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gtsam.h
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gtsam.h
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/**
* GTSAM Wrap Module Definition
*
* These are the current classes available through the matlab toolbox interface,
* add more functions/classes as they are available.
*
* Requirements:
* Classes must start with an uppercase letter
* - Can wrap a typedef
* Only one Method/Constructor per line, though methods/constructors can extend across multiple lines
* Methods can return
* - Eigen types: Matrix, Vector
* - C/C++ basic types: string, bool, size_t, int, double, char, unsigned char
* - void
* - Any class with which be copied with boost::make_shared()
* - boost::shared_ptr of any object type
* Constructors
* - Overloads are supported
* - A class with no constructors can be returned from other functions but not allocated directly in MATLAB
* Methods
* - Constness has no effect
* - Specify by-value (not reference) return types, even if C++ method returns reference
* - Must start with a letter (upper or lowercase)
* - Overloads are supported
* Static methods
* - Must start with a letter (upper or lowercase) and use the "static" keyword
* - The first letter will be made uppercase in the generated MATLAB interface
* - Overloads are supported
* Arguments to functions any of
* - Eigen types: Matrix, Vector
* - Eigen types and classes as an optionally const reference
* - C/C++ basic types: string, bool, size_t, size_t, double, char, unsigned char
* - Any class with which be copied with boost::make_shared() (except Eigen)
* - boost::shared_ptr of any object type (except Eigen)
* Comments can use either C++ or C style, with multiple lines
* Namespace definitions
* - Names of namespaces must start with a lowercase letter
* - start a namespace with "namespace {"
* - end a namespace with exactly "}"
* - Namespaces can be nested
* Namespace usage
* - Namespaces can be specified for classes in arguments and return values
* - In each case, the namespace must be fully specified, e.g., "namespace1::namespace2::ClassName"
* Includes in C++ wrappers
* - All includes will be collected and added in a single file
* - All namespaces must have angle brackets: <path>
* - No default includes will be added
* Global/Namespace functions
* - Functions specified outside of a class are global
* - Can be overloaded with different arguments
* - Can have multiple functions of the same name in different namespaces
* Using classes defined in other modules
* - If you are using a class 'OtherClass' not wrapped in this definition file, add "class OtherClass;" to avoid a dependency error
* Virtual inheritance
* - Specify fully-qualified base classes, i.e. "virtual class Derived : ns::Base {" where "ns" is the namespace
* - Mark with 'virtual' keyword, e.g. "virtual class Base {", and also "virtual class Derived : ns::Base {"
* - Forward declarations must also be marked virtual, e.g. "virtual class ns::Base;" and
* also "virtual class ns::Derived;"
* - Pure virtual (abstract) classes should list no constructors in this interface file
* - Virtual classes must have a clone() function in C++ (though it does not have to be included
* in the MATLAB interface). clone() will be called whenever an object copy is needed, instead
* of using the copy constructor (which is used for non-virtual objects).
* - Signature of clone function - will be called virtually, so must appear at least at the top of the inheritance tree
* virtual boost::shared_ptr<CLASS_NAME> clone() const;
* Class Templates
* - Basic templates are supported either with an explicit list of types to instantiate,
* e.g. template<T = {gtsam::Pose2, gtsam::Rot2, gtsam::Point3}> class Class1 { ... };
* or with typedefs, e.g.
* template<T, U> class Class2 { ... };
* typedef Class2<Type1, Type2> MyInstantiatedClass;
* - In the class definition, appearances of the template argument(s) will be replaced with their
* instantiated types, e.g. 'void setValue(const T& value);'.
* - To refer to the instantiation of the template class itself, use 'This', i.e. 'static This Create();'
* - To create new instantiations in other modules, you must copy-and-paste the whole class definition
* into the new module, but use only your new instantiation types.
* - When forward-declaring template instantiations, use the generated/typedefed name, e.g.
* class gtsam::Class1Pose2;
* class gtsam::MyInstantiatedClass;
* Boost.serialization within Matlab:
* - you need to mark classes as being serializable in the markup file (see this file for an example).
* - There are two options currently, depending on the class. To "mark" a class as serializable,
* add a function with a particular signature so that wrap will catch it.
* - Add "void serialize()" to a class to create serialization functions for a class.
* Adding this flag subsumes the serializable() flag below. Requirements:
* - A default constructor must be publicly accessible
* - Must not be an abstract base class
* - The class must have an actual boost.serialization serialize() function.
* - Add "void serializable()" to a class if you only want the class to be serialized as a
* part of a container (such as noisemodel). This version does not require a publicly
* accessible default constructor.
