Merged in fix/wrappers (pull request #380)
close issue #413 close issue #421 Fix/wrappersrelease/4.3a0
Frank Dellaert
commit
2a0153cf25
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@ -1,112 +0,0 @@
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"""
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This file is not a real python unittest. It contains small experiments
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to test the wrapper with gtsam_test, a short version of gtsam.h.
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Its name convention is different from other tests so it won't be discovered.
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"""
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import gtsam
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import numpy as np
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r = gtsam.Rot3()
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print(r)
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print(r.pitch())
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r2 = gtsam.Rot3()
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r3 = r.compose(r2)
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print("r3 pitch:", r3.pitch())
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v = np.array([1, 1, 1])
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print("v = ", v)
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r4 = r3.retract(v)
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print("r4 pitch:", r4.pitch())
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r4.print_(b'r4: ')
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r3.print_(b"r3: ")
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v = r3.localCoordinates(r4)
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print("localCoordinates:", v)
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Rmat = np.array([
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[0.990074, -0.0942928, 0.104218],
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[0.104218, 0.990074, -0.0942928],
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[-0.0942928, 0.104218, 0.990074]
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])
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r5 = gtsam.Rot3(Rmat)
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r5.print_(b"r5: ")
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l = gtsam.Rot3.Logmap(r5)
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print("l = ", l)
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noise = gtsam.noiseModel_Gaussian.Covariance(Rmat)
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noise.print_(b"noise:")
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D = np.array([1.,2.,3.])
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diag = gtsam.noiseModel_Diagonal.Variances(D)
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print("diag:", diag)
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diag.print_(b"diag:")
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print("diag R:", diag.R())
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p = gtsam.Point3()
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p.print_("p:")
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factor = gtsam.BetweenFactorPoint3(1,2,p, noise)
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factor.print_(b"factor:")
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vv = gtsam.VectorValues()
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vv.print_(b"vv:")
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vv.insert(1, np.array([1.,2.,3.]))
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vv.insert(2, np.array([3.,4.]))
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vv.insert(3, np.array([5.,6.,7.,8.]))
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vv.print_(b"vv:")
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vv2 = gtsam.VectorValues(vv)
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vv2.insert(4, np.array([4.,2.,1]))
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vv2.print_(b"vv2:")
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vv.print_(b"vv:")
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vv.insert(4, np.array([1.,2.,4.]))
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vv.print_(b"vv:")
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vv3 = vv.add(vv2)
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vv3.print_(b"vv3:")
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values = gtsam.Values()
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values.insert(1, gtsam.Point3())
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values.insert(2, gtsam.Rot3())
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values.print_(b"values:")
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factor = gtsam.PriorFactorVector(1, np.array([1.,2.,3.]), diag)
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print "Prior factor vector: ", factor
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keys = gtsam.KeyVector()
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keys.push_back(1)
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keys.push_back(2)
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print 'size: ', keys.size()
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print keys.at(0)
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print keys.at(1)
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noise = gtsam.noiseModel_Isotropic.Precision(2, 3.0)
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noise.print_('noise:')
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print 'noise print:', noise
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f = gtsam.JacobianFactor(7, np.ones([2,2]), model=noise, b=np.ones(2))
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print 'JacobianFactor(7):\n', f
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print "A = ", f.getA()
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print "b = ", f.getb()
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f = gtsam.JacobianFactor(np.ones(2))
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f.print_('jacoboian b_in:')
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print "JacobianFactor initalized with b_in:", f
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diag = gtsam.noiseModel_Diagonal.Sigmas(np.array([1.,2.,3.]))
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fv = gtsam.PriorFactorVector(1, np.array([4.,5.,6.]), diag)
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print "priorfactorvector: ", fv
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print "base noise: ", fv.get_noiseModel()
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print "casted to gaussian2: ", gtsam.dynamic_cast_noiseModel_Diagonal_noiseModel_Base(fv.get_noiseModel())
