gtsam.examples.IMUKittiExampleGPS Namespace Reference

Classes
class	GpsMeasurement
class	ImuMeasurement
class	KittiCalibration

Functions
def	getImuParams (KittiCalibration kitti_calibration)
List[GpsMeasurement]	loadGpsData (str gps_data_file)
List[ImuMeasurement]	loadImuData (str imu_data_file)
Tuple[KittiCalibration, List[ImuMeasurement], List[GpsMeasurement]]	loadKittiData (str imu_data_file="KittiEquivBiasedImu.txt", str gps_data_file="KittiGps_converted.txt", str imu_metadata_file="KittiEquivBiasedImu_metadata.txt")
def	main ()
gtsam.ISAM2	optimize (List[GpsMeasurement] gps_measurements, List[ImuMeasurement] imu_measurements, gtsam.noiseModel.Diagonal sigma_init_x, gtsam.noiseModel.Diagonal sigma_init_v, gtsam.noiseModel.Diagonal sigma_init_b, gtsam.noiseModel.Diagonal noise_model_gps, KittiCalibration kitti_calibration, int first_gps_pose, int gps_skip)
argparse.Namespace	parse_args ()
def	save_results (gtsam.ISAM2 isam, str output_filename, int first_gps_pose, List[GpsMeasurement] gps_measurements)

Variables
float	GRAVITY = 9.8

Detailed Description

Example of application of ISAM2 for GPS-aided navigation on the KITTI VISION BENCHMARK SUITE

Author: Varun Agrawal

Function Documentation

getImuParams()

def gtsam.examples.IMUKittiExampleGPS.getImuParams

(

KittiCalibration

kitti_calibration

)

Get the IMU parameters from the KITTI calibration data.

Definition at line 117 of file IMUKittiExampleGPS.py.

loadGpsData()

List[GpsMeasurement] gtsam.examples.IMUKittiExampleGPS.loadGpsData

(

str

gps_data_file

)

Helper to load the GPS data.

Definition at line 72 of file IMUKittiExampleGPS.py.

loadImuData()

List[ImuMeasurement] gtsam.examples.IMUKittiExampleGPS.loadImuData

(

str

imu_data_file

)

Helper to load the IMU data.

Definition at line 51 of file IMUKittiExampleGPS.py.

loadKittiData()

Tuple[KittiCalibration, List[ImuMeasurement], List[GpsMeasurement]] gtsam.examples.IMUKittiExampleGPS.loadKittiData	(	str	imu_data_file = "KittiEquivBiasedImu.txt",
		str	gps_data_file = "KittiGps_converted.txt",
		str	imu_metadata_file = "KittiEquivBiasedImu_metadata.txt"
	)

Load the KITTI Dataset.

Definition at line 90 of file IMUKittiExampleGPS.py.

main()

def gtsam.examples.IMUKittiExampleGPS.main

(

)

Main runner.

Definition at line 334 of file IMUKittiExampleGPS.py.

optimize()

gtsam.ISAM2 gtsam.examples.IMUKittiExampleGPS.optimize	(	List[GpsMeasurement]	gps_measurements,
		List[ImuMeasurement]	imu_measurements,
		gtsam.noiseModel.Diagonal	sigma_init_x,
		gtsam.noiseModel.Diagonal	sigma_init_v,
		gtsam.noiseModel.Diagonal	sigma_init_b,
		gtsam.noiseModel.Diagonal	noise_model_gps,
		KittiCalibration	kitti_calibration,
		int	first_gps_pose,
		int	gps_skip
	)

Run ISAM2 optimization on the measurements.

Definition at line 183 of file IMUKittiExampleGPS.py.

parse_args()

argparse.Namespace gtsam.examples.IMUKittiExampleGPS.parse_args

(

)

Parse command line arguments.

Definition at line 175 of file IMUKittiExampleGPS.py.

save_results()

def gtsam.examples.IMUKittiExampleGPS.save_results	(	gtsam.ISAM2	isam,
		str	output_filename,
		int	first_gps_pose,
		List[GpsMeasurement]	gps_measurements
	)

Write the results from `isam` to `output_filename`.

Definition at line 142 of file IMUKittiExampleGPS.py.

Variable Documentation

GRAVITY

float gtsam.examples.IMUKittiExampleGPS.GRAVITY = 9.8

Definition at line 14 of file IMUKittiExampleGPS.py.