*/
/**
* Status:
* - TODO: default values for arguments
* - WORKAROUND: make multiple versions of the same function for different configurations of default arguments
* - TODO: Handle gtsam::Rot3M conversions to quaternions
* - TODO: Parse return of const ref arguments
* - TODO: Parse std::string variants and convert directly to special string
* - TODO: Add enum support
* - TODO: Add generalized serialization support via boost.serialization with hooks to matlab save/load
*/
namespace std {
#include <vector>
template<T>
class vector
{
//Do we need these?
//Capacity
/*size_t size() const;
size_t max_size() const;
//void resize(size_t sz);
size_t capacity() const;
bool empty() const;
void reserve(size_t n);
//Element access
T* at(size_t n);
T* front();
T* back();
//Modifiers
void assign(size_t n, const T& u);
void push_back(const T& x);
void pop_back();*/
};
//typedef std::vector
#include<list>
template<T>
class list
{
};
}
namespace gtsam {
//*************************************************************************
// base
//*************************************************************************
/** gtsam namespace functions */
bool linear_independent(Matrix A, Matrix B, double tol);
virtual class Value {
// No constructors because this is an abstract class
// Testable
void print(string s) const;
// Manifold
size_t dim() const;
};
#include <gtsam/base/LieScalar.h>
virtual class LieScalar : gtsam::Value {
// Standard constructors
LieScalar();
LieScalar(double d);
// Standard interface
double value() const;
// Testable
void print(string s) const;
bool equals(const gtsam::LieScalar& expected, double tol) const;
// Group
static gtsam::LieScalar identity();
gtsam::LieScalar inverse() const;
gtsam::LieScalar compose(const gtsam::LieScalar& p) const;
gtsam::LieScalar between(const gtsam::LieScalar& l2) const;
// Manifold
size_t dim() const;
gtsam::LieScalar retract(Vector v) const;
Vector localCoordinates(const gtsam::LieScalar& t2) const;
// Lie group
static gtsam::LieScalar Expmap(Vector v);
static Vector Logmap(const gtsam::LieScalar& p);
};
#include <gtsam/base/LieVector.h>
virtual class LieVector : gtsam::Value {
// Standard constructors
LieVector();
LieVector(Vector v);
// Standard interface
Vector vector() const;
// Testable
void print(string s) const;
bool equals(const gtsam::LieVector& expected, double tol) const;
// Group
static gtsam::LieVector identity();
gtsam::LieVector inverse() const;
gtsam::LieVector compose(const gtsam::LieVector& p) const;
gtsam::LieVector between(const gtsam::LieVector& l2) const;
// Manifold
size_t dim() const;
gtsam::LieVector retract(Vector v) const;
Vector localCoordinates(const gtsam::LieVector& t2) const;
// Lie group
static gtsam::LieVector Expmap(Vector v);
static Vector Logmap(const gtsam::LieVector& p);
// enabling serialization functionality
void serialize() const;
};
#include <gtsam/base/LieMatrix.h>
virtual class LieMatrix : gtsam::Value {
// Standard constructors
LieMatrix();
LieMatrix(Matrix v);
// Standard interface
Matrix matrix() const;
// Testable
void print(string s) const;
bool equals(const gtsam::LieMatrix& expected, double tol) const;
// Group
static gtsam::LieMatrix identity();
gtsam::LieMatrix inverse() const;
gtsam::LieMatrix compose(const gtsam::LieMatrix& p) const;
gtsam::LieMatrix between(const gtsam::LieMatrix& l2) const;
// Manifold
size_t dim() const;
gtsam::LieMatrix retract(Vector v) const;
Vector localCoordinates(const gtsam::LieMatrix & t2) const;
// Lie group
static gtsam::LieMatrix Expmap(Vector v);
static Vector Logmap(const gtsam::LieMatrix& p);
// enabling serialization functionality
void serialize() const;
};
//*************************************************************************
// geometry
//*************************************************************************
virtual class Point2 : gtsam::Value {
// Standard Constructors
Point2();
Point2(double x, double y);
Point2(Vector v);
// Testable
void print(string s) const;
bool equals(const gtsam::Point2& pose, double tol) const;
// Group
static gtsam::Point2 identity();
gtsam::Point2 inverse() const;
gtsam::Point2 compose(const gtsam::Point2& p2) const;
gtsam::Point2 between(const gtsam::Point2& p2) const;
// Manifold
static size_t Dim();
size_t dim() const;
gtsam::Point2 retract(Vector v) const;
Vector localCoordinates(const gtsam::Point2& p) const;
// Lie Group
static gtsam::Point2 Expmap(Vector v);
static Vector Logmap(const gtsam::Point2& p);
// Standard Interface
double x() const;
double y() const;
Vector vector() const;
double dist(const gtsam::Point2& p2) const;
double norm() const;
// enabling serialization functionality
void serialize() const;
};
virtual class StereoPoint2 : gtsam::Value {
// Standard Constructors
StereoPoint2();
StereoPoint2(double uL, double uR, double v);
// Testable
void print(string s) const;
bool equals(const gtsam::StereoPoint2& point, double tol) const;
// Group
static gtsam::StereoPoint2 identity();
gtsam::StereoPoint2 inverse() const;
gtsam::StereoPoint2 compose(const gtsam::StereoPoint2& p2) const;
gtsam::StereoPoint2 between(const gtsam::StereoPoint2& p2) const;
// Manifold
static size_t Dim();
size_t dim() const;
gtsam::StereoPoint2 retract(Vector v) const;
Vector localCoordinates(const gtsam::StereoPoint2& p) const;
// Lie Group
static gtsam::StereoPoint2 Expmap(Vector v);
static Vector Logmap(const gtsam::StereoPoint2& p);
// Standard Interface
Vector vector() const;
double uL() const;
double uR() const;
double v() const;
// enabling serialization functionality
void serialize() const;
};
virtual class Point3 : gtsam::Value {
// Standard Constructors
Point3();
Point3(double x, double y, double z);
Point3(Vector v);
// Testable
void print(string s) const;
bool equals(const gtsam::Point3& p, double tol) const;
// Group
static gtsam::Point3 identity();
gtsam::Point3 inverse() const;
gtsam::Point3 compose(const gtsam::Point3& p2) const;
gtsam::Point3 between(const gtsam::Point3& p2) const;
// Manifold
static size_t Dim();
size_t dim() const;
gtsam::Point3 retract(Vector v) const;
Vector localCoordinates(const gtsam::Point3& p) const;
// Lie Group
static gtsam::Point3 Expmap(Vector v);
static Vector Logmap(const gtsam::Point3& p);
// Standard Interface
Vector vector() const;
double x() const;
double y() const;
double z() const;
// enabling serialization functionality
void serialize() const;
};
virtual class Rot2 : gtsam::Value {
// Standard Constructors and Named Constructors
Rot2();
Rot2(double theta);
static gtsam::Rot2 fromAngle(double theta);
static gtsam::Rot2 fromDegrees(double theta);
static gtsam::Rot2 fromCosSin(double c, double s);
// Testable
void print(string s) const;
bool equals(const gtsam::Rot2& rot, double tol) const;
// Group
static gtsam::Rot2 identity();
gtsam::Rot2 inverse();
gtsam::Rot2 compose(const gtsam::Rot2& p2) const;
gtsam::Rot2 between(const gtsam::Rot2& p2) const;
// Manifold
static size_t Dim();
size_t dim() const;
gtsam::Rot2 retract(Vector v) const;
Vector localCoordinates(const gtsam::Rot2& p) const;
// Lie Group
static gtsam::Rot2 Expmap(Vector v);
static Vector Logmap(const gtsam::Rot2& p);
// Group Action on Point2
gtsam::Point2 rotate(const gtsam::Point2& point) const;
gtsam::Point2 unrotate(const gtsam::Point2& point) const;
// Standard Interface
static gtsam::Rot2 relativeBearing(const gtsam::Point2& d); // Ignoring derivative
static gtsam::Rot2 atan2(double y, double x);
double theta() const;
double degrees() const;
double c() const;
double s() const;
Matrix matrix() const;
// enabling serialization functionality
void serialize() const;
};
virtual class Rot3 : gtsam::Value {
// Standard Constructors and Named Constructors
Rot3();
Rot3(Matrix R);
static gtsam::Rot3 Rx(double t);
static gtsam::Rot3 Ry(double t);
static gtsam::Rot3 Rz(double t);
static gtsam::Rot3 RzRyRx(double x, double y, double z);
static gtsam::Rot3 RzRyRx(Vector xyz);
static gtsam::Rot3 yaw(double t); // positive yaw is to right (as in aircraft heading)
