Namespaces | Functions
nonlinear/utilities.h File Reference

Contains generic global functions designed particularly for the matlab interface. More...

#include <gtsam/inference/Symbol.h>
#include <gtsam/slam/ProjectionFactor.h>
#include <gtsam/linear/Sampler.h>
#include <gtsam/linear/VectorValues.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <exception>
Include dependency graph for nonlinear/utilities.h:

Go to the source code of this file.

Namespaces

 gtsam
 traits
 
 gtsam::utilities
 

Functions

Values gtsam::utilities::allPose2s (const Values &values)
 Extract all Pose3 values. More...
 
Values gtsam::utilities::allPose3s (const Values &values)
 Extract all Pose3 values. More...
 
FastList< Key > gtsam::utilities::createKeyList (const Vector &I)
 
FastList< Key > gtsam::utilities::createKeyList (std::string s, const Vector &I)
 
KeySet gtsam::utilities::createKeySet (const Vector &I)
 
KeySet gtsam::utilities::createKeySet (std::string s, const Vector &I)
 
KeyVector gtsam::utilities::createKeyVector (const Vector &I)
 
KeyVector gtsam::utilities::createKeyVector (std::string s, const Vector &I)
 
Matrix gtsam::utilities::extractPoint2 (const Values &values)
 Extract all Point2 values into a single matrix [x y]. More...
 
Matrix gtsam::utilities::extractPoint3 (const Values &values)
 Extract all Point3 values into a single matrix [x y z]. More...
 
Matrix gtsam::utilities::extractPose2 (const Values &values)
 Extract all Pose2 values into a single matrix [x y theta]. More...
 
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]. More...
 
Matrix gtsam::utilities::extractVectors (const Values &values, char c)
 
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. More...
 
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. More...
 
Values gtsam::utilities::localToWorld (const Values &local, const Pose2 &base, const KeyVector user_keys=KeyVector())
 Convert from local to world coordinates. More...
 
void gtsam::utilities::perturbPoint2 (Values &values, double sigma, int32_t seed=42u)
 Perturb all Point2 values using normally distributed noise. More...
 
void gtsam::utilities::perturbPoint3 (Values &values, double sigma, int32_t seed=42u)
 Perturb all Point3 values using normally distributed noise. More...
 
void gtsam::utilities::perturbPose2 (Values &values, double sigmaT, double sigmaR, int32_t seed=42u)
 Perturb all Pose2 values using normally distributed noise. More...
 
Matrix gtsam::utilities::reprojectionErrors (const NonlinearFactorGraph &graph, const Values &values)
 Calculate the errors of all projection factors in a graph. More...
 

Detailed Description

Contains generic global functions designed particularly for the matlab interface.

Author
Stephen Williams

Definition in file nonlinear/utilities.h.



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autogenerated on Sat Nov 16 2024 04:09:55