Merge pull request #1252 from agilemapper/docs/use-ingroup-for-slam
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@ -11,4 +11,7 @@
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@}
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*/
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\defgroup SLAM Useful SLAM components
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@{ @}
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*/
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@ -123,7 +123,7 @@ public:
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* it is received from the IMU) so as to avoid costly integration at time of
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* factor construction.
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*
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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class GTSAM_EXPORT PreintegratedCombinedMeasurements : public PreintegrationType {
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@ -252,7 +252,7 @@ public:
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* the correlation between the bias uncertainty and the preintegrated
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* measurements uncertainty.
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*
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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class GTSAM_EXPORT CombinedImuFactor: public NoiseModelFactor6<Pose3, Vector3, Pose3,
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Vector3, imuBias::ConstantBias, imuBias::ConstantBias> {
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@ -66,7 +66,7 @@ typedef ManifoldPreintegration PreintegrationType;
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* as soon as it is received from the IMU) so as to avoid costly integration
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* at time of factor construction.
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*
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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class GTSAM_EXPORT PreintegratedImuMeasurements: public PreintegrationType {
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@ -165,7 +165,7 @@ public:
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* (which are usually slowly varying quantities), which is up to the caller.
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* See also CombinedImuFactor for a class that does this for you.
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*
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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class GTSAM_EXPORT ImuFactor: public NoiseModelFactor5<Pose3, Vector3, Pose3, Vector3,
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imuBias::ConstantBias> {
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@ -256,7 +256,7 @@ public:
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/**
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* ImuFactor2 is a ternary factor that uses NavStates rather than Pose/Velocity.
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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class GTSAM_EXPORT ImuFactor2 : public NoiseModelFactor3<NavState, NavState, imuBias::ConstantBias> {
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private:
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@ -24,7 +24,7 @@ namespace gtsam {
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/**
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* A class for a soft prior on any Value type
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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template<class VALUE>
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class PriorFactor: public NoiseModelFactor1<VALUE> {
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@ -27,7 +27,7 @@ namespace gtsam {
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/**
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* Binary factor for a bearing/range measurement
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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template <typename A1, typename A2,
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typename B = typename Bearing<A1, A2>::result_type,
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@ -26,7 +26,7 @@ namespace gtsam {
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* A class for downdating an existing factor from a graph. The AntiFactor returns the same
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* linearized Hessian matrices of the original factor, but with the opposite sign. This effectively
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* cancels out any affects of the original factor during optimization."
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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class AntiFactor: public NonlinearFactor {
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@ -34,7 +34,7 @@ namespace gtsam {
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/**
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* A class for a measurement predicted by "between(config[key1],config[key2])"
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* @tparam VALUE the Value type
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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template<class VALUE>
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class BetweenFactor: public NoiseModelFactor2<VALUE, VALUE> {
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@ -27,7 +27,7 @@ namespace gtsam {
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* greater/less than a fixed threshold. The function
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* will need to have its value function implemented to return
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* a scalar for comparison.
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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template<class VALUE>
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struct BoundingConstraint1: public NoiseModelFactor1<VALUE> {
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@ -25,7 +25,7 @@ namespace gtsam {
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/**
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* Binary factor between two Pose3 variables induced by an EssentialMatrix measurement
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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class GTSAM_EXPORT EssentialMatrixConstraint: public NoiseModelFactor2<Pose3, Pose3> {
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@ -54,7 +54,7 @@ namespace gtsam {
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/**
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* Non-linear factor for a constraint derived from a 2D measurement.
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* The calibration is unknown here compared to GenericProjectionFactor
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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template<class CAMERA, class LANDMARK>
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class GeneralSFMFactor: public NoiseModelFactor2<CAMERA, LANDMARK> {
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@ -33,7 +33,7 @@ namespace gtsam {
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* Non-linear factor for a constraint derived from a 2D measurement.
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* The calibration is known here.
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* The main building block for visual SLAM.
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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template <class POSE = Pose3, class LANDMARK = Point3,
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class CALIBRATION = Cal3_S2>
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@ -24,7 +24,7 @@
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namespace gtsam {
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/**
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*
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* @addtogroup SLAM
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* @ingroup SLAM
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*
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* If you are using the factor, please cite:
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* L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating conditionally
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@ -39,7 +39,7 @@ namespace gtsam {
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* The factor only constrains poses (variable dimension is 6).
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* This factor requires that values contains the involved poses (Pose3).
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* If the calibration should be optimized, as well, use SmartProjectionFactor instead!
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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template <class CALIBRATION>
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class SmartProjectionPoseFactor
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@ -29,7 +29,7 @@
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namespace gtsam {
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/**
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*
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* @addtogroup SLAM
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* @ingroup SLAM
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*
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* If you are using the factor, please cite:
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* L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating
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@ -46,7 +46,7 @@ namespace gtsam {
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* calibration (i.e., are from the same camera), use SmartProjectionPoseFactor
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* instead! If the calibration should be optimized, as well, use
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* SmartProjectionFactor instead!