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X = gtsam.symbol(65, 19)
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print X
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print gtsam.symbolChr(X)
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print gtsam.symbolIndex(X)
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@ -1,772 +0,0 @@
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namespace gtsam {
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#include <gtsam/inference/Key.h>
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typedef size_t Key;
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#include <gtsam/base/FastVector.h>
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template<T> class FastVector {
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FastVector();
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FastVector(const This& f);
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void push_back(const T& e);
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//T& operator[](int);
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T at(int i);
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size_t size() const;
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};
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typedef gtsam::FastVector<gtsam::Key> KeyVector;
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//*************************************************************************
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// geometry
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//*************************************************************************
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#include <gtsam/geometry/Point2.h>
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class Point2 {
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// Standard Constructors
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Point2();
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Point2(double x, double y);
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Point2(Vector v);
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//Point2(const gtsam::Point2& l);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::Point2& pose, double tol) const;
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// Group
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static gtsam::Point2 identity();
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// Standard Interface
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double x() const;
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double y() const;
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Vector vector() const;
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double distance(const gtsam::Point2& p2) const;
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double norm() const;
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// enabling serialization functionality
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void serialize() const;
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};
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#include <gtsam/geometry/Point3.h>
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class Point3 {
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// Standard Constructors
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Point3();
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Point3(double x, double y, double z);
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Point3(Vector v);
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//Point3(const gtsam::Point3& l);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::Point3& p, double tol) const;
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// Group
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static gtsam::Point3 identity();
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// Standard Interface
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Vector vector() const;
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double x() const;
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double y() const;
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double z() const;
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// enabling serialization functionality
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void serialize() const;
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};
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#include <gtsam/geometry/Rot2.h>
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class Rot2 {
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// Standard Constructors and Named Constructors
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Rot2();
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Rot2(double theta);
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//Rot2(const gtsam::Rot2& l);
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static gtsam::Rot2 fromAngle(double theta);
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static gtsam::Rot2 fromDegrees(double theta);
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static gtsam::Rot2 fromCosSin(double c, double s);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::Rot2& rot, double tol) const;
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// Group
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static gtsam::Rot2 identity();
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gtsam::Rot2 inverse();
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gtsam::Rot2 compose(const gtsam::Rot2& p2) const;
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gtsam::Rot2 between(const gtsam::Rot2& p2) const;
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// Manifold
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gtsam::Rot2 retract(Vector v) const;
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Vector localCoordinates(const gtsam::Rot2& p) const;
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// Lie Group
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static gtsam::Rot2 Expmap(Vector v);
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static Vector Logmap(const gtsam::Rot2& p);
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// Group Action on Point2
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gtsam::Point2 rotate(const gtsam::Point2& point) const;
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gtsam::Point2 unrotate(const gtsam::Point2& point) const;
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// Standard Interface
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static gtsam::Rot2 relativeBearing(const gtsam::Point2& d); // Ignoring derivative
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static gtsam::Rot2 atan2(double y, double x);
