From 80faf61627ad0200aff3ac32bba974e78d6c2425 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 3 Dec 2014 20:15:19 +0100 Subject: [PATCH] Fixed some top-level files --- README.md | 10 ++++++---- THANKS | 21 ++++++++++++++++++++- USAGE => USAGE.md | 41 +++++++---------------------------------- 3 files changed, 33 insertions(+), 39 deletions(-) rename USAGE => USAGE.md (57%) diff --git a/README.md b/README.md index 623b1ff32..679af5a2f 100644 --- a/README.md +++ b/README.md @@ -40,10 +40,12 @@ Optional prerequisites - used automatically if findable by CMake: Additional Information ---------------------- -Read about important [`GTSAM-Concepts`] here. +Read about important [`GTSAM-Concepts`](GTSAM-Concepts.md) here. -See the [`INSTALL`] file for more detailed installation instructions. +See the [`INSTALL`](INSTALL) file for more detailed installation instructions. -GTSAM is open source under the BSD license, see the [`LICENSE`](https://bitbucket.org/gtborg/gtsam/src/develop/LICENSE) and [`LICENSE.BSD`](https://bitbucket.org/gtborg/gtsam/src/develop/LICENSE.BSD) files. +GTSAM is open source under the BSD license, see the [`LICENSE`](LICENSE) and [`LICENSE.BSD`](LICENSE.BSD) files. -Please see the [`examples/`](examples) directory and the [`USAGE`] file for examples on how to use GTSAM. \ No newline at end of file +Please see the [`examples/`](examples) directory and the [`USAGE`](USAGE.md) file for examples on how to use GTSAM. + +GTSAM was developed in the lab of [Frank Dellaert](http://www.cc.gatech.edu/~dellaert) at the [Georgia Institute of Technology](http://www.gatech.edu), with the help of many contributors over the years, see [THANKS](THANKS). \ No newline at end of file diff --git a/THANKS b/THANKS index 0d5d9db30..d7e1d1082 100644 --- a/THANKS +++ b/THANKS @@ -1,20 +1,39 @@ GTSAM was made possible by the efforts of many collaborators at Georgia Tech +Sungtae An Doru Balcan Chris Beall +Luca Carlone Alex Cunningham +Jing Dong Alireza Fathi Eohan George +Alex Hagiopol Viorela Ila Yong-Dian Jian Michael Kaess +Zhaoyang Lv +Andrew Melim Kai Ni Carlos Nieto -Duy-Nguyen +Duy-Nguyen Ta Manohar Paluri Christian Potthast Richard Roberts Grant Schindler +Natesh Srinivasan +Thomas Schneider +Alex Trevor + +at ETH, Zurich + +Paul Furgale +Mike Bosse +Hannes Sommer + +at Uni Zurich: + +Christian Forster Many thanks for your hard work!!!! Frank Dellaert diff --git a/USAGE b/USAGE.md similarity index 57% rename from USAGE rename to USAGE.md index a41b71045..0493db680 100644 --- a/USAGE +++ b/USAGE.md @@ -1,6 +1,5 @@ USAGE - Georgia Tech Smoothing and Mapping library ---------------------------------------------------- - +=================================== What is this file? This file explains how to make use of the library for common SLAM tasks, @@ -34,18 +33,12 @@ The GTSAM library has three primary components necessary for the construction of factor graph representation and optimization which users will need to adapt to their particular problem. -FactorGraph: - A factor graph contains a set of variables to solve for (i.e., robot poses, - landmark poses, etc.) and a set of constraints between these variables, which - make up factors. -Values: - Values is a single object containing labeled values for all of the - variables. Currently, all variables are labeled with strings, but the type - or organization of the variables can change -Factors: - A nonlinear factor expresses a constraint between variables, which in the - SLAM example, is a measurement such as a visual reading on a landmark or - odometry. +* FactorGraph: + A factor graph contains a set of variables to solve for (i.e., robot poses, landmark poses, etc.) and a set of constraints between these variables, which make up factors. +* Values: + Values is a single object containing labeled values for all of the variables. Currently, all variables are labeled with strings, but the type or organization of the variables can change +* Factors: + A nonlinear factor expresses a constraint between variables, which in the SLAM example, is a measurement such as a visual reading on a landmark or odometry. The library is organized according to the following directory structure: @@ -59,23 +52,3 @@ The library is organized according to the following directory structure: -VSLAM Example ---------------------------------------------------- -The visual slam example shows a full implementation of a slam system. The example contains -derived versions of NonlinearFactor, NonlinearFactorGraph, in classes visualSLAM::ProjectionFactor, -visualSLAM::Graph, respectively. The values for the system are stored in the generic -Values structure. For definitions and interface, see gtsam/slam/visualSLAM.h. - -The clearest example of the use of the graph to find a solution is in -testVSLAM. The basic process for using graphs is as follows (and can be seen in -the test): - - Create a NonlinearFactorGraph object (visualSLAM::Graph) - - Add factors to the graph (note the use of Boost.shared_ptr here) (visualSLAM::ProjectionFactor) - - Create an initial configuration (Values) - - Create an elimination ordering of variables (this must include all variables) - - Create and initialize a NonlinearOptimizer object (Note that this is a generic - algorithm that does not need to be derived for a particular problem) - - Call optimization functions with the optimizer to optimize the graph - - Extract an updated values from the optimizer - - \ No newline at end of file