static gtsam::Rot3 pitch(double t); // positive pitch is up (increasing aircraft altitude)
static gtsam::Rot3 roll(double t); // positive roll is to right (increasing yaw in aircraft)
static gtsam::Rot3 ypr(double y, double p, double r);
static gtsam::Rot3 quaternion(double w, double x, double y, double z);
static gtsam::Rot3 rodriguez(Vector v);
// Testable
void print(string s) const;
bool equals(const gtsam::Rot3& rot, double tol) const;
// Group
static gtsam::Rot3 identity();
gtsam::Rot3 inverse() const;
gtsam::Rot3 compose(const gtsam::Rot3& p2) const;
gtsam::Rot3 between(const gtsam::Rot3& p2) const;
// Manifold
static size_t Dim();
size_t dim() const;
//gtsam::Rot3 retractCayley(Vector v) const; // FIXME, does not exist in both Matrix and Quaternion options
gtsam::Rot3 retract(Vector v) const;
Vector localCoordinates(const gtsam::Rot3& p) const;
// Group Action on Point3
gtsam::Point3 rotate(const gtsam::Point3& p) const;
gtsam::Point3 unrotate(const gtsam::Point3& p) const;
// Standard Interface
static gtsam::Rot3 Expmap(Vector v);
static Vector Logmap(const gtsam::Rot3& p);
Matrix matrix() const;
Matrix transpose() const;
gtsam::Point3 column(size_t index) const;
Vector xyz() const;
Vector ypr() const;
Vector rpy() const;
double roll() const;
double pitch() const;
double yaw() const;
// Vector toQuaternion() const; // FIXME: Can't cast to Vector properly
Vector quaternion() const;
// enabling serialization functionality
void serialize() const;
};
virtual class Pose2 : gtsam::Value {
// Standard Constructor
Pose2();
Pose2(const gtsam::Pose2& pose);
Pose2(double x, double y, double theta);
Pose2(double theta, const gtsam::Point2& t);
Pose2(const gtsam::Rot2& r, const gtsam::Point2& t);
Pose2(Vector v);
// Testable
void print(string s) const;
bool equals(const gtsam::Pose2& pose, double tol) const;
// Group
static gtsam::Pose2 identity();
gtsam::Pose2 inverse() const;
gtsam::Pose2 compose(const gtsam::Pose2& p2) const;
gtsam::Pose2 between(const gtsam::Pose2& p2) const;
// Manifold
static size_t Dim();
size_t dim() const;
gtsam::Pose2 retract(Vector v) const;
Vector localCoordinates(const gtsam::Pose2& p) const;
// Lie Group
static gtsam::Pose2 Expmap(Vector v);
static Vector Logmap(const gtsam::Pose2& p);
Matrix AdjointMap() const;
Vector Adjoint(const Vector& xi) const;
static Matrix wedge(double vx, double vy, double w);
// Group Actions on Point2
gtsam::Point2 transform_from(const gtsam::Point2& p) const;
gtsam::Point2 transform_to(const gtsam::Point2& p) const;
// Standard Interface
double x() const;
double y() const;
double theta() const;
gtsam::Rot2 bearing(const gtsam::Point2& point) const;
double range(const gtsam::Point2& point) const;
gtsam::Point2 translation() const;
gtsam::Rot2 rotation() const;
Matrix matrix() const;
// enabling serialization functionality
void serialize() const;
};
virtual class Pose3 : gtsam::Value {
// Standard Constructors
Pose3();
Pose3(const gtsam::Pose3& pose);
Pose3(const gtsam::Rot3& r, const gtsam::Point3& t);
Pose3(const gtsam::Pose2& pose2); // FIXME: shadows Pose3(Pose3 pose)
Pose3(Matrix t);
// Testable
void print(string s) const;
bool equals(const gtsam::Pose3& pose, double tol) const;
// Group
static gtsam::Pose3 identity();
gtsam::Pose3 inverse() const;
gtsam::Pose3 compose(const gtsam::Pose3& p2) const;
gtsam::Pose3 between(const gtsam::Pose3& p2) const;
// Manifold
static size_t Dim();
size_t dim() const;
gtsam::Pose3 retract(Vector v) const;
gtsam::Pose3 retractFirstOrder(Vector v) const;
Vector localCoordinates(const gtsam::Pose3& T2) const;
// Lie Group
static gtsam::Pose3 Expmap(Vector v);
static Vector Logmap(const gtsam::Pose3& p);
Matrix AdjointMap() const;
Vector Adjoint(Vector xi) const;
static Matrix wedge(double wx, double wy, double wz, double vx, double vy, double vz);
// Group Action on Point3
gtsam::Point3 transform_from(const gtsam::Point3& p) const;
gtsam::Point3 transform_to(const gtsam::Point3& p) const;
// Standard Interface