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double theta() const;
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double degrees() const;
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double c() const;
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double s() const;
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Matrix matrix() const;
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// enabling serialization functionality
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void serialize() const;
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};
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#include <gtsam/geometry/Rot3.h>
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class Rot3 {
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// Standard Constructors and Named Constructors
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Rot3();
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Rot3(Matrix R);
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//Rot3(const gtsam::Rot3& l);
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static gtsam::Rot3 Rx(double t);
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static gtsam::Rot3 Ry(double t);
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static gtsam::Rot3 Rz(double t);
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static gtsam::Rot3 RzRyRx(double x, double y, double z);
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static gtsam::Rot3 RzRyRx(Vector xyz);
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static gtsam::Rot3 Yaw(double t); // positive yaw is to right (as in aircraft heading)
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static gtsam::Rot3 Pitch(double t); // positive pitch is up (increasing aircraft altitude)
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static gtsam::Rot3 Roll(double t); // positive roll is to right (increasing yaw in aircraft)
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static gtsam::Rot3 Ypr(double y, double p, double r);
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static gtsam::Rot3 Quaternion(double w, double x, double y, double z);
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static gtsam::Rot3 Rodrigues(Vector v);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::Rot3& rot, double tol) const;
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// Group
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static gtsam::Rot3 identity();
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gtsam::Rot3 inverse() const;
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gtsam::Rot3 compose(const gtsam::Rot3& p2) const;
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gtsam::Rot3 between(const gtsam::Rot3& p2) const;
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// Manifold
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//gtsam::Rot3 retractCayley(Vector v) const; // FIXME, does not exist in both Matrix and Quaternion options
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gtsam::Rot3 retract(Vector v) const;
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Vector localCoordinates(const gtsam::Rot3& p) const;
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// Group Action on Point3
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gtsam::Point3 rotate(const gtsam::Point3& p) const;
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gtsam::Point3 unrotate(const gtsam::Point3& p) const;
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// Standard Interface
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static gtsam::Rot3 Expmap(Vector v);
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static Vector Logmap(const gtsam::Rot3& p);
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Matrix matrix() const;
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Matrix transpose() const;
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gtsam::Point3 column(size_t index) const;
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Vector xyz() const;
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Vector ypr() const;
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Vector rpy() const;
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double roll() const;
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double pitch() const;
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double yaw() const;
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// Vector toQuaternion() const; // FIXME: Can't cast to Vector properly
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Vector quaternion() const;
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// enabling serialization functionality
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void serialize() const;
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};
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#include <gtsam/geometry/Pose2.h>
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class Pose2 {
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// Standard Constructor
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Pose2();
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//Pose2(const gtsam::Pose2& pose);
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Pose2(double x, double y, double theta);
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Pose2(double theta, const gtsam::Point2& t);
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Pose2(const gtsam::Rot2& r, const gtsam::Point2& t);
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Pose2(Vector v);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::Pose2& pose, double tol) const;
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// Group
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static gtsam::Pose2 identity();
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gtsam::Pose2 inverse() const;
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gtsam::Pose2 compose(const gtsam::Pose2& p2) const;
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gtsam::Pose2 between(const gtsam::Pose2& p2) const;
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// Manifold
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gtsam::Pose2 retract(Vector v) const;
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Vector localCoordinates(const gtsam::Pose2& p) const;
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// Lie Group
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static gtsam::Pose2 Expmap(Vector v);
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static Vector Logmap(const gtsam::Pose2& p);
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Matrix AdjointMap() const;
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Vector Adjoint(const Vector& xi) const;
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static Matrix wedge(double vx, double vy, double w);
