graphslam.g2o_parameters module
Classes for storing parameters from .g2o files.
- class graphslam.g2o_parameters.BaseG2OParameter(key, value)[source]
Bases:
ABC
A base class for representing parameters from .g2o files.
- Parameters:
key – A key that will be used to lookup this parameter in a dictionary
value – This parameter’s value
- key
A key that will be used to lookup this parameter in a dictionary
- value
This parameter’s value
- _abc_impl = <_abc._abc_data object>
- abstract classmethod from_g2o(line)[source]
Load a parameter from a line in a .g2o file.
- Parameters:
line (str) – The line from the .g2o file
- Returns:
The instantiated parameter object, or
None
ifline
does not correspond to this parameter type- Return type:
BaseG2OParameter, None
- class graphslam.g2o_parameters.G2OParameterSE2Offset(key, value)[source]
Bases:
BaseG2OParameter
A class for storing a g2o \(SE(2)\) offset parameter.
- key
A tuple of the form
("PARAMS_SE2OFFSET", id)
- Type:
tuple[str, int]
- value
The offset
- _abc_impl = <_abc._abc_data object>
- classmethod from_g2o(line)[source]
Load an \(SE(2)\) offset parameter from a line in a .g2o file.
- Parameters:
line (str) – The line from the .g2o file
- Returns:
The instantiated parameter object, or
None
ifline
does not correspond to an \(SE(2)\) offset parameter- Return type:
G2OParameterSE2Offset, None
- class graphslam.g2o_parameters.G2OParameterSE3Offset(key, value)[source]
Bases:
BaseG2OParameter
A class for storing a g2o \(SE(3)\) offset parameter.
- key
A tuple of the form
("PARAMS_SE3OFFSET", id)
- Type:
tuple[str, int]
- value
The offset
- _abc_impl = <_abc._abc_data object>
- classmethod from_g2o(line)[source]
Load an \(SE(3)\) offset parameter from a line in a .g2o file.
- Parameters:
line (str) – The line from the .g2o file
- Returns:
The instantiated parameter object, or
None
ifline
does not correspond to an \(SE(3)\) offset parameter- Return type:
G2OParameterSE3Offset, None