample_g2o.maxIterations = 100

Definition at line 47 of file Pose2SLAMExample_g2o.py.

gtsam.examples.Pose2SLAMExample_g2o.optimizer = gtsam.GaussNewtonOptimizer(graph, initial, params)

Definition at line 64 of file Pose2SLAMExample_g2o.py.

gtsam.examples.Pose2SLAMExample_g2o.outputFile = args.output

Definition at line 78 of file Pose2SLAMExample_g2o.py.

gtsam.examples.Pose2SLAMExample_g2o.params = gtsam.GaussNewtonParams()

Definition at line 59 of file Pose2SLAMExample_g2o.py.

gtsam.examples.Pose2SLAMExample_g2o.parser

Initial value:

= argparse.ArgumentParser(
    description="A 2D Pose SLAM example that reads input from g2o, "
                "converts it to a factor graph and does the optimization. "
                "Output is written on a file, in g2o format")

Definition at line 29 of file Pose2SLAMExample_g2o.py.

gtsam.examples.Pose2SLAMExample_g2o.priorModel = gtsam.noiseModel.Diagonal.Variances(vector3(1e-6, 1e-6, 1e-8))

Definition at line 56 of file Pose2SLAMExample_g2o.py.

gtsam.examples.Pose2SLAMExample_g2o.result = optimizer.optimize()

Definition at line 66 of file Pose2SLAMExample_g2o.py.

gtsam.examples.Pose2SLAMExample_g2o.resultPoses = gtsam.utilities.extractPose2(result)

Definition at line 85 of file Pose2SLAMExample_g2o.py.

gtsam.examples.Pose2SLAMExample_g2o.type

Definition at line 36 of file Pose2SLAMExample_g2o.py.