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// Group Actions on Point2
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gtsam::Point2 transform_from(const gtsam::Point2& p) const;
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gtsam::Point2 transform_to(const gtsam::Point2& p) const;
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// Standard Interface
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double x() const;
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double y() const;
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double theta() const;
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gtsam::Rot2 bearing(const gtsam::Point2& point) const;
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double range(const gtsam::Point2& point) const;
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gtsam::Point2 translation() const;
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gtsam::Rot2 rotation() const;
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Matrix matrix() const;
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// enabling serialization functionality
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void serialize() const;
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};
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#include <gtsam/geometry/Pose3.h>
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class Pose3 {
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// Standard Constructors
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Pose3();
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//Pose3(const gtsam::Pose3& pose);
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Pose3(const gtsam::Rot3& r, const gtsam::Point3& t);
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Pose3(const gtsam::Pose2& pose2); // FIXME: shadows Pose3(Pose3 pose)
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Pose3(Matrix t);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::Pose3& pose, double tol) const;
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// Group
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static gtsam::Pose3 identity();
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gtsam::Pose3 inverse() const;
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gtsam::Pose3 compose(const gtsam::Pose3& p2) const;
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gtsam::Pose3 between(const gtsam::Pose3& p2) const;
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// Manifold
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gtsam::Pose3 retract(Vector v) const;
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Vector localCoordinates(const gtsam::Pose3& T2) const;
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// Lie Group
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static gtsam::Pose3 Expmap(Vector v);
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static Vector Logmap(const gtsam::Pose3& p);
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Matrix AdjointMap() const;
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Vector Adjoint(Vector xi) const;
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static Matrix wedge(double wx, double wy, double wz, double vx, double vy, double vz);
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// Group Action on Point3
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gtsam::Point3 transform_from(const gtsam::Point3& p) const;
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gtsam::Point3 transform_to(const gtsam::Point3& p) const;
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// Standard Interface
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gtsam::Rot3 rotation() const;
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gtsam::Point3 translation() const;
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double x() const;
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double y() const;
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double z() const;
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Matrix matrix() const;
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gtsam::Pose3 transform_to(const gtsam::Pose3& pose) const; // FIXME: shadows other transform_to()
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double range(const gtsam::Point3& point);
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|
||||||
double range(const gtsam::Pose3& pose);
|
|
||||||
|
|
||||||
// enabling serialization functionality
|
|
||||||
void serialize() const;
|
|
||||||
};
|
|
||||||
|
|
||||||
//*************************************************************************
|
|
||||||
// noise
|
|
||||||
//*************************************************************************
|
|
||||||
|
|
||||||
namespace noiseModel {
|
|
||||||
#include <gtsam/linear/NoiseModel.h>
|
|
||||||
virtual class Base {
|
|
||||||
};
|
|
||||||
|
|
||||||
virtual class Gaussian : gtsam::noiseModel::Base {
|
|
||||||
static gtsam::noiseModel::Gaussian* SqrtInformation(Matrix R);
|
|
||||||
static gtsam::noiseModel::Gaussian* Covariance(Matrix R);
|
|
||||||
Matrix R() const;
|
|
||||||
bool equals(gtsam::noiseModel::Base& expected, double tol);
|
|
||||||
void print(string s) const;
|
|
||||||
|
|
||||||
// enabling serialization functionality
|
|
||||||
void serializable() const;
|
|
||||||
};
|
|
||||||
|
|
||||||
virtual class Diagonal : gtsam::noiseModel::Gaussian {
|
|
||||||
static gtsam::noiseModel::Diagonal* Sigmas(Vector sigmas);
|
|
||||||
static gtsam::noiseModel::Diagonal* Variances(Vector variances);
|
|
||||||
static gtsam::noiseModel::Diagonal* Precisions(Vector precisions);
|
|
||||||
Matrix R() const;
|
|
||||||
void print(string s) const;
|
|
||||||
|
|
||||||
// enabling serialization functionality
|
|
||||||
void serializable() const;
|
|
||||||
};
|
|
||||||
|
|
||||||
virtual class Constrained : gtsam::noiseModel::Diagonal {
|
|
||||||
static gtsam::noiseModel::Constrained* MixedSigmas(const Vector& mu, const Vector& sigmas);
|
|
||||||
static gtsam::noiseModel::Constrained* MixedSigmas(double m, const Vector& sigmas);
|
|
||||||
static gtsam::noiseModel::Constrained* MixedVariances(const Vector& mu, const Vector& variances);
|
|
||||||
static gtsam::noiseModel::Constrained* MixedVariances(const Vector& variances);
|
|
||||||
static gtsam::noiseModel::Constrained* MixedPrecisions(const Vector& mu, const Vector& precisions);
|
|
||||||
static gtsam::noiseModel::Constrained* MixedPrecisions(const Vector& precisions);
|
|
||||||
|
|
||||||
static gtsam::noiseModel::Constrained* All(size_t dim);
|
|
||||||
static gtsam::noiseModel::Constrained* All(size_t dim, double mu);
|
|
||||||
|
|
||||||
gtsam::noiseModel::Constrained* unit() const;
|
|
||||||
|
|
||||||
// enabling serialization functionality
|
|
||||||
void serializable() const;
|
|
||||||
};
|
|
||||||
|
|
||||||
virtual class Isotropic : gtsam::noiseModel::Diagonal {
|
|
||||||