gtsam::Rot3 rotation() const;
gtsam::Point3 translation() const;
double x() const;
double y() const;
double z() const;
Matrix matrix() const;
gtsam::Pose3 transform_to(const gtsam::Pose3& pose) const; // FIXME: shadows other transform_to()
double range(const gtsam::Point3& point);
double range(const gtsam::Pose3& pose);
// enabling serialization functionality
void serialize() const;
};
#include <gtsam/geometry/Unit3.h>
virtual class Unit3 : gtsam::Value {
// Standard Constructors
Unit3();
Unit3(const gtsam::Point3& pose);
// Testable
void print(string s) const;
bool equals(const gtsam::Unit3& pose, double tol) const;
// Other functionality
Matrix basis() const;
Matrix skew() const;
// Manifold
static size_t Dim();
size_t dim() const;
gtsam::Unit3 retract(Vector v) const;
Vector localCoordinates(const gtsam::Unit3& s) const;
};
#include <gtsam/geometry/EssentialMatrix.h>
virtual class EssentialMatrix : gtsam::Value {
// Standard Constructors
EssentialMatrix(const gtsam::Rot3& aRb, const gtsam::Unit3& aTb);
// Testable
void print(string s) const;
bool equals(const gtsam::EssentialMatrix& pose, double tol) const;
// Manifold
static size_t Dim();
size_t dim() const;
gtsam::EssentialMatrix retract(Vector v) const;
Vector localCoordinates(const gtsam::EssentialMatrix& s) const;
// Other methods:
gtsam::Rot3 rotation() const;
gtsam::Unit3 direction() const;
Matrix matrix() const;
double error(Vector vA, Vector vB);
};
virtual class Cal3_S2 : gtsam::Value {
// Standard Constructors
Cal3_S2();
Cal3_S2(double fx, double fy, double s, double u0, double v0);
Cal3_S2(Vector v);
Cal3_S2(double fov, int w, int h);
// Testable
void print(string s) const;
bool equals(const gtsam::Cal3_S2& rhs, double tol) const;
// Manifold
static size_t Dim();
size_t dim() const;
gtsam::Cal3_S2 retract(Vector v) const;
Vector localCoordinates(const gtsam::Cal3_S2& c) const;
// Action on Point2
gtsam::Point2 calibrate(const gtsam::Point2& p) const;
gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
// Standard Interface
double fx() const;
double fy() const;
double skew() const;
double px() const;
double py() const;
gtsam::Point2 principalPoint() const;
Vector vector() const;
Matrix matrix() const;
Matrix matrix_inverse() const;
// enabling serialization functionality
void serialize() const;
};
#include <gtsam/geometry/Cal3DS2.h>
virtual class Cal3DS2 : gtsam::Value {
// Standard Constructors
Cal3DS2();
Cal3DS2(double fx, double fy, double s, double u0, double v0, double k1, double k2, double k3, double k4);
Cal3DS2(Vector v);
// Testable
void print(string s) const;
bool equals(const gtsam::Cal3DS2& rhs, double tol) const;
// Manifold
static size_t Dim();
size_t dim() const;
gtsam::Cal3DS2 retract(Vector v) const;
Vector localCoordinates(const gtsam::Cal3DS2& c) const;
// Action on Point2
gtsam::Point2 calibrate(const gtsam::Point2& p, double tol) const;
gtsam::Point2 calibrate(const gtsam::Point2& p) const;
gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
// TODO: D2d functions that start with an uppercase letter
// Standard Interface
double fx() const;
double fy() const;
double skew() const;
double px() const;
double py() const;
Vector vector() const;
Vector k() const;
//Matrix K() const; //FIXME: Uppercase
// enabling serialization functionality
void serialize() const;
};
class Cal3_S2Stereo {
// Standard Constructors
Cal3_S2Stereo();
Cal3_S2Stereo(double fx, double fy, double s, double u0, double v0, double b);
Cal3_S2Stereo(Vector v);
// Testable
void print(string s) const;
bool equals(const gtsam::Cal3_S2Stereo& K, double tol) const;
// Standard Interface
double fx() const;
double fy() const;
double skew() const;
double px() const;
double py() const;
gtsam::Point2 principalPoint() const;
double baseline() const;
};
virtual class CalibratedCamera : gtsam::Value {
// Standard Constructors and Named Constructors
CalibratedCamera();
CalibratedCamera(const gtsam::Pose3& pose);
CalibratedCamera(const Vector& v);
