high level structure of each results should be { objects: { id: { "poses": {

/

align a trajectory to a reference using Umeyama alignment :param traj: the trajectory to align :param traj_ref: reference trajectory

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Checks that the files that this datastructure represent actually exist (locally) and therefore is a valid dynosam results folder

TODO: else if logic needs test!!

Get keys from removed factors and new factors, and compute unused keys, i.e., keys that are empty now and do not appear in the new factors.

* @brief Constructs a c-style pointer array from a vector of strings. * * Must be freed * * @param args * @return char** */

* @brief Checks if the ID's of all the nodes are containuously ascending (ie. * there is no missing ID) * * @return true * @return false

returns the effetive size of the dataset (after the ending frame has been set) only valid after setLoaders is called, but this should happen at the co

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* @brief Helper function to determine if the query exists. * Operates like a regular exists function but also sets out_of_range_flag * to indica

* @brief Map a potentially infinite number of ids to a never repeating pattern in [0, * 1]. */

Mark all cliques that involve marked variables \Theta_{J} and all their ancestors.

Single iteration of modified Dijkstra shortest path algorithm as explained * in the JV paper. * * This is a dense matrix version. * * \return The

Find the installation path of a ROS 2 package. Args: package_name (str): Name of the ROS 2 package. Returns: str: The f

* @brief Get the earliest (first) frame object. * * @return const FrameNodeM::Ptr */

* @brief Custom gtsam::Key formatter for this formulation. * Defaults to DynoLikeKeyFormatter. * * @return gtsam::KeyFormatter */

Frees all allocated memory chunks */

Mark linear update

Mark keys in \Delta above threshold \beta: