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Dominik Van Opdenbosch c435da87fc InvDepthFactor3: Add unit test for Jacobians 2022-04-08 17:29:01 +02:00
..
doc Moved AHRS to gtsam_unstable 2013-05-20 23:16:44 +00:00
tests InvDepthFactor3: Add unit test for Jacobians 2022-04-08 17:29:01 +02:00
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 Revive BetweenFactorEM, without LieVector 2022-01-02 14:38:20 -05:00
BiasedGPSFactor.h Fix override warnings: modernize-use-override 2021-01-28 23:02:13 -05:00
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 Replaced BOOSE_FOREACH with for in gtsam_unstable folder. 2016-05-20 23:41:41 -04:00
DummyFactor.h Fix override warnings: modernize-use-override 2021-01-28 23:02:13 -05:00
EquivInertialNavFactor_GlobalVel.h replaced boost with std for placeholders, bind and function 2021-07-10 21:01:20 -04:00
EquivInertialNavFactor_GlobalVel_NoBias.h Fix unstable c++ examples 2022-01-02 14:59:28 -05:00
GaussMarkov1stOrderFactor.h Fix override warnings: modernize-use-override 2021-01-28 23:02:13 -05:00
InertialNavFactor_GlobalVelocity.h replaced boost with std for placeholders, bind and function 2021-07-10 21:01:20 -04:00
InvDepthFactor3.h InvDepthFactor3: Fix wrong derivative H3 2022-03-31 20:30:51 +02:00
InvDepthFactorVariant1.h replaced boost with std for placeholders, bind and function 2021-07-10 21:01:20 -04:00
InvDepthFactorVariant2.h replaced boost with std for placeholders, bind and function 2021-07-10 21:01:20 -04:00
InvDepthFactorVariant3.h replaced boost with std for placeholders, bind and function 2021-07-10 21:01:20 -04:00
LocalOrientedPlane3Factor.cpp Tidy up comments and use cpplint 2021-02-16 11:48:26 +00:00
LocalOrientedPlane3Factor.h change from SharedGaussian to SharedNoiseModel 2022-01-03 16:06:11 +11:00
Mechanization_bRn2.cpp Removed headers 2016-05-22 14:22:36 -07:00
Mechanization_bRn2.h Consistent dllexport.h across gtsam & gtsam_unstable 2019-07-18 08:22:41 +02:00
MultiProjectionFactor.h Fix override warnings: modernize-use-override 2021-01-28 23:02:13 -05:00
PartialPriorFactor.h Fix Rot3::LocalCoordinates runtime error when using Cayley map 2021-03-26 17:29:47 -04:00
PoseBetweenFactor.h prefer semicolon in definitions 2021-11-08 22:41:59 +01:00
PosePriorFactor.h prefer semicolon in definitions 2021-11-08 22:41:59 +01:00
PoseToPointFactor.h remove "virtual" keyword for functions with "override" 2021-12-08 21:12:46 +00:00
ProjectionFactorPPP.h Fix override warnings: modernize-use-override 2021-01-28 23:02:13 -05:00
ProjectionFactorPPPC.h change a couple of variables to const 2022-01-03 16:41:21 +11:00
ProjectionFactorRollingShutter.cpp Merge branch 'develop' into feature/sphericalCamera 2021-11-07 12:02:33 -05:00
ProjectionFactorRollingShutter.h Windows Fixes (#904) 2021-12-09 09:37:21 -05:00
README.md renamed README 2021-12-04 11:51:23 -05:00
RelativeElevationFactor.cpp Prefer C++11 nullptr 2020-04-06 23:31:05 +02:00
RelativeElevationFactor.h Fix override warnings: modernize-use-override 2021-01-28 23:02:13 -05:00
SmartProjectionPoseFactorRollingShutter.h Windows Fixes (#904) 2021-12-09 09:37:21 -05:00
SmartRangeFactor.h Fix override warnings: modernize-use-override 2021-01-28 23:02:13 -05:00
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 Windows Fixes (#904) 2021-12-09 09:37:21 -05:00
SmartStereoProjectionPoseFactor.cpp Split .h/.cpp, use const& (WIP) 2021-01-17 11:08:53 -05:00
SmartStereoProjectionPoseFactor.h Windows Fixes (#904) 2021-12-09 09:37:21 -05:00
TOAFactor.h Python example and necessary wrapper gymnastics 2020-03-18 17:36:42 -04:00
TSAMFactors.h Fix all new gcc warnings/errors: make explicit virtual/override methods. 2020-07-26 11:20:42 +02:00
TransformBtwRobotsUnaryFactor.h more consistent notation of macros 2021-11-04 07:11:28 +01:00
TransformBtwRobotsUnaryFactorEM.h Fix override warnings: modernize-use-override 2021-01-28 23:02:13 -05:00
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.