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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template <class CAMERA>
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class SmartProjectionRigFactor : public SmartProjectionFactor<CAMERA> {
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@ -25,7 +25,7 @@ namespace gtsam {
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/**
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* A Generic Stereo Factor
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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template<class POSE, class LANDMARK>
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class GenericStereoFactor: public NoiseModelFactor2<POSE, LANDMARK> {
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@ -27,7 +27,7 @@ namespace gtsam {
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/**
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* Non-linear factor for a constraint derived from a 2D measurement.
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* The calibration and pose are assumed known.
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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template<class CAMERA>
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class TriangulationFactor: public NoiseModelFactor1<Point3> {
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@ -28,7 +28,7 @@ namespace gtsam {
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/**
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* A class for a measurement predicted by "between(config[key1],config[key2])"
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* @tparam VALUE the Value type
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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template<class VALUE>
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class BetweenFactorEM: public NonlinearFactor {
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@ -25,7 +25,7 @@ namespace gtsam {
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/**
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* A class to model GPS measurements, including a bias term which models
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* common-mode errors and that can be partially corrected if other sensors are used
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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class BiasedGPSFactor: public NoiseModelFactor2<Pose3, Point3> {
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@ -29,7 +29,7 @@ namespace gtsam {
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/**
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* Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here.
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* i.e. the main building block for visual SLAM.
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>
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class MultiProjectionFactor: public NoiseModelFactor {
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@ -26,7 +26,7 @@ namespace gtsam {
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/**
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* A class for a measurement predicted by "between(config[key1],config[key2])"
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* @tparam POSE the Pose type
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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template<class POSE>
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class PoseBetweenFactor: public NoiseModelFactor2<POSE, POSE> {
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@ -23,7 +23,7 @@ namespace gtsam {
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/**
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* A class for a soft prior on any Value type
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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template<class POSE>
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class PosePriorFactor: public NoiseModelFactor1<POSE> {
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@ -18,7 +18,7 @@ namespace gtsam {
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/**
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* A class for a measurement between a pose and a point.
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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template<typename POSE = Pose3, typename POINT = Point3>
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class PoseToPointFactor : public NoiseModelFactor2<POSE, POINT> {
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@ -28,7 +28,7 @@ namespace gtsam {
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/**
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* Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here.
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* i.e. the main building block for visual SLAM.
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>
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class ProjectionFactorPPP: public NoiseModelFactor3<POSE, POSE, LANDMARK> {
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@ -30,7 +30,7 @@ namespace gtsam {
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/**
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* Non-linear factor for a constraint derived from a 2D measurement. This factor
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* estimates the body pose, body-camera transform, 3D landmark, and calibration.
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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template <class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>
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class GTSAM_UNSTABLE_EXPORT ProjectionFactorPPPC
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@ -38,7 +38,7 @@ namespace gtsam {
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* define the alpha = (t_p - t_A) / (t_B - t_A), we will use the pose
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* interpolated between A and B by the alpha to project the corresponding
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* landmark to Point2.
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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class GTSAM_UNSTABLE_EXPORT ProjectionFactorRollingShutter
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@ -25,7 +25,7 @@
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namespace gtsam {
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/**
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*
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* @addtogroup SLAM
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* @ingroup SLAM
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*
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* If you are using the factor, please cite:
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* L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert,
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@ -39,7 +39,7 @@ namespace gtsam {
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* shutter model of the camera with given readout time. The factor requires that
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* values contain (for each pixel observation) two consecutive camera poses from
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* which the pixel observation pose can be interpolated.
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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template <class CAMERA>
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class GTSAM_UNSTABLE_EXPORT SmartProjectionPoseFactorRollingShutter
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@ -24,7 +24,7 @@ namespace gtsam {
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/**
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* Smart factor for range SLAM
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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class SmartRangeFactor: public NoiseModelFactor {
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protected:
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@ -23,7 +23,7 @@
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namespace gtsam {
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/**
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*
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* @addtogroup SLAM
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* @ingroup SLAM
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*
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* If you are using the factor, please cite:
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* L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert,
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@ -38,7 +38,7 @@ namespace gtsam {
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* calibration or the same calibration can be shared by multiple cameras. This
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* factor requires that values contain the involved poses and extrinsics (both
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* are Pose3 variables).
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP
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: public SmartStereoProjectionFactor {
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@ -26,7 +26,7 @@
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namespace gtsam {
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/**
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*
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* @addtogroup SLAM
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* @ingroup SLAM
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*
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* If you are using the factor, please cite:
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* L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert,
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@ -41,7 +41,7 @@ namespace gtsam {
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* has its own calibration.
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* The factor only constrains poses (variable dimension is 6).
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* This factor requires that values contains the involved poses (Pose3).
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionPoseFactor
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: public SmartStereoProjectionFactor {
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@ -29,7 +29,7 @@ namespace gtsam {
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/**
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* A class for a measurement predicted by "between(config[key1],config[key2])"
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* @tparam VALUE the Value type
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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template<class VALUE>
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class TransformBtwRobotsUnaryFactor: public NonlinearFactor { // TODO why not NoiseModelFactor1 ?
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@ -31,7 +31,7 @@ namespace gtsam {
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/**
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* A class for a measurement predicted by "between(config[key1],config[key2])"
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* @tparam VALUE the Value type
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* @addtogroup SLAM
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* @ingroup SLAM
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*/
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template<class VALUE>
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class TransformBtwRobotsUnaryFactorEM: public NonlinearFactor {
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