Functions
gtsam::utilities Namespace Reference

Functions

Values allPose2s (const Values &values)
 Extract all Pose3 values. More...
 
Values allPose3s (const Values &values)
 Extract all Pose3 values. More...
 
FastList< KeycreateKeyList (const Vector &I)
 
FastList< KeycreateKeyList (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...
 
Matrix extractVectors (const Values &values, char c)
 
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

◆ allPose2s()

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

Extract all Pose3 values.

Definition at line 132 of file nonlinear/utilities.h.

◆ allPose3s()

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

Extract all Pose3 values.

Definition at line 150 of file nonlinear/utilities.h.

◆ createKeyList() [1/2]

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

Definition at line 41 of file nonlinear/utilities.h.

◆ createKeyList() [2/2]

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

Definition at line 49 of file nonlinear/utilities.h.

◆ createKeySet() [1/2]

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

Definition at line 75 of file nonlinear/utilities.h.

◆ createKeySet() [2/2]

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

Definition at line 83 of file nonlinear/utilities.h.

◆ createKeyVector() [1/2]

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

Definition at line 58 of file nonlinear/utilities.h.

◆ createKeyVector() [2/2]

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

Definition at line 66 of file nonlinear/utilities.h.

◆ extractPoint2()

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

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

Definition at line 92 of file nonlinear/utilities.h.

◆ extractPoint3()

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

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

Definition at line 112 of file nonlinear/utilities.h.

◆ extractPose2()

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

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

Definition at line 140 of file nonlinear/utilities.h.

◆ extractPose3()

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 158 of file nonlinear/utilities.h.

◆ extractVectors()

Matrix gtsam::utilities::extractVectors ( const Values values,
char  c 
)

Extract all Vector values with a given symbol character into an mxn matrix, where m is the number of symbols that match the character and n is the dimension of the variables. If not all variables have dimension n, then a runtime error will be thrown. The order of returned values are sorted by the symbol. For example, calling extractVector(values, 'x'), where values contains 200 variables x1, x2, ..., x200 of type Vector each 5-dimensional, will return a 200x5 matrix with row i containing xi.

Definition at line 180 of file nonlinear/utilities.h.

◆ insertBackprojections()

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.

Parameters
valuesThe values dict to insert the backprojections to.
cameraThe camera model.
JVector of key indices.
Z2*J matrix of pixel values.
depthInitial depth value.

Definition at line 253 of file nonlinear/utilities.h.

◆ insertProjectionFactors()

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.

Parameters
graphThe nonlinear factor graph to add the factors to.
iCamera key.
JVector of key indices.
Z2*J matrix of pixel values.
modelFactor noise model.
KCalibration matrix.
body_P_sensorPose of the camera sensor in the body frame.

Definition at line 278 of file nonlinear/utilities.h.

◆ localToWorld()

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

Convert from local to world coordinates.

Definition at line 315 of file nonlinear/utilities.h.

◆ perturbPoint2()

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

Perturb all Point2 values using normally distributed noise.

Definition at line 200 of file nonlinear/utilities.h.

◆ perturbPoint3()

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

Perturb all Point3 values using normally distributed noise.

Definition at line 228 of file nonlinear/utilities.h.

◆ perturbPose2()

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 217 of file nonlinear/utilities.h.

◆ reprojectionErrors()

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

Calculate the errors of all projection factors in a graph.

Definition at line 294 of file nonlinear/utilities.h.



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autogenerated on Sat Nov 16 2024 04:16:45