gtsam.examples.ShonanAveragingCLI Namespace Reference

Functions
def	estimate_poses_given_rot (gtsam.BetweenFactorPose3s factors, gtsam.Values rotations, int d=3)
def	run (args)

Variables
	action
	default
	help
	int
	parser = argparse.ArgumentParser()
	str
	type

Detailed Description

GTSAM Copyright 2010-2018, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved
Authors: Frank Dellaert, et al. (see THANKS for the full author list)

See LICENSE for the license information

Shonan Rotation Averaging CLI reads a *pose* graph, extracts the
rotation constraints, and runs the Shonan algorithm.

Author: Frank Dellaert
Date: August 2020

Function Documentation

estimate_poses_given_rot()

def gtsam.examples.ShonanAveragingCLI.estimate_poses_given_rot	(	gtsam.BetweenFactorPose3s	factors,
		gtsam.Values	rotations,
		int	d = 3
	)

Estimate Poses from measurements, given rotations. From SfmProblem in shonan.

Arguments:
    factors -- data structure with many BetweenFactorPose3 factors
    rotations {Values} -- Estimated rotations

Returns:
    Values -- Estimated Poses

Definition at line 25 of file ShonanAveragingCLI.py.

run()

def gtsam.examples.ShonanAveragingCLI.run

(

args

)

Run Shonan averaging and then recover translations linearly before saving result.

Definition at line 71 of file ShonanAveragingCLI.py.

Variable Documentation

action

gtsam.examples.ShonanAveragingCLI.action

Definition at line 123 of file ShonanAveragingCLI.py.

default

gtsam.examples.ShonanAveragingCLI.default

Definition at line 115 of file ShonanAveragingCLI.py.

help

gtsam.examples.ShonanAveragingCLI.help

Definition at line 116 of file ShonanAveragingCLI.py.

int

gtsam.examples.ShonanAveragingCLI.int

Definition at line 121 of file ShonanAveragingCLI.py.

parser

gtsam.examples.ShonanAveragingCLI.parser = argparse.ArgumentParser()

Definition at line 114 of file ShonanAveragingCLI.py.

str

gtsam.examples.ShonanAveragingCLI.str

Definition at line 115 of file ShonanAveragingCLI.py.

type

gtsam.examples.ShonanAveragingCLI.type

Definition at line 115 of file ShonanAveragingCLI.py.