gtsam.examples.Pose3SLAMExample_g2o Namespace Reference

Functions
def	vector6 (x, y, z, a, b, c)

Variables
	_
	action
	args = parser.parse_args()
	firstKey = initial.keys()[0]
	g2oFile = gtsam.findExampleDataFile("pose3example.txt")ifargs.inputisNone\
	graph
	graphNoKernel
	help
	initial
bool	is3D = True
	optimizer = gtsam.GaussNewtonOptimizer(graph, initial, params)
	outputFile = args.output
	params = gtsam.GaussNewtonParams()
	parser
	priorModel
	result = optimizer.optimize()
	resultPoses = gtsam.utilities.allPose3s(result)

Detailed Description

 * @file Pose3SLAMExample_initializePose3.cpp
 * @brief A 3D Pose SLAM example that reads input from g2o, and initializes the
 *  Pose3 using InitializePose3
 * @date Jan 17, 2019
 * @author Vikrant Shah based on CPP example by Luca Carlone

Function Documentation

def gtsam.examples.Pose3SLAMExample_g2o.vector6	(		x,
			y,
			z,
			a,
			b,
			c
	)

Create 6d double numpy array.

Definition at line 20 of file Pose3SLAMExample_g2o.py.

Variable Documentation

gtsam.examples.Pose3SLAMExample_g2o._

private

Definition at line 63 of file Pose3SLAMExample_g2o.py.

gtsam.examples.Pose3SLAMExample_g2o.action

Definition at line 31 of file Pose3SLAMExample_g2o.py.

gtsam.examples.Pose3SLAMExample_g2o.args = parser.parse_args()

Definition at line 33 of file Pose3SLAMExample_g2o.py.

gtsam.examples.Pose3SLAMExample_g2o.firstKey = initial.keys()[0]

Definition at line 46 of file Pose3SLAMExample_g2o.py.

gtsam.examples.Pose3SLAMExample_g2o.g2oFile = gtsam.findExampleDataFile("pose3example.txt")ifargs.inputisNone\

Definition at line 35 of file Pose3SLAMExample_g2o.py.

gtsam.examples.Pose3SLAMExample_g2o.graph

Definition at line 39 of file Pose3SLAMExample_g2o.py.

gtsam.examples.Pose3SLAMExample_g2o.graphNoKernel

Definition at line 63 of file Pose3SLAMExample_g2o.py.

gtsam.examples.Pose3SLAMExample_g2o.help

Definition at line 28 of file Pose3SLAMExample_g2o.py.

gtsam.examples.Pose3SLAMExample_g2o.initial

Definition at line 39 of file Pose3SLAMExample_g2o.py.

bool gtsam.examples.Pose3SLAMExample_g2o.is3D = True

Definition at line 38 of file Pose3SLAMExample_g2o.py.

gtsam.examples.Pose3SLAMExample_g2o.optimizer = gtsam.GaussNewtonOptimizer(graph, initial, params)

Definition at line 51 of file Pose3SLAMExample_g2o.py.

gtsam.examples.Pose3SLAMExample_g2o.outputFile = args.output

Definition at line 61 of file Pose3SLAMExample_g2o.py.

gtsam.examples.Pose3SLAMExample_g2o.params = gtsam.GaussNewtonParams()

Definition at line 49 of file Pose3SLAMExample_g2o.py.

gtsam.examples.Pose3SLAMExample_g2o.parser

Initial value:

= argparse.ArgumentParser(
    description="A 3D Pose SLAM example that reads input from g2o, and "
                "initializes Pose3")

Definition at line 25 of file Pose3SLAMExample_g2o.py.

gtsam.examples.Pose3SLAMExample_g2o.priorModel

Initial value:

= gtsam.noiseModel.Diagonal.Variances(vector6(1e-6, 1e-6, 1e-6,
                                                         1e-4, 1e-4, 1e-4))

Definition at line 42 of file Pose3SLAMExample_g2o.py.

gtsam.examples.Pose3SLAMExample_g2o.result = optimizer.optimize()

Definition at line 52 of file Pose3SLAMExample_g2o.py.

gtsam.examples.Pose3SLAMExample_g2o.resultPoses = gtsam.utilities.allPose3s(result)

Definition at line 68 of file Pose3SLAMExample_g2o.py.