Functions
Values	allPose2s (const Values &values)
	Extract all Pose3 values. More...

Values	allPose3s (const Values &values)
	Extract all Pose3 values. More...

FastList< Key >	createKeyList (const Vector &I)

FastList< Key >	createKeyList (std::string s, const Vector &I)

KeySet	createKeySet (const Vector &I)

KeySet	createKeySet (std::string s, const Vector &I)

KeyVector	createKeyVector (const Vector &I)

KeyVector	createKeyVector (std::string s, const Vector &I)

Matrix	extractPoint2 (const Values &values)
	Extract all Point2 values into a single matrix [x y]. More...

Matrix	extractPoint3 (const Values &values)
	Extract all Point3 values into a single matrix [x y z]. More...

Matrix	extractPose2 (const Values &values)
	Extract all Pose2 values into a single matrix [x y theta]. More...

Matrix	extractPose3 (const Values &values)
	Extract all Pose3 values into a single matrix [r11 r12 r13 r21 r22 r23 r31 r32 r33 x y z]. More...

void	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	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...

Values	localToWorld (const Values &local, const Pose2 &base, const KeyVector user_keys=KeyVector())
	Convert from local to world coordinates. More...

void	perturbPoint2 (Values &values, double sigma, int32_t seed=42u)
	Perturb all Point2 values using normally distributed noise. More...

void	perturbPoint3 (Values &values, double sigma, int32_t seed=42u)
	Perturb all Point3 values using normally distributed noise. More...

void	perturbPose2 (Values &values, double sigmaT, double sigmaR, int32_t seed=42u)
	Perturb all Pose2 values using normally distributed noise. More...

Matrix	reprojectionErrors (const NonlinearFactorGraph &graph, const Values &values)
	Calculate the errors of all projection factors in a graph. More...

Function Documentation

Values gtsam::utilities::allPose2s ( const Values & values )

Extract all Pose3 values.

Definition at line 111 of file nonlinear/utilities.h.

Values gtsam::utilities::allPose3s ( const Values & values )

Extract all Pose3 values.

Definition at line 126 of file nonlinear/utilities.h.

FastList<Key> gtsam::utilities::createKeyList ( const Vector & I )

Definition at line 40 of file nonlinear/utilities.h.

FastList<Key> gtsam::utilities::createKeyList	(	std::string	s,
		const Vector &	I
	)

Definition at line 48 of file nonlinear/utilities.h.

KeySet gtsam::utilities::createKeySet ( const Vector & I )

Definition at line 74 of file nonlinear/utilities.h.

KeySet gtsam::utilities::createKeySet	(	std::string	s,
		const Vector &	I
	)

Definition at line 82 of file nonlinear/utilities.h.

KeyVector gtsam::utilities::createKeyVector ( const Vector & I )

Definition at line 57 of file nonlinear/utilities.h.

KeyVector gtsam::utilities::createKeyVector	(	std::string	s,
		const Vector &	I
	)

Definition at line 65 of file nonlinear/utilities.h.

Matrix gtsam::utilities::extractPoint2 ( const Values & values )

Extract all Point2 values into a single matrix [x y].

Definition at line 91 of file nonlinear/utilities.h.

Matrix gtsam::utilities::extractPoint3 ( const Values & values )

Extract all Point3 values into a single matrix [x y z].

Definition at line 101 of file nonlinear/utilities.h.

Matrix gtsam::utilities::extractPose2 ( const Values & values )

Extract all Pose2 values into a single matrix [x y theta].

Definition at line 116 of file nonlinear/utilities.h.

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].

Definition at line 131 of file nonlinear/utilities.h.

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.

Definition at line 177 of file nonlinear/utilities.h.

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.

Definition at line 192 of file nonlinear/utilities.h.

Values gtsam::utilities::localToWorld	(	const Values &	local,
		const Pose2 &	base,
		const KeyVector	user_keys = `KeyVector()`
	)

Convert from local to world coordinates.

Definition at line 229 of file nonlinear/utilities.h.

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

Perturb all Point2 values using normally distributed noise.

Definition at line 146 of file nonlinear/utilities.h.

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

Perturb all Point3 values using normally distributed noise.

Definition at line 167 of file nonlinear/utilities.h.

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

Perturb all Pose2 values using normally distributed noise.

Definition at line 156 of file nonlinear/utilities.h.

Matrix gtsam::utilities::reprojectionErrors	(	const NonlinearFactorGraph &	graph,
		const Values &	values
	)

Calculate the errors of all projection factors in a graph.

Definition at line 208 of file nonlinear/utilities.h.

Functions

Function Documentation