Classes
class	City10000Dataset

class	Experiment

Functions
def	main ()

def	parse_arguments ()

def	plot_all_results (ground_truth, all_results, iters=0, estimate_color=(0.1, 0.1, 0.9, 0.4), estimate_label="Hybrid Factor Graphs", text="", filename="city10000_results.svg")

Variables
	open_loop_constant = open_loop_model.negLogConstant()

	open_loop_model = gtsam.noiseModel.Diagonal.Sigmas(np.ones(3) * 10)

	pose_noise_constant = pose_noise_model.negLogConstant()

	pose_noise_model

	prior_noise_model

Detailed Description

GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved

See LICENSE for the license information

Script for running hybrid estimator on the City10000 dataset.

Author: Varun Agrawal

Function Documentation

◆ main()

def gtsam.examples.HybridCity10000.main ( )

Main runner

Definition at line 479 of file HybridCity10000.py.

◆ parse_arguments()

def gtsam.examples.HybridCity10000.parse_arguments ( )

Parse command line arguments

Definition at line 26 of file HybridCity10000.py.

◆ plot_all_results()

def gtsam.examples.HybridCity10000.plot_all_results	(	ground_truth,
		all_results,
		iters = `0`,
		estimate_color = `(0.1, 0.1, 0.9, 0.4)`,
		estimate_label = `"Hybrid Factor Graphs"`,
		text = `""`,
		filename = `"city10000_results.svg"`
	)

Plot the City10000 estimates against the ground truth.

Args:
    ground_truth: The ground truth trajectory as xy values.
    all_results (List[Tuple(np.ndarray, str)]): All the estimates trajectory as xy values,
        as well as assginment strings.
    estimate_color (tuple, optional): The color to use for the graph of estimates.
        Defaults to (0.1, 0.1, 0.9, 0.4).
    estimate_label (str, optional): Label for the estimates, used in the legend.
        Defaults to "Hybrid Factor Graphs".

Definition at line 118 of file HybridCity10000.py.

Variable Documentation

◆ open_loop_constant

gtsam.examples.HybridCity10000.open_loop_constant = open_loop_model.negLogConstant()

Definition at line 61 of file HybridCity10000.py.

◆ open_loop_model

gtsam.examples.HybridCity10000.open_loop_model = gtsam.noiseModel.Diagonal.Sigmas(np.ones(3) * 10)

Definition at line 60 of file HybridCity10000.py.

◆ pose_noise_constant

gtsam.examples.HybridCity10000.pose_noise_constant = pose_noise_model.negLogConstant()

Definition at line 68 of file HybridCity10000.py.

◆ pose_noise_model

gtsam.examples.HybridCity10000.pose_noise_model

Initial value:

1 = gtsam.noiseModel.Diagonal.Sigmas(

2 np.asarray([1.0 / 20.0, 1.0 / 20.0, 1.0 / 100.0]))

Definition at line 66 of file HybridCity10000.py.

◆ prior_noise_model

gtsam.examples.HybridCity10000.prior_noise_model