29 lines
1.5 KiB
Plaintext
29 lines
1.5 KiB
Plaintext
This directory contains a number of exapmples that illustrate the use of GTSAM:
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SimpleRotation: a super-simple example of optimizing a single rotation according to a single prior
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Kalman Filter Examples
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======================
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elaboratePoint2KalmanFilter: simple linear Kalman filter on a moving 2D point, but done using factor graphs
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easyPoint2KalmanFilter: uses the cool generic templated Kalman filter class to do the same
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fullStateKalmanFilter: simple 1D example with a full-state filter
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errorStateKalmanFilter: simple 1D example of a moving target measured by a accelerometer, incl. drift-rate bias
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2D Pose SLAM
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============
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Pose2SLAMExample_easy: A 2D Pose SLAM example using the predefined typedefs in gtsam/slam/pose2SLAM.h
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Pose2SLAMExample_advanced: same, but uses an Optimizer object
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Pose2SLAMwSPCG_easy: solve a simple 3 by 3 grid of Pose2 SLAM problem by using easy SPCG interface
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Pose2SLAMwSPCG_advanced: solve a simple 3 by 3 grid of Pose2 SLAM problem by using advanced SPCG interface
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Planar SLAM with landmarks
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==========================
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PlanarSLAMExample: simple robotics example using the pre-built planar SLAM domain
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PlanarSLAMSelfContained_advanced: simple robotics example with all typedefs internal to this script.
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Visual SLAM
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===========
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The directory vSLAMexample includes 2 simple examples using GTSAM:
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- vSFMexample using visualSLAM in for structure-from-motion (SFM), and
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- vISAMexample using visualSLAM and ISAM for incremental SLAM updates
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See the separate README file there. |