static gtsam::CalibratedCamera Level(const gtsam::Pose2& pose2, double height);
// Testable
void print(string s) const;
bool equals(const gtsam::CalibratedCamera& camera, double tol) const;
// Manifold
static size_t Dim();
size_t dim() const;
gtsam::CalibratedCamera retract(const Vector& d) const;
Vector localCoordinates(const gtsam::CalibratedCamera& T2) const;
// Group
gtsam::CalibratedCamera compose(const gtsam::CalibratedCamera& c) const;
gtsam::CalibratedCamera inverse() const;
// Action on Point3
gtsam::Point2 project(const gtsam::Point3& point) const;
static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint);
// Standard Interface
gtsam::Pose3 pose() const;
double range(const gtsam::Point3& p) const; // TODO: Other overloaded range methods
// enabling serialization functionality
void serialize() const;
};
virtual class SimpleCamera : gtsam::Value {
// Standard Constructors and Named Constructors
SimpleCamera();
SimpleCamera(const gtsam::Pose3& pose);
SimpleCamera(const gtsam::Pose3& pose, const gtsam::Cal3_S2& K);
static gtsam::SimpleCamera Level(const gtsam::Cal3_S2& K,
const gtsam::Pose2& pose, double height);
static gtsam::SimpleCamera Level(const gtsam::Pose2& pose, double height);
static gtsam::SimpleCamera Lookat(const gtsam::Point3& eye,
const gtsam::Point3& target, const gtsam::Point3& upVector,
const gtsam::Cal3_S2& K);
// Testable
void print(string s) const;
bool equals(const gtsam::SimpleCamera& camera, double tol) const;
// Standard Interface
gtsam::Pose3 pose() const;
gtsam::Cal3_S2 calibration();
// Manifold
gtsam::SimpleCamera retract(const Vector& d) const;
Vector localCoordinates(const gtsam::SimpleCamera& T2) const;
size_t dim() const;
static size_t Dim();
// Transformations and measurement functions
static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint);
pair<gtsam::Point2,bool> projectSafe(const gtsam::Point3& pw) const;
gtsam::Point2 project(const gtsam::Point3& point);
gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const;
double range(const gtsam::Point3& point);
double range(const gtsam::Pose3& point);
// enabling serialization functionality
void serialize() const;
};
template<CALIBRATION = {gtsam::Cal3DS2}>
virtual class PinholeCamera : gtsam::Value {
// Standard Constructors and Named Constructors
PinholeCamera();
PinholeCamera(const gtsam::Pose3& pose);
PinholeCamera(const gtsam::Pose3& pose, const gtsam::Cal3DS2& K);
static This Level(const gtsam::Cal3DS2& K,
const gtsam::Pose2& pose, double height);
static This Level(const gtsam::Pose2& pose, double height);
static This Lookat(const gtsam::Point3& eye,
const gtsam::Point3& target, const gtsam::Point3& upVector,
const gtsam::Cal3DS2& K);
// Testable
void print(string s) const;
bool equals(const This& camera, double tol) const;
// Standard Interface
gtsam::Pose3 pose() const;
CALIBRATION calibration() const;
// Manifold
This retract(const Vector& d) const;
Vector localCoordinates(const This& T2) const;
size_t dim() const;
static size_t Dim();
// Transformations and measurement functions
static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint);
pair<gtsam::Point2,bool> projectSafe(const gtsam::Point3& pw) const;
gtsam::Point2 project(const gtsam::Point3& point);
gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const;
double range(const gtsam::Point3& point);
double range(const gtsam::Pose3& point);
// enabling serialization functionality
void serialize() const;
};
virtual class StereoCamera : gtsam::Value {
// Standard Constructors and Named Constructors
StereoCamera();
StereoCamera(const gtsam::Pose3& pose, const gtsam::Cal3_S2Stereo* K);
// Testable
void print(string s) const;
bool equals(const gtsam::StereoCamera& camera, double tol) const;
// Standard Interface
gtsam::Pose3 pose() const;
double baseline() const;
gtsam::Cal3_S2Stereo* calibration() const;
// Manifold
gtsam::StereoCamera retract(const Vector& d) const;
Vector localCoordinates(const gtsam::StereoCamera& T2) const;
size_t dim() const;
static size_t Dim();
