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kartik arcot 6233619095 removed some new lines 2023-01-20 18:06:55 -08:00
..
doc Moved AHRS to gtsam_unstable 2013-05-20 23:16:44 +00:00
tests all of gtsam compiles and tests pass with ptrs instead of optional matrix refererences 2023-01-20 18:06:55 -08:00
AHRS.cpp replaced fabs with c++11 std::abs 2019-09-18 18:30:26 -04:00
AHRS.h replace ifndefs with pragma once 2022-02-20 02:53:15 -05:00
BetweenFactorEM.h addressed MR comments on nonlinearfactor 2023-01-20 18:06:55 -08:00
BiasedGPSFactor.h return before using statement 2023-01-20 18:06:55 -08:00
CMakeLists.txt Working on standardizing/simplifying building unit tests and examples. Much simpler cmake function to add a glob of tests, doing away with convenience libraries, and removing other options that we never change from their defaults. 2014-02-13 01:34:31 -05:00
DummyFactor.cpp Remove unused boost::assign headers 2023-01-07 23:58:35 -08:00
DummyFactor.h Fix override warnings: modernize-use-override 2021-01-28 23:02:13 -05:00
EquivInertialNavFactor_GlobalVel.h removed some new lines 2023-01-20 18:06:55 -08:00
EquivInertialNavFactor_GlobalVel_NoBias.h removed some new lines 2023-01-20 18:06:55 -08:00
GaussMarkov1stOrderFactor.h removed some new lines 2023-01-20 18:06:55 -08:00
InertialNavFactor_GlobalVelocity.h removed some new lines 2023-01-20 18:06:55 -08:00
InvDepthFactor3.h removed some new lines 2023-01-20 18:06:55 -08:00
InvDepthFactorVariant1.h removed some new lines 2023-01-20 18:06:55 -08:00
InvDepthFactorVariant2.h removed some new lines 2023-01-20 18:06:55 -08:00
InvDepthFactorVariant3.h removed some new lines 2023-01-20 18:06:55 -08:00
LocalOrientedPlane3Factor.cpp all of gtsam compiles and tests pass with ptrs instead of optional matrix refererences 2023-01-20 18:06:55 -08:00
LocalOrientedPlane3Factor.h return before using statement 2023-01-20 18:06:55 -08:00
Mechanization_bRn2.cpp fix doxygen warnings due to groups and and incorrect filenames 2022-07-26 16:38:51 -04:00
Mechanization_bRn2.h fix doxygen warnings due to groups and and incorrect filenames 2022-07-26 16:38:51 -04:00
MultiProjectionFactor.h addressed MR comments on nonlinearfactor 2023-01-20 18:06:55 -08:00
PartialPriorFactor.h return before using statement 2023-01-20 18:06:55 -08:00
PoseBetweenFactor.h return before using statement 2023-01-20 18:06:55 -08:00
PosePriorFactor.h return before using statement 2023-01-20 18:06:55 -08:00
PoseToPointFactor.h return before using statement 2023-01-20 18:06:55 -08:00
ProjectionFactorPPP.h return before using statement 2023-01-20 18:06:55 -08:00
ProjectionFactorPPPC.h return before using statement 2023-01-20 18:06:55 -08:00
ProjectionFactorRollingShutter.cpp all of gtsam compiles and tests pass with ptrs instead of optional matrix refererences 2023-01-20 18:06:55 -08:00
ProjectionFactorRollingShutter.h return before using statement 2023-01-20 18:06:55 -08:00
README.md renamed README 2021-12-04 11:51:23 -05:00
RelativeElevationFactor.cpp all of gtsam compiles and tests pass with ptrs instead of optional matrix refererences 2023-01-20 18:06:55 -08:00
RelativeElevationFactor.h return before using statement 2023-01-20 18:06:55 -08:00
SmartProjectionPoseFactorRollingShutter.h update the groups 2022-07-26 16:44:30 -04:00
SmartRangeFactor.h return before using statement 2023-01-20 18:06:55 -08:00
SmartStereoProjectionFactor.h Per https://github.com/borglab/gtsam/blob/develop/Using-GTSAM-EXPORT.md , classes with no methods defined in a .cpp file shouldn't have the GTSAM_EXPORT or GTSAM_UNSTABLE_EXPORT modifier. This was causing problems with the building of gtsam_unstable on MSVC / Windows. 2022-02-15 00:19:54 -08:00
SmartStereoProjectionFactorPP.cpp fixed glitch highlighted by CI 2021-04-03 18:10:39 -04:00
SmartStereoProjectionFactorPP.h update the groups 2022-07-26 16:44:30 -04:00
SmartStereoProjectionPoseFactor.cpp Split .h/.cpp, use const& (WIP) 2021-01-17 11:08:53 -05:00
SmartStereoProjectionPoseFactor.h update the groups 2022-07-26 16:44:30 -04:00
TOAFactor.h Python example and necessary wrapper gymnastics 2020-03-18 17:36:42 -04:00
TSAMFactors.h return before using statement 2023-01-20 18:06:55 -08:00
TransformBtwRobotsUnaryFactor.h removed some new lines 2023-01-20 18:06:55 -08:00
TransformBtwRobotsUnaryFactorEM.h removed some new lines 2023-01-20 18:06:55 -08:00
serialization.cpp Global replace to V42 2022-01-02 15:49:47 -05:00
serialization.h remove trailing spaces 2019-02-11 10:58:34 -05:00

README.md

SLAM Factors

SmartFactors

These are "structure-less" factors, i.e., rather than introducing a new variable for an observed 3D point or landmark, a single factor is created that provides a multi-view constraint on several poses and/or cameras.

SmartRangeFactor

An experiment in creating a structure-less 2D range-SLAM factor with range-only measurements. It uses a sophisticated triangulate logic based on circle intersections.

SmartStereoProjectionFactor

Version of SmartProjectionFactor for stereo observations, specializes SmartFactorBase for CAMERA == StereoCamera.

TODO: a lot of commented out code and could move a lot to .cpp file.

SmartStereoProjectionPoseFactor

Derives from SmartStereoProjectionFactor but adds an array of Cal3_S2Stereo calibration objects .

TODO: Again, as no template arguments, we could move a lot to .cpp file.

SmartStereoProjectionFactorPP

Similar SmartStereoProjectionPoseFactor but additionally adds an array of body_P_cam poses. The dimensions seem to be hardcoded and the types defined in the SmartFactorBase have been re-defined.
The body_P_cam poses are optimized here!

TODO: See above, same issues as SmartStereoProjectionPoseFactor.

SmartProjectionPoseFactorRollingShutter

Is templated on a CAMERA type and derives from SmartProjectionFactor.

This factor optimizes two consecutive poses of a body assuming a rolling shutter model of the camera with given readout time. The factor requires that values contain (for each 2D observation) two consecutive camera poses from which the 2D observation pose can be interpolated.

TODO: the dimensions seem to be hardcoded and the types defined in the SmartFactorBase have been re-defined. Also, possibly a lot of copy/paste computation of things that (should) happen in base class.