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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
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1
gtsam.h
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@ -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);
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); 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); Matrix reprojectionErrors(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values);
gtsam::KeySet createKeySet(string s, Vector I);
} //\namespace utilities } //\namespace utilities

8
matlab.h
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@ -151,6 +151,14 @@ namespace gtsam {
return errors; 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
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@ -186,3 +186,4 @@
% utilities.insertBackprojections - Insert a number of initial point values by backprojecting % utilities.insertBackprojections - Insert a number of initial point values by backprojecting
% utilities.insertProjectionFactors - Insert multiple projection factors for a single pose key % utilities.insertProjectionFactors - Insert multiple projection factors for a single pose key
% utilities.reprojectionErrors - Calculate the errors of all projection factors in a graph % utilities.reprojectionErrors - Calculate the errors of all projection factors in a graph
% utilities.createKeySet - Create keys from indices