// Transformations and measurement functions
gtsam::StereoPoint2 project(const gtsam::Point3& point);
gtsam::Point3 backproject(const gtsam::StereoPoint2& p) const;
// enabling serialization functionality
void serialize() const;
};
#include <gtsam/geometry/ParallaxAnglePoint2.h>
virtual class ParallaxAnglePoint2 : gtsam::Value {
// Standard Constructors
ParallaxAnglePoint2();
ParallaxAnglePoint2(double yaw, double pitch);
ParallaxAnglePoint2(Vector v);
// Static Constructors
static gtsam::ParallaxAnglePoint2 FromCameraAndMeasurement(const gtsam::SimpleCamera &camera, const gtsam::Point2 &measurement);
static gtsam::ParallaxAnglePoint2 FromCameraAndMeasurement(const gtsam::PinholeCameraCal3DS2 &camera, const gtsam::Point2 &measurement);
static gtsam::ParallaxAnglePoint2 FromPoseMeasurementAndCalibration(const gtsam::Pose3 &pose, const gtsam::Point2 &measurement, const gtsam::Cal3_S2& K, const gtsam::Pose3& body_P_sensor);
static gtsam::ParallaxAnglePoint2 FromPoseMeasurementAndCalibration(const gtsam::Pose3 &pose, const gtsam::Point2 &measurement, const gtsam::Cal3_S2& K);
static gtsam::ParallaxAnglePoint2 FromPoseMeasurementAndCalibration(const gtsam::Pose3 &pose, const gtsam::Point2 &measurement, const gtsam::Cal3DS2& K);
static gtsam::ParallaxAnglePoint2 FromPoseMeasurementAndCalibration(const gtsam::Pose3 &pose, const gtsam::Point2 &measurement, const gtsam::Cal3DS2& K, const gtsam::Pose3& body_P_sensor);
// Testable
void print(string s) const;
bool equals(const gtsam::ParallaxAnglePoint2& pose, double tol) const;
// Manifold
static size_t Dim();
size_t dim() const;
gtsam::ParallaxAnglePoint2 retract(Vector v) const;
Vector localCoordinates(const gtsam::ParallaxAnglePoint2& p) const;
// Standard Interface
double yaw() const;
double pitch() const;
Vector vector() const;
Vector directionVector() const;
// enabling serialization functionality
void serialize() const;
};
#include <gtsam/geometry/ParallaxAnglePoint3.h>
virtual class ParallaxAnglePoint3 : gtsam::Value {
// Standard Constructors
ParallaxAnglePoint3();
ParallaxAnglePoint3(double yaw, double pitch, double parallax);
ParallaxAnglePoint3(Vector v);
// Static Constructors
static gtsam::ParallaxAnglePoint3 FromCamerasAndMeasurements( const gtsam::SimpleCamera &mainCamera, const gtsam::Point2 &measurementFromMain,
const gtsam::SimpleCamera &assoCamera, const gtsam::Point2 &measurementFromAsso);
static gtsam::ParallaxAnglePoint3 FromCamerasAndMeasurements( const gtsam::PinholeCameraCal3DS2 &mainCamera, const gtsam::Point2 &measurementFromMain,
const gtsam::PinholeCameraCal3DS2 &assoCamera, const gtsam::Point2 &measurementFromAsso);
static gtsam::ParallaxAnglePoint3 FromPosesMeasurementsAndCalibration( const gtsam::Pose3 &mainPose, const gtsam::Point2 &measurementFromMain,
const gtsam::Pose3 &assoPose, const gtsam::Point2 &measurementFromAsso,
const gtsam::Cal3_S2& K);
static gtsam::ParallaxAnglePoint3 FromPosesMeasurementsAndCalibration( const gtsam::Pose3 &mainPose, const gtsam::Point2 &measurementFromMain,
const gtsam::Pose3 &assoPose, const gtsam::Point2 &measurementFromAsso,
const gtsam::Cal3_S2& K, const gtsam::Pose3 &body_P_sensor);
static gtsam::ParallaxAnglePoint3 FromPosesMeasurementsAndCalibration( const gtsam::Pose3 &mainPose, const gtsam::Point2 &measurementFromMain,
const gtsam::Pose3 &assoPose, const gtsam::Point2 &measurementFromAsso,
const gtsam::Cal3DS2& K);
static gtsam::ParallaxAnglePoint3 FromPosesMeasurementsAndCalibration( const gtsam::Pose3 &mainPose, const gtsam::Point2 &measurementFromMain,
const gtsam::Pose3 &assoPose, const gtsam::Point2 &measurementFromAsso,
const gtsam::Cal3DS2& K, const gtsam::Pose3 &body_P_sensor);
static gtsam::ParallaxAnglePoint3 FromParallaxAnglePointAndAnchors( const gtsam::ParallaxAnglePoint3 &oldPoint,
const gtsam::Point3 &oldMainAnchor, const gtsam::Point3 &oldAssoAnchor,
const gtsam::Point3 &newMainAnchor, const gtsam::Point3 &newAssoAnchor);
// Testable
void print(string s) const;