static gtsam::noiseModel::Isotropic* Sigma(size_t dim, double sigma);
|
|
||||||
static gtsam::noiseModel::Isotropic* Variance(size_t dim, double varianace);
|
|
||||||
static gtsam::noiseModel::Isotropic* Precision(size_t dim, double precision);
|
|
||||||
void print(string s) const;
|
|
||||||
|
|
||||||
// enabling serialization functionality
|
|
||||||
void serializable() const;
|
|
||||||
};
|
|
||||||
|
|
||||||
virtual class Unit : gtsam::noiseModel::Isotropic {
|
|
||||||
static gtsam::noiseModel::Unit* Create(size_t dim);
|
|
||||||
void print(string s) const;
|
|
||||||
|
|
||||||
// enabling serialization functionality
|
|
||||||
void serializable() const;
|
|
||||||
};
|
|
||||||
|
|
||||||
namespace mEstimator {
|
|
||||||
virtual class Base {
|
|
||||||
};
|
|
||||||
|
|
||||||
virtual class Null: gtsam::noiseModel::mEstimator::Base {
|
|
||||||
Null();
|
|
||||||
//Null(const gtsam::noiseModel::mEstimator::Null& other);
|
|
||||||
void print(string s) const;
|
|
||||||
static gtsam::noiseModel::mEstimator::Null* Create();
|
|
||||||
|
|
||||||
// enabling serialization functionality
|
|
||||||
void serializable() const;
|
|
||||||
};
|
|
||||||
|
|
||||||
virtual class Fair: gtsam::noiseModel::mEstimator::Base {
|
|
||||||
Fair(double c);
|
|
||||||
//Fair(const gtsam::noiseModel::mEstimator::Fair& other);
|
|
||||||
void print(string s) const;
|
|
||||||
static gtsam::noiseModel::mEstimator::Fair* Create(double c);
|
|
||||||
|
|
||||||
// enabling serialization functionality
|
|
||||||
void serializable() const;
|
|
||||||
};
|
|
||||||
|
|
||||||
virtual class Huber: gtsam::noiseModel::mEstimator::Base {
|
|
||||||
Huber(double k);
|
|
||||||
//Huber(const gtsam::noiseModel::mEstimator::Huber& other);
|
|
||||||
|
|
||||||
void print(string s) const;
|
|
||||||
static gtsam::noiseModel::mEstimator::Huber* Create(double k);
|
|
||||||
|
|
||||||
// enabling serialization functionality
|
|
||||||
void serializable() const;
|
|
||||||
};
|
|
||||||
|
|
||||||
virtual class Tukey: gtsam::noiseModel::mEstimator::Base {
|
|
||||||
Tukey(double k);
|
|
||||||
//Tukey(const gtsam::noiseModel::mEstimator::Tukey& other);
|
|
||||||
|
|
||||||
void print(string s) const;
|
|
||||||
static gtsam::noiseModel::mEstimator::Tukey* Create(double k);
|
|
||||||
|
|
||||||
// enabling serialization functionality
|
|
||||||
void serializable() const;
|
|
||||||
};
|
|
||||||
|
|
||||||
}///\namespace mEstimator
|
|
||||||
|
|
||||||
virtual class Robust : gtsam::noiseModel::Base {
|
|
||||||
Robust(const gtsam::noiseModel::mEstimator::Base* robust, const gtsam::noiseModel::Base* noise);
|
|
||||||
//Robust(const gtsam::noiseModel::Robust& other);
|
|
||||||
|
|
||||||
static gtsam::noiseModel::Robust* Create(const gtsam::noiseModel::mEstimator::Base* robust, const gtsam::noiseModel::Base* noise);
|
|
||||||
void print(string s) const;
|
|
||||||
|
|
||||||
// enabling serialization functionality
|
|
||||||
void serializable() const;
|
|
||||||
};
|
|
||||||
|
|
||||||
}///\namespace noiseModel
|
|
||||||
|
|
||||||
#include <gtsam/linear/Sampler.h>
|
|
||||||
class Sampler {
|
|
||||||
//Constructors
|
|
||||||
Sampler(gtsam::noiseModel::Diagonal* model, int seed);
|
|
||||||
Sampler(Vector sigmas, int seed);
|
|
||||||
Sampler(int seed);
|
|
||||||
//Sampler(const gtsam::Sampler& other);
|
|
||||||
|
|
||||||
|
|
||||||
//Standard Interface
|
|
||||||
size_t dim() const;
|
|
||||||
Vector sigmas() const;
|
|
||||||
gtsam::noiseModel::Diagonal* model() const;
|
|
||||||
Vector sample();
|
|
||||||
Vector sampleNewModel(gtsam::noiseModel::Diagonal* model);
|
|
||||||
};
|
|
||||||
|
|
||||||
#include <gtsam/linear/VectorValues.h>
|
|
||||||
class VectorValues {
|
|
||||||
//Constructors
|
|
||||||
VectorValues();
|
|
||||||
VectorValues(const gtsam::VectorValues& other);
|
|
||||||
|
|
||||||
//Named Constructors
|
|
||||||
static gtsam::VectorValues Zero(const gtsam::VectorValues& model);
|
|
||||||
|
|
||||||
//Standard Interface
|
|
||||||
size_t size() const;
|
|
||||||
size_t dim(size_t j) const;
|
|
||||||
bool exists(size_t j) const;
|
|
||||||
void print(string s) const;
|
|
||||||
bool equals(const gtsam::VectorValues& expected, double tol) const;
|
|
||||||
void insert(size_t j, Vector value);
|
|
||||||
Vector vector() const;
|
|
||||||
Vector at(size_t j) const;
|
|
||||||
void update(const gtsam::VectorValues& values);
|
|
||||||
|
|
||||||
//Advanced Interface
|
|
||||||
void setZero();
|
|
||||||
|
|
||||||
gtsam::VectorValues add(const gtsam::VectorValues& c) const;
|
|
||||||
void addInPlace(const gtsam::VectorValues& c);
|
|
||||||
gtsam::VectorValues subtract(const gtsam::VectorValues& c) const;
|
|
||||||
gtsam::VectorValues scale(double a) const;
|
|
||||||
void scaleInPlace(double a);
|
|
||||||
|
|
||||||
bool hasSameStructure(const gtsam::VectorValues& other) const;
|
|
||||||
double dot(const gtsam::VectorValues& V) const;
|
|
||||||
double norm() const;
|
|
||||||
double squaredNorm() const;
|
|
||||||
|
|
||||||
// enabling serialization functionality
|
|
||||||
void serialize() const;
|
|
||||||
};
|
|
||||||
|
|
||||||
#include <gtsam/linear/GaussianFactor.h>
|
|
||||||
virtual class GaussianFactor {
|
|
||||||
gtsam::KeyVector keys() const;
|
|
||||||
void print(string s) const;
|
|
||||||
bool equals(const gtsam::GaussianFactor& lf, double tol) const;
|
|
||||||
double error(const gtsam::VectorValues& c) const;
|
|
||||||
gtsam::GaussianFactor* clone() const;
|
|
||||||
gtsam::GaussianFactor* negate() const;
|
|
||||||
Matrix augmentedInformation() const;
|
|
||||||
Matrix information() const;
|
|
||||||
Matrix augmentedJacobian() const;
|
|
||||||
pair<Matrix, Vector> jacobian() const;
|
|
||||||
size_t size() const;
|
|
||||||
bool empty() const;
|
|
||||||
};
|
|
||||||
|
|
||||||
#include <gtsam/linear/JacobianFactor.h>
|
|
||||||
virtual class JacobianFactor : gtsam::GaussianFactor {
|
|
||||||
//Constructors
|
|
||||||
JacobianFactor();
|
|
||||||
JacobianFactor(const gtsam::GaussianFactor& factor);
|
|
||||||
JacobianFactor(Vector b_in);
|
|
||||||
JacobianFactor(size_t i1, Matrix A1, Vector b,
|
|
||||||
const gtsam::noiseModel::Diagonal* model);
|
|
||||||
JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, Vector b,
|
|
||||||
const gtsam::noiseModel::Diagonal* model);
|
|
||||||
JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, size_t i3, Matrix A3,
|
|
||||||
Vector b, const gtsam::noiseModel::Diagonal* model);
|
|
||||||
//JacobianFactor(const gtsam::GaussianFactorGraph& graph);
|
|
||||||
//JacobianFactor(const gtsam::JacobianFactor& other);
|
|
||||||
|
|
||||||
//Testable
|
|
||||||
void print(string s) const;
|
|
||||||
void printKeys(string s) const;
|
|
||||||
bool equals(const gtsam::GaussianFactor& lf, double tol) const;
|
|
||||||
size_t size() const;
|
|
||||||
Vector unweighted_error(const gtsam::VectorValues& c) const;
|
|
||||||
Vector error_vector(const gtsam::VectorValues& c) const;
