Functions
def	build_factor_graph (method, num_cameras, measurements, cal)

def	compute_distances (method, result, ground_truth, num_cameras, cal)

def	compute_ground_truth (method, poses, cal)

def	formatter (key)

def	get_initial_estimate (method, num_cameras, ground_truth, cal)

def	main ()

def	optimize (graph, initialEstimate, method)

def	plot_results (results)

def	simulate_data (points, poses, cal, rng, noise_std)

def	simulate_geometry (num_cameras, rng, num_random_points=12)

Variables
	K = gtsam.symbol_shorthand.K

list	methods = ["SimpleF", "Fundamental", "Essential+Ks", "Essential+K", "Calibrated", "Binary+Ks", "Binary+K"]

Detailed Description

  Compare several methods for optimizing the view-graph.
  We measure the distance from the ground truth in terms of the norm of 
  local coordinates (geodesic distance) on the F-manifold. 
  We also plot the final error of the optimization.
  
  Author: Frank Dellaert (with heavy assist from ChatGPT)
  Date: October 2024

Function Documentation

◆ build_factor_graph()

def gtsam.examples.ViewGraphComparison.build_factor_graph	(	method,
		num_cameras,
		measurements,
		cal
	)

build the factor graph

Definition at line 97 of file ViewGraphComparison.py.

◆ compute_distances()

def gtsam.examples.ViewGraphComparison.compute_distances	(	method,
		result,
		ground_truth,
		num_cameras,
		cal
	)

Compute geodesic distances from ground truth

Definition at line 222 of file ViewGraphComparison.py.

◆ compute_ground_truth()

def gtsam.examples.ViewGraphComparison.compute_ground_truth	(	method,
		poses,
		cal
	)

Function to compute ground truth edge variables.

Definition at line 79 of file ViewGraphComparison.py.

◆ formatter()

def gtsam.examples.ViewGraphComparison.formatter ( key )

Definition at line 39 of file ViewGraphComparison.py.

◆ get_initial_estimate()

def gtsam.examples.ViewGraphComparison.get_initial_estimate	(	method,
		num_cameras,
		ground_truth,
		cal
	)

get initial estimate for method

Definition at line 171 of file ViewGraphComparison.py.

◆ main()

def gtsam.examples.ViewGraphComparison.main ( )

Definition at line 314 of file ViewGraphComparison.py.

◆ optimize()

def gtsam.examples.ViewGraphComparison.optimize	(	graph,
		initialEstimate,
		method
	)

optimize the graph

Definition at line 208 of file ViewGraphComparison.py.

◆ plot_results()

def gtsam.examples.ViewGraphComparison.plot_results ( results )

plot results

Definition at line 275 of file ViewGraphComparison.py.

◆ simulate_data()

def gtsam.examples.ViewGraphComparison.simulate_data	(	points,
		poses,
		cal,
		rng,
		noise_std
	)

Simulate measurements from each camera pose

Definition at line 66 of file ViewGraphComparison.py.

◆ simulate_geometry()

def gtsam.examples.ViewGraphComparison.simulate_geometry	(	num_cameras,
		rng,
		num_random_points = `12`
	)

simulate geometry (points and poses)

Definition at line 48 of file ViewGraphComparison.py.

Variable Documentation

◆ K

gtsam.examples.ViewGraphComparison.K = gtsam.symbol_shorthand.K

Definition at line 32 of file ViewGraphComparison.py.

◆ methods

list gtsam.examples.ViewGraphComparison.methods = ["SimpleF", "Fundamental", "Essential+Ks", "Essential+K", "Calibrated", "Binary+Ks", "Binary+K"]

Definition at line 35 of file ViewGraphComparison.py.

Functions

Variables