bool equals(const gtsam::ParallaxAnglePoint3& pose, double tol) const;
// Manifold
static size_t Dim();
size_t dim() const;
gtsam::ParallaxAnglePoint3 retract(Vector v) const;
Vector localCoordinates(const gtsam::ParallaxAnglePoint3& p) const;
// Standard Interface
double yaw() const;
double pitch() const;
double parallax() const;
Vector vector() const;
Vector directionVectorFromMainAnchor() const;
Vector directionVectorFromAssoAnchor(const gtsam::Point3& mainAnchor, const gtsam::Point3& assoAnchor) const;
Vector directionVectorFromOtheAnchor(const gtsam::Point3& mainAnchor, const gtsam::Point3& assoAnchor, const gtsam::Point3& otheAnchor) const;
gtsam::Point3 toPoint3(const gtsam::Point3 & mainAnchor, const gtsam::Point3 & assoAnchor) const;
gtsam::Point3 toPoint3(const gtsam::Pose3 & mainPose, const gtsam::Pose3 & assoPose) const;
gtsam::Point3 toPoint3(const gtsam::Pose3 & mainPose, const gtsam::Pose3 & assoPose, const gtsam::Pose3 & body_P_sensor) const;
// enabling serialization functionality
void serialize() const;
};
//*************************************************************************
// Symbolic
//*************************************************************************
#include <gtsam/symbolic/SymbolicFactor.h>
virtual class SymbolicFactor {
// Standard Constructors and Named Constructors
SymbolicFactor(const gtsam::SymbolicFactor& f);
SymbolicFactor();
SymbolicFactor(size_t j);
SymbolicFactor(size_t j1, size_t j2);
SymbolicFactor(size_t j1, size_t j2, size_t j3);
SymbolicFactor(size_t j1, size_t j2, size_t j3, size_t j4);
SymbolicFactor(size_t j1, size_t j2, size_t j3, size_t j4, size_t j5);
SymbolicFactor(size_t j1, size_t j2, size_t j3, size_t j4, size_t j5, size_t j6);
static gtsam::SymbolicFactor FromKeys(const gtsam::KeyVector& js);
// From Factor
size_t size() const;
void print(string s) const;
bool equals(const gtsam::SymbolicFactor& other, double tol) const;
gtsam::KeyVector keys();
};
#include <gtsam/symbolic/SymbolicFactorGraph.h>
class SymbolicFactorGraph {
SymbolicFactorGraph();
SymbolicFactorGraph(const gtsam::SymbolicBayesNet& bayesNet);
SymbolicFactorGraph(const gtsam::SymbolicBayesTree& bayesTree);
// From FactorGraph
void push_back(gtsam::SymbolicFactor* factor);
void print(string s) const;
bool equals(const gtsam::SymbolicFactorGraph& rhs, double tol) const;
size_t size() const;
bool exists(size_t idx) const;
// Standard interface
gtsam::KeySet keys() const;
void push_back(gtsam::SymbolicFactor* factor);
void push_back(const gtsam::SymbolicFactorGraph& graph);
void push_back(const gtsam::SymbolicBayesNet& bayesNet);
void push_back(const gtsam::SymbolicBayesTree& bayesTree);
//Advanced Interface
void push_factor(size_t key);
void push_factor(size_t key1, size_t key2);
void push_factor(size_t key1, size_t key2, size_t key3);
void push_factor(size_t key1, size_t key2, size_t key3, size_t key4);
gtsam::SymbolicBayesNet* eliminateSequential();
gtsam::SymbolicBayesNet* eliminateSequential(const gtsam::Ordering& ordering);
gtsam::SymbolicBayesTree* eliminateMultifrontal();
gtsam::SymbolicBayesTree* eliminateMultifrontal(const gtsam::Ordering& ordering);
pair<gtsam::SymbolicBayesNet*, gtsam::SymbolicFactorGraph*> eliminatePartialSequential(
const gtsam::Ordering& ordering);
pair<gtsam::SymbolicBayesNet*, gtsam::SymbolicFactorGraph*> eliminatePartialSequential(
const gtsam::KeyVector& keys);
pair<gtsam::SymbolicBayesTree*, gtsam::SymbolicFactorGraph*> eliminatePartialMultifrontal(
const gtsam::Ordering& ordering);
pair<gtsam::SymbolicBayesTree*, gtsam::SymbolicFactorGraph*> eliminatePartialMultifrontal(
const gtsam::KeyVector& keys);
gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& variables);
gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& variables);
gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& variables,
const gtsam::Ordering& marginalizedVariableOrdering);
gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& variables,
const gtsam::Ordering& marginalizedVariableOrdering);