|
|
||||||
double error(const gtsam::VectorValues& c) const;
|
|
||||||
|
|
||||||
//Standard Interface
|
|
||||||
Matrix getA() const;
|
|
||||||
Vector getb() const;
|
|
||||||
size_t rows() const;
|
|
||||||
size_t cols() const;
|
|
||||||
bool isConstrained() const;
|
|
||||||
pair<Matrix, Vector> jacobianUnweighted() const;
|
|
||||||
Matrix augmentedJacobianUnweighted() const;
|
|
||||||
|
|
||||||
void transposeMultiplyAdd(double alpha, const Vector& e, gtsam::VectorValues& x) const;
|
|
||||||
gtsam::JacobianFactor whiten() const;
|
|
||||||
|
|
||||||
//pair<gtsam::GaussianConditional*, gtsam::JacobianFactor*> eliminate(const gtsam::Ordering& keys) const;
|
|
||||||
|
|
||||||
void setModel(bool anyConstrained, const Vector& sigmas);
|
|
||||||
|
|
||||||
gtsam::noiseModel::Diagonal* get_model() const;
|
|
||||||
|
|
||||||
// enabling serialization functionality
|
|
||||||
void serialize() const;
|
|
||||||
};
|
|
||||||
|
|
||||||
#include <gtsam/linear/HessianFactor.h>
|
|
||||||
virtual class HessianFactor : gtsam::GaussianFactor {
|
|
||||||
//Constructors
|
|
||||||
HessianFactor();
|
|
||||||
HessianFactor(const gtsam::GaussianFactor& factor);
|
|
||||||
HessianFactor(size_t j, Matrix G, Vector g, double f);
|
|
||||||
HessianFactor(size_t j, Vector mu, Matrix Sigma);
|
|
||||||
HessianFactor(size_t j1, size_t j2, Matrix G11, Matrix G12, Vector g1, Matrix G22,
|
|
||||||
Vector g2, double f);
|
|
||||||
HessianFactor(size_t j1, size_t j2, size_t j3, Matrix G11, Matrix G12, Matrix G13,
|
|
||||||
Vector g1, Matrix G22, Matrix G23, Vector g2, Matrix G33, Vector g3,
|
|
||||||
double f);
|
|
||||||
//HessianFactor(const gtsam::GaussianFactorGraph& factors);
|
|
||||||
//HessianFactor(const gtsam::HessianFactor& other);
|
|
||||||
|
|
||||||
//Testable
|
|
||||||
size_t size() const;
|
|
||||||
void print(string s) const;
|
|
||||||
void printKeys(string s) const;
|
|
||||||
bool equals(const gtsam::GaussianFactor& lf, double tol) const;
|
|
||||||
double error(const gtsam::VectorValues& c) const;
|
|
||||||
|
|
||||||
//Standard Interface
|
|
||||||
size_t rows() const;
|
|
||||||
Matrix information() const;
|
|
||||||
double constantTerm() const;
|
|
||||||
Vector linearTerm() const;
|
|
||||||
|
|
||||||
// enabling serialization functionality
|
|
||||||
void serialize() const;
|
|
||||||
};
|
|
||||||
|
|
||||||
#include <gtsam/nonlinear/Values.h>
|
|
||||||
class Values {
|
|
||||||
Values();
|
|
||||||
//Values(const gtsam::Values& other);
|
|
||||||
|
|
||||||
size_t size() const;
|
|
||||||
bool empty() const;
|
|
||||||
void clear();
|
|
||||||
size_t dim() const;
|
|
||||||
|
|
||||||
void print(string s) const;
|
|
||||||
bool equals(const gtsam::Values& other, double tol) const;
|
|
||||||
|
|
||||||
void insert(const gtsam::Values& values);
|
|
||||||
void update(const gtsam::Values& values);
|
|
||||||
void erase(size_t j);
|
|
||||||
void swap(gtsam::Values& values);
|
|
||||||
|
|
||||||
bool exists(size_t j) const;
|
|
||||||
gtsam::KeyVector keys() const;
|
|
||||||
|
|
||||||
gtsam::VectorValues zeroVectors() const;
|
|
||||||
|
|
||||||
gtsam::Values retract(const gtsam::VectorValues& delta) const;
|
|
||||||
gtsam::VectorValues localCoordinates(const gtsam::Values& cp) const;
|
|
||||||
|
|
||||||
// enabling serialization functionality
|
|
||||||
void serialize() const;
|
|
||||||
|
|
||||||
// New in 4.0, we have to specialize every insert/update/at to generate wrappers
|
|
||||||
// Instead of the old:
|
|
||||||
// void insert(size_t j, const gtsam::Value& value);
|
|
||||||
// void update(size_t j, const gtsam::Value& val);
|
|
||||||
// gtsam::Value at(size_t j) const;
|
|
||||||
|
|
||||||
// template <T = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
|
|
||||||
// gtsam::Rot3, gtsam::Pose3}>
|
|
||||||
// void insert(size_t j, const T& t);
|
|
||||||
|
|
||||||
// template <T = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
|
|
||||||
// gtsam::Rot3, gtsam::Pose3}>
|
|
||||||
// void update(size_t j, const T& t);
|
|
||||||
void insert(size_t j, const gtsam::Point2& t);
|
|
||||||
void insert(size_t j, const gtsam::Point3& t);
|
|
||||||
void insert(size_t j, const gtsam::Rot2& t);
|
|
||||||
void insert(size_t j, const gtsam::Pose2& t);
|
|
||||||
void insert(size_t j, const gtsam::Rot3& t);
|
|
||||||
void insert(size_t j, const gtsam::Pose3& t);
|
|
||||||
void insert(size_t j, Vector t);
|
|
||||||
void insert(size_t j, Matrix t);
|
|
||||||
|
|
||||||
void update(size_t j, const gtsam::Point2& t);
|
|
||||||
void update(size_t j, const gtsam::Point3& t);
|
|
||||||
void update(size_t j, const gtsam::Rot2& t);
|
|
||||||
void update(size_t j, const gtsam::Pose2& t);
|
|
||||||
void update(size_t j, const gtsam::Rot3& t);
|
|
||||||
void update(size_t j, const gtsam::Pose3& t);
|
|
||||||
void update(size_t j, Vector t);
|
|
||||||
void update(size_t j, Matrix t);
|
|
||||||
|
|
||||||
template <T = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
|
|
||||||
gtsam::Rot3, gtsam::Pose3, Vector, Matrix}>
|
|
||||||
T at(size_t j);
|
|
||||||
|
|
||||||
/// version for double
|
|
||||||
void insertDouble(size_t j, double c);
|
|
||||||
double atDouble(size_t j) const;
|
|
||||||
};
|
|
||||||
|
|
||||||
#include <gtsam/nonlinear/NonlinearFactor.h>
|
|
||||||
virtual class NonlinearFactor {
|
|
||||||
// Factor base class
|
|
||||||
size_t size() const;
|
|
||||||
gtsam::KeyVector keys() const;
|
|
||||||
void print(string s) const;
|
|
||||||
void printKeys(string s) const;
|
|
||||||
// NonlinearFactor
|
|
||||||
bool equals(const gtsam::NonlinearFactor& other, double tol) const;
|
|
||||||
|
|
||||||
double error(const gtsam::Values& c) const;
|
|
||||||
size_t dim() const;
|
|
||||||
bool active(const gtsam::Values& c) const;
|
|
||||||
gtsam::GaussianFactor* linearize(const gtsam::Values& c) const;
|
|
||||||
gtsam::NonlinearFactor* clone() const;
|
|
||||||
// gtsam::NonlinearFactor* rekey(const gtsam::KeyVector& newKeys) const; //FIXME: Conversion from KeyVector to std::vector does not happen
|
|
||||||
};
|
|
||||||
|
|
||||||
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
|
|
||||||
class NonlinearFactorGraph {
|
|
||||||
NonlinearFactorGraph();
|
|
||||||
//NonlinearFactorGraph(const gtsam::NonlinearFactorGraph& graph);
|
|
||||||
|
|
||||||
// FactorGraph
|
|
||||||
void print(string s) const;
|
|
||||||
bool equals(const gtsam::NonlinearFactorGraph& fg, double tol) const;
|
|
||||||
size_t size() const;
|
|
||||||
bool empty() const;
|
|
||||||
void remove(size_t i);
|
|
||||||
size_t nrFactors() const;
|
|
||||||
gtsam::NonlinearFactor* at(size_t idx) const;
|
|
||||||
void push_back(const gtsam::NonlinearFactorGraph& factors);
|
|
||||||
void push_back(gtsam::NonlinearFactor* factor);
|
|
||||||
void add(gtsam::NonlinearFactor* factor);
|
|
||||||
bool exists(size_t idx) const;
|
|
||||||
// gtsam::KeySet keys() const;
|
|
||||||
|
|
||||||
// NonlinearFactorGraph
