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				|  | @ -26,7 +26,10 @@ | |||
|         "- **Configuration:** Its behavior (linearization method, handling of degenerate triangulations) is controlled by `SmartProjectionParams`.\n", | ||||
|         "\n", | ||||
|         "**Use Case:** Suitable for Bundle Adjustment or SfM problems where calibration parameters are unknown or need refinement along with camera poses.\n", | ||||
|         "**Alternative:** If calibration is known and fixed, use `SmartProjectionPoseFactor` for better efficiency." | ||||
|         "**Alternative:** If calibration is known and fixed, use `SmartProjectionPoseFactor` for better efficiency.\n", | ||||
|         "\n", | ||||
|         "If you are using the factor, please cite:\n", | ||||
|         "> **L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert**, \"Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors\", Int. Conf. on Robotics and Automation (ICRA), 2014." | ||||
|       ] | ||||
|     }, | ||||
|     { | ||||
|  |  | |||
|  | @ -26,7 +26,10 @@ | |||
|         "- **Configuration:** Behavior is controlled by `SmartProjectionParams`.\n", | ||||
|         "\n", | ||||
|         "**Use Case:** Ideal for visual SLAM or SfM when camera intrinsics are pre-calibrated and assumed constant.\n", | ||||
|         "**Alternative:** If calibration also needs optimization, use `SmartProjectionFactor`." | ||||
|         "**Alternative:** If calibration also needs optimization, use `SmartProjectionFactor`.\n", | ||||
|         "\n", | ||||
|         "If you are using the factor, please cite:\n", | ||||
|         "> **L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert**, \"Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors\", Int. Conf. on Robotics and Automation (ICRA), 2014." | ||||
|       ] | ||||
|     }, | ||||
|     { | ||||
|  |  | |||
|  | @ -1,26 +1,24 @@ | |||
| # SLAM Factors and Algorithms | ||||
| # SLAM | ||||
| 
 | ||||
| The `slam` module provides a collection of factors, constraints, utilities, and initialization algorithms commonly used in Simultaneous Localization and Mapping (SLAM) and Structure from Motion (SfM) applications. It builds upon the core GTSAM inference engine (`gtsam/inference`) and geometric types (`gtsam/geometry`). | ||||
| 
 | ||||
| ## Core Factors | ||||
| 
 | ||||
| These are fundamental factor types often used as building blocks in SLAM. | ||||
| 
 | ||||
| -   [BetweenFactor](doc/BetweenFactor.ipynb) : Represents relative measurements between two poses or other Lie group variables (e.g., odometry). | ||||
| -   [PoseRotationPrior](doc/PoseRotationPrior.ipynb) : A prior factor acting only on the rotation component of a pose variable. | ||||
| -   [PoseTranslationPrior](doc/PoseTranslationPrior.ipynb) : A prior factor acting only on the translation component of a pose variable. | ||||
| -   [PriorFactor](doc/PriorFactor.ipynb) : A prior factor acting only on the rotation component of a pose variable. | ||||
| -   [BetweenFactor](doc/BetweenFactor.ipynb) : Represents relative measurements between two poses or other Lie group variables (e.g., derived from [odometry](https://en.wikipedia.org/wiki/Odometry)). | ||||
| 
 | ||||
| ## Visual SLAM/SfM Factors | ||||
| 
 | ||||
| Factors specifically designed for visual data (camera measurements). | ||||
| 
 | ||||
| -   [GenericProjectionFactor](doc/GenericProjectionFactor.ipynb) : Standard monocular projection factor relating a 3D landmark, camera pose, and fixed calibration to a 2D measurement. | ||||
| -   [StereoFactor](doc/StereoFactor.ipynb) : Standard stereo projection factor relating a 3D landmark, camera pose, and fixed stereo calibration to a `StereoPoint2` measurement. | ||||
| -   [PlanarProjectionFactor](doc/PlanarProjectionFactor.ipynb) : Projection factors specialized for robots moving on a 2D plane. | ||||
| -   [GeneralSFMFactor](doc/GeneralSFMFactor.ipynb) : Projection factors used when camera calibration is unknown or optimized alongside poses and landmarks. | ||||
| -   [StereoFactor](doc/StereoFactor.ipynb) : Standard stereo projection factor relating a 3D landmark, camera pose, and fixed stereo calibration to a `StereoPoint2` measurement. | ||||
| -   [EssentialMatrixFactor](doc/EssentialMatrixFactor.ipynb) : Factors constraining poses or calibration based on the Essential matrix derived from calibrated cameras. | ||||
| -   [EssentialMatrixConstraint](doc/EssentialMatrixConstraint.ipynb) : Factor constraining the relative pose between two cameras based on a measured Essential matrix. | ||||
| -   [TriangulationFactor](doc/TriangulationFactor.ipynb) : Factor constraining a 3D point based on a measurement from a single known camera view, useful for triangulation. | ||||
| -   [PlanarProjectionFactor](doc/PlanarProjectionFactor.ipynb) : Projection factors specialized for robots moving on a 2D plane. | ||||
| 
 | ||||
| ## Smart Factors | ||||
| 
 | ||||
|  | @ -36,6 +34,8 @@ Factors that implicitly manage landmark variables, marginalizing them out during | |||
| 
 | ||||
| Factors representing various geometric relationships or constraints. | ||||
| 
 | ||||
| -   [PoseRotationPrior](doc/PoseRotationPrior.ipynb) : A prior factor acting only on the rotation component of a pose variable. | ||||
| -   [PoseTranslationPrior](doc/PoseTranslationPrior.ipynb) : A prior factor acting only on the translation component of a pose variable. | ||||
| -   [OrientedPlane3Factor](doc/OrientedPlane3Factor.ipynb) : Factors for estimating and constraining 3D planar landmarks (`OrientedPlane3`). | ||||
| -   [RotateFactor](doc/RotateFactor.ipynb) : Factors constraining an unknown rotation based on how it transforms measured rotations or directions. | ||||
| -   [KarcherMeanFactor](doc/KarcherMeanFactor.ipynb) : Factor for constraining the Karcher mean (geometric average) of a set of rotations or other manifold values. | ||||
|  |  | |||
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