12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity
gtsam/gtsam_unstable/slam
History
kartik arcot 841dc6005a changed signatures to use OptionalMatrix keyword 2023-01-20 18:06:55 -08:00
..
doc Moved AHRS to gtsam_unstable 2013-05-20 23:16:44 +00:00
tests Use initializer lists in tests and gtsam_unstable 2023-01-07 23:59:39 -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 Using initializers for almost everything in gtsam now. 2023-01-07 20:30:10 -08:00
BiasedGPSFactor.h Use initializer lists in tests and gtsam_unstable 2023-01-07 23:59:39 -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 Correctly revert confusing `->template key<N>()` notations 2023-01-04 23:24:57 -05:00
EquivInertialNavFactor_GlobalVel_NoBias.h replace all NoiseModelFactor1, 2, ... with NoiseModelFactorN 2022-12-22 17:25:48 -05:00
GaussMarkov1stOrderFactor.h Correctly revert confusing `->template key<N>()` notations 2023-01-04 23:24:57 -05:00
InertialNavFactor_GlobalVelocity.h Correctly revert confusing `->template key<N>()` notations 2023-01-04 23:24:57 -05:00
InvDepthFactor3.h Correctly revert confusing `->template key<N>()` notations 2023-01-04 23:24:57 -05:00
InvDepthFactorVariant1.h replace all NoiseModelFactor1, 2, ... with NoiseModelFactorN 2022-12-22 17:25:48 -05:00
InvDepthFactorVariant2.h replace all NoiseModelFactor1, 2, ... with NoiseModelFactorN 2022-12-22 17:25:48 -05:00
InvDepthFactorVariant3.h replace all NoiseModelFactor1, 2, ... with NoiseModelFactorN 2022-12-22 17:25:48 -05:00
LocalOrientedPlane3Factor.cpp fix some more deprecation warnings 2022-12-24 20:36:26 +05:30
LocalOrientedPlane3Factor.h replace all NoiseModelFactor1, 2, ... with NoiseModelFactorN 2022-12-22 17:25:48 -05:00
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 changed signatures to use OptionalMatrix keyword 2023-01-20 18:06:55 -08:00
PartialPriorFactor.h replace all NoiseModelFactor1, 2, ... with NoiseModelFactorN 2022-12-22 17:25:48 -05:00
PoseBetweenFactor.h Correctly revert confusing `->template key<N>()` notations 2023-01-04 23:24:57 -05:00
PosePriorFactor.h replace all NoiseModelFactor1, 2, ... with NoiseModelFactorN 2022-12-22 17:25:48 -05:00
PoseToPointFactor.h Correctly revert confusing `->template key<N>()` notations 2023-01-04 23:24:57 -05:00
ProjectionFactorPPP.h Correctly revert confusing `->template key<N>()` notations 2023-01-04 23:24:57 -05:00
ProjectionFactorPPPC.h Correctly revert confusing `->template key<N>()` notations 2023-01-04 23:24:57 -05:00
ProjectionFactorRollingShutter.cpp replace all NoiseModelFactor1, 2, ... with NoiseModelFactorN 2022-12-22 17:25:48 -05:00
ProjectionFactorRollingShutter.h replace all NoiseModelFactor1, 2, ... with NoiseModelFactorN 2022-12-22 17:25:48 -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 replace all NoiseModelFactor1, 2, ... with NoiseModelFactorN 2022-12-22 17:25:48 -05:00
SmartProjectionPoseFactorRollingShutter.h update the groups 2022-07-26 16:44:30 -04:00
SmartRangeFactor.h update the groups 2022-07-26 16:44:30 -04:00
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 replace all NoiseModelFactor1, 2, ... with NoiseModelFactorN 2022-12-22 17:25:48 -05:00
TransformBtwRobotsUnaryFactor.h Using initializers for almost everything in gtsam now. 2023-01-07 20:30:10 -08:00
TransformBtwRobotsUnaryFactorEM.h Using initializers for almost everything in gtsam now. 2023-01-07 20:30:10 -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.