|
|
||||||
double error(const gtsam::Values& values) const;
|
|
||||||
double probPrime(const gtsam::Values& values) const;
|
|
||||||
//gtsam::Ordering orderingCOLAMD() const;
|
|
||||||
// Ordering* orderingCOLAMDConstrained(const gtsam::Values& c, const std::map<gtsam::Key,int>& constraints) const;
|
|
||||||
//gtsam::GaussianFactorGraph* linearize(const gtsam::Values& values) const;
|
|
||||||
gtsam::NonlinearFactorGraph clone() const;
|
|
||||||
|
|
||||||
// enabling serialization functionality
|
|
||||||
void serialize() const;
|
|
||||||
};
|
|
||||||
|
|
||||||
#include <gtsam/nonlinear/NonlinearFactor.h>
|
|
||||||
virtual class NoiseModelFactor: gtsam::NonlinearFactor {
|
|
||||||
void equals(const gtsam::NoiseModelFactor& other, double tol) const;
|
|
||||||
gtsam::noiseModel::Base* get_noiseModel() const; // deprecated by below
|
|
||||||
gtsam::noiseModel::Base* noiseModel() const;
|
|
||||||
Vector unwhitenedError(const gtsam::Values& x) const;
|
|
||||||
Vector whitenedError(const gtsam::Values& x) const;
|
|
||||||
};
|
|
||||||
|
|
||||||
#include <gtsam/slam/PriorFactor.h>
|
|
||||||
template<T = {Vector, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3}>
|
|
||||||
virtual class PriorFactor : gtsam::NoiseModelFactor {
|
|
||||||
PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
|
|
||||||
//PriorFactor(const This& other);
|
|
||||||
T prior() const;
|
|
||||||
|
|
||||||
// enabling serialization functionality
|
|
||||||
void serialize() const;
|
|
||||||
};
|
|
||||||
|
|
||||||
|
|
||||||
#include <gtsam/slam/BetweenFactor.h>
|
|
||||||
template<T = {Vector, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3}>
|
|
||||||
virtual class BetweenFactor : gtsam::NoiseModelFactor {
|
|
||||||
BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel);
|
|
||||||
//BetweenFactor(const This& other);
|
|
||||||
T measured() const;
|
|
||||||
|
|
||||||
// enabling serialization functionality
|
|
||||||
void serialize() const;
|
|
||||||
};
|
|
||||||
|
|
||||||
#include <gtsam/inference/Symbol.h>
|
|
||||||
size_t symbol(char chr, size_t index);
|
|
||||||
char symbolChr(size_t key);
|
|
||||||
size_t symbolIndex(size_t key);
|
|
||||||
|
|
||||||
#include <gtsam/inference/Key.h>
|
|
||||||
// Default keyformatter
|
|
||||||
void PrintKeyVector(const gtsam::KeyVector& keys);
|
|
||||||
void PrintKeyVector(const gtsam::KeyVector& keys, string s);
|
|
||||||
|
|
||||||
#include <gtsam/nonlinear/NonlinearOptimizer.h>
|
|
||||||
bool checkConvergence(double relativeErrorTreshold,
|
|
||||||
double absoluteErrorTreshold, double errorThreshold,
|
|
||||||
double currentError, double newError);
|
|
||||||
|
|
||||||
#include <gtsam/slam/dataset.h>
|
|
||||||
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
|
|
||||||
gtsam::noiseModel::Diagonal* model, int maxID, bool addNoise, bool smart);
|
|
||||||
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
|
|
||||||
gtsam::noiseModel::Diagonal* model, int maxID, bool addNoise);
|
|
||||||
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
|
|
||||||
gtsam::noiseModel::Diagonal* model, int maxID);
|
|
||||||
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
|
|
||||||
gtsam::noiseModel::Diagonal* model);
|
|
||||||
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename);
|
|
||||||
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D_robust(string filename,
|
|
||||||
gtsam::noiseModel::Base* model);
|
|
||||||
void save2D(const gtsam::NonlinearFactorGraph& graph,
|
|
||||||
const gtsam::Values& config, gtsam::noiseModel::Diagonal* model,
|
|
||||||
string filename);
|
|
||||||
|
|
||||||
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> readG2o(string filename);
|
|
||||||
void writeG2o(const gtsam::NonlinearFactorGraph& graph,
|
|
||||||
const gtsam::Values& estimate, string filename);
|
|
||||||
|
|
||||||
//*************************************************************************
|
|
||||||
// Utilities
|
|
||||||
//*************************************************************************
|
|
||||||
|
|
||||||
namespace utilities {
|
|
||||||
|
|
||||||
#include <gtsam/nonlinear/utilities.h>
|
|
||||||
// gtsam::KeyList createKeyList(Vector I);
|
|
||||||
// gtsam::KeyList createKeyList(string s, Vector I);
|
|
||||||
gtsam::KeyVector createKeyVector(Vector I);
|
|
||||||
gtsam::KeyVector createKeyVector(string s, Vector I);
|
|
||||||
// gtsam::KeySet createKeySet(Vector I);
|
|
||||||
// gtsam::KeySet createKeySet(string s, Vector I);
|
|
||||||
Matrix extractPoint2(const gtsam::Values& values);
|
|
||||||
Matrix extractPoint3(const gtsam::Values& values);
|
|
||||||
Matrix extractPose2(const gtsam::Values& values);
|
|
||||||
gtsam::Values allPose3s(gtsam::Values& values);
|
|
||||||
Matrix extractPose3(const gtsam::Values& values);
|
|
||||||
void perturbPoint2(gtsam::Values& values, double sigma, int seed);
|
|
||||||
void perturbPose2 (gtsam::Values& values, double sigmaT, double sigmaR, int seed);
|
|
||||||
void perturbPoint3(gtsam::Values& values, double sigma, int seed);
|
|
||||||
// void insertBackprojections(gtsam::Values& values, const gtsam::SimpleCamera& c, Vector J, Matrix Z, double depth);
|
|
||||||
// void insertProjectionFactors(gtsam::NonlinearFactorGraph& graph, size_t i, Vector J, Matrix Z, const gtsam::noiseModel::Base* model, const gtsam::Cal3_S2* K);
|
|
||||||
// void insertProjectionFactors(gtsam::NonlinearFactorGraph& graph, size_t i, Vector J, Matrix Z, const gtsam::noiseModel::Base* model, const gtsam::Cal3_S2* K, const gtsam::Pose3& body_P_sensor);
|
|
||||||
Matrix reprojectionErrors(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values);
|
|
||||||
gtsam::Values localToWorld(const gtsam::Values& local, const gtsam::Pose2& base);
|
|
||||||
gtsam::Values localToWorld(const gtsam::Values& local, const gtsam::Pose2& base, const gtsam::KeyVector& keys);
|
|
||||||
|
|
||||||
} //\namespace utilities
|
|
||||||
|
|
||||||
#include <gtsam/nonlinear/utilities.h>
|
|
||||||
class RedirectCout {
|
|
||||||
RedirectCout();
|
|
||||||
string str();
|
|
||||||
};
|
|
||||||
|
|
||||||
} //\namespace gtsam
|
|
||||||
|
|
@ -0,0 +1,21 @@
|
||||||
|
"""Pose2 unit tests."""
|
||||||
|
import unittest
|
||||||
|
|
||||||
|
import numpy as np
|
||||||
|
|
||||||
|
from gtsam import Pose2
|
||||||
|
|
||||||
|
|
||||||
|
class TestPose2(unittest.TestCase):
|
||||||
|
"""Test selected Pose2 methods."""
|
||||||
|
|
||||||
|
def test_adjoint(self):
|
||||||
|
"""Test adjoint method."""
|
||||||
|
xi = np.array([1, 2, 3])
|
||||||
|
expected = np.dot(Pose2.adjointMap_(xi), xi)
|
||||||
|
actual = Pose2.adjoint_(xi, xi)
|
||||||
|
np.testing.assert_array_equal(actual, expected)
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
unittest.main()
|
||||||
|
|
@ -49,8 +49,8 @@ class TestPose3(unittest.TestCase):
|
||||||
def test_adjoint(self):
|
def test_adjoint(self):
|
||||||
"""Test adjoint method."""
|
"""Test adjoint method."""
