12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fast creation of large key sets from within MATLAB

release/4.3a0
dellaert 2014-05-25 02:03:33 -04:00
parent 8806c15b36
commit 87c386d77f
3 changed files with 10 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
gtsam.h
View File

@ -2375,6 +2375,7 @@ namespace utilities {
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::KeySet createKeySet(string s, Vector I);
} //\namespace utilities

8
matlab.h
View File

@ -151,6 +151,14 @@ namespace gtsam {
return errors;
}
// Create a Keyset from indices
FastSet<Key> createKeySet(string s, const Vector& I) {
FastSet<Key> set;
char c = s[0];
for(int i=0;i<I.size();i++)
set.insert(symbol(c,I[i]));
return set;
}
}
}

1
matlab/+gtsam/Contents.m
View File

@ -186,3 +186,4 @@
% utilities.insertBackprojections - Insert a number of initial point values by backprojecting
% utilities.insertProjectionFactors - Insert multiple projection factors for a single pose key
% utilities.reprojectionErrors - Calculate the errors of all projection factors in a graph
% utilities.createKeySet - Create keys from indices