|
||||||
xi = np.array([1, 2, 3, 4, 5, 6])
|
xi = np.array([1, 2, 3, 4, 5, 6])
|
||||||
expected = np.dot(Pose3.adjointMap(xi), xi)
|
expected = np.dot(Pose3.adjointMap_(xi), xi)
|
||||||
actual = Pose3.adjoint(xi, xi)
|
actual = Pose3.adjoint_(xi, xi)
|
||||||
np.testing.assert_array_equal(actual, expected)
|
np.testing.assert_array_equal(actual, expected)
|
||||||
|
|
||||||
|
|
||||||
|
|
|
||||||
10
gtsam.h
10
gtsam.h
|
|
@ -577,9 +577,9 @@ class Pose2 {
|
||||||
static Matrix LogmapDerivative(const gtsam::Pose2& v);
|
static Matrix LogmapDerivative(const gtsam::Pose2& v);
|
||||||
Matrix AdjointMap() const;
|
Matrix AdjointMap() const;
|
||||||
Vector Adjoint(Vector xi) const;
|
Vector Adjoint(Vector xi) const;
|
||||||
static Matrix adjointMap(Vector v);
|
static Matrix adjointMap_(Vector v);
|
||||||
Vector adjoint(Vector xi, Vector y);
|
static Vector adjoint_(Vector xi, Vector y);
|
||||||
Vector adjointTranspose(Vector xi, Vector y);
|
static Vector adjointTranspose(Vector xi, Vector y);
|
||||||
static Matrix wedge(double vx, double vy, double w);
|
static Matrix wedge(double vx, double vy, double w);
|
||||||
|
|
||||||
// Group Actions on Point2
|
// Group Actions on Point2
|
||||||
|
|
@ -628,8 +628,8 @@ class Pose3 {
|
||||||
static Vector Logmap(const gtsam::Pose3& pose);
|
static Vector Logmap(const gtsam::Pose3& pose);
|
||||||
Matrix AdjointMap() const;
|
Matrix AdjointMap() const;
|
||||||
Vector Adjoint(Vector xi) const;
|
Vector Adjoint(Vector xi) const;
|
||||||
static Matrix adjointMap(Vector xi);
|
static Matrix adjointMap_(Vector xi);
|
||||||
static Vector adjoint(Vector xi, Vector y);
|
static Vector adjoint_(Vector xi, Vector y);
|
||||||
static Vector adjointTranspose(Vector xi, Vector y);
|
static Vector adjointTranspose(Vector xi, Vector y);
|
||||||
static Matrix ExpmapDerivative(Vector xi);
|
static Matrix ExpmapDerivative(Vector xi);
|
||||||
static Matrix LogmapDerivative(const gtsam::Pose3& xi);
|
static Matrix LogmapDerivative(const gtsam::Pose3& xi);
|
||||||
|
|
|
||||||
|
|
@ -146,17 +146,21 @@ public:
|
||||||
/**
|
/**
|
||||||
* Action of the adjointMap on a Lie-algebra vector y, with optional derivatives
|
* Action of the adjointMap on a Lie-algebra vector y, with optional derivatives
|
||||||
*/
|
*/
|
||||||
Vector3 adjoint(const Vector3& xi, const Vector3& y) {
|
static Vector3 adjoint(const Vector3& xi, const Vector3& y) {
|
||||||
return adjointMap(xi) * y;
|
return adjointMap(xi) * y;
|
||||||
}
|
}
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* The dual version of adjoint action, acting on the dual space of the Lie-algebra vector space.
|
* The dual version of adjoint action, acting on the dual space of the Lie-algebra vector space.
|
||||||
*/
|
*/
|
||||||
Vector3 adjointTranspose(const Vector3& xi, const Vector3& y) {
|
static Vector3 adjointTranspose(const Vector3& xi, const Vector3& y) {
|
||||||
return adjointMap(xi).transpose() * y;
|
return adjointMap(xi).transpose() * y;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// temporary fix for wrappers until case issue is resolved
|
||||||
|
static Matrix3 adjointMap_(const Vector3 &xi) { return adjointMap(xi);}
|
||||||
|
static Vector3 adjoint_(const Vector3 &xi, const Vector3 &y) { return adjoint(xi, y);}
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* wedge for SE(2):
|
* wedge for SE(2):
|
||||||
* @param xi 3-dim twist (v,omega) where
|
* @param xi 3-dim twist (v,omega) where
|
||||||
|
|
|
||||||
|
|
@ -160,6 +160,10 @@ public:
|
||||||
static Vector6 adjoint(const Vector6 &xi, const Vector6 &y,
|
static Vector6 adjoint(const Vector6 &xi, const Vector6 &y,
|
||||||
OptionalJacobian<6, 6> = boost::none);
|
OptionalJacobian<6, 6> = boost::none);
|
||||||
|
|
||||||
|
// temporary fix for wrappers until case issue is resolved
|
||||||
|
static Matrix6 adjointMap_(const Vector6 &xi) { return adjointMap(xi);}
|
||||||
|
static Vector6 adjoint_(const Vector6 &xi, const Vector6 &y) { return adjoint(xi, y);}
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* The dual version of adjoint action, acting on the dual space of the Lie-algebra vector space.
|
* The dual version of adjoint action, acting on the dual space of the Lie-algebra vector space.
|
||||||
*/
|
*/
|
||||||
|
|
|
||||||
|
|
@ -51,7 +51,6 @@ using namespace gtsam::symbol_shorthand;
|
||||||
|
|
||||||
namespace gtsam {
|
namespace gtsam {
|
||||||
|
|
||||||
#ifndef MATLAB_MEX_FILE
|
|
||||||
/* ************************************************************************* */
|
/* ************************************************************************* */
|
||||||
string findExampleDataFile(const string& name) {
|
string findExampleDataFile(const string& name) {
|
||||||
// Search source tree and installed location
|
// Search source tree and installed location
|
||||||
|
|
@ -100,9 +99,6 @@ string createRewrittenFileName(const string& name) {
|
||||||
return newpath.string();
|
return newpath.string();
|
||||||
}
|
}
|
||||||
|
|
||||||
/* ************************************************************************* */
|
|
||||||
#endif
|
|
||||||
|
|
||||||
/* ************************************************************************* */
|
/* ************************************************************************* */
|
||||||
GraphAndValues load2D(pair<string, SharedNoiseModel> dataset, int maxID,
|
GraphAndValues load2D(pair<string, SharedNoiseModel> dataset, int maxID,
|
||||||
bool addNoise, bool smart, NoiseFormat noiseFormat,
|
bool addNoise, bool smart, NoiseFormat noiseFormat,
|
||||||
|
|
|
||||||
|
|
@ -37,7 +37,6 @@
|
||||||
|
|
||||||
namespace gtsam {
|
namespace gtsam {
|
||||||
|
|
||||||
#ifndef MATLAB_MEX_FILE
|
|
||||||
/**
|
/**
|
||||||
* Find the full path to an example dataset distributed with gtsam. The name
|
* Find the full path to an example dataset distributed with gtsam. The name
|
||||||
* may be specified with or without a file extension - if no extension is
|
* may be specified with or without a file extension - if no extension is
|
||||||
|
|
@ -56,7 +55,6 @@ GTSAM_EXPORT std::string findExampleDataFile(const std::string& name);
|
||||||
* for checking read-write oprations
|
* for checking read-write oprations
|
||||||
*/
|
*/
|
||||||
GTSAM_EXPORT std::string createRewrittenFileName(const std::string& name);
|
GTSAM_EXPORT std::string createRewrittenFileName(const std::string& name);
|
||||||
#endif
|
|
||||||
|
|
||||||
/// Indicates how noise parameters are stored in file
|
/// Indicates how noise parameters are stored in file
|
||||||
enum NoiseFormat {
|
enum NoiseFormat {
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue