gtsam/examples
Frank Dellaert 86be7b4ebe use fdp not dot 2013-09-06 21:27:27 +00:00
..
Data
CMakeLists.txt fix easy Kalman filter example 2013-08-19 21:32:51 +00:00
CameraResectioning.cpp Moved Symbol and LabeledSymbol to inference as they are no longer specific to nonlinear optimization 2013-08-19 15:32:16 +00:00
DiscreteBayesNet_FG.cpp
LocalizationExample.cpp
OdometryExample.cpp
PlanarSLAMExample.cpp Moved Symbol and LabeledSymbol to inference as they are no longer specific to nonlinear optimization 2013-08-19 15:32:16 +00:00
Pose2SLAMExample.cpp
Pose2SLAMExample_graph.cpp Added graphviz example to show how to produce cool graphs from GTSAM 2013-09-06 20:07:40 +00:00
Pose2SLAMExample_graphviz.cpp use fdp not dot 2013-09-06 21:27:27 +00:00
Pose2SLAMwSPCG.cpp
README
RangeISAMExample_plaza2.cpp Moved Symbol and LabeledSymbol to inference as they are no longer specific to nonlinear optimization 2013-08-19 15:32:16 +00:00
SelfCalibrationExample.cpp Removed some unneeded namespace qualifications 2013-08-30 16:53:21 +00:00
SimpleRotation.cpp Moved Symbol and LabeledSymbol to inference as they are no longer specific to nonlinear optimization 2013-08-19 15:32:16 +00:00
SolverComparer.cpp fix when TBB is disabled 2013-08-19 15:51:06 +00:00
UGM_chain.cpp
UGM_small.cpp
VisualISAM2Example.cpp Removed some unneeded namespace qualifications 2013-08-30 16:53:21 +00:00
VisualISAMExample.cpp Removed some unneeded namespace qualifications 2013-08-30 16:53:21 +00:00
VisualSLAMExample.cpp Removed some unneeded namespace qualifications 2013-08-30 16:53:21 +00:00
easyPoint2KalmanFilter.cpp fix easy Kalman filter example 2013-08-19 21:32:51 +00:00
elaboratePoint2KalmanFilter.cpp Moved Symbol and LabeledSymbol to inference as they are no longer specific to nonlinear optimization 2013-08-19 15:32:16 +00:00
visualSLAMdata.h File with common simulated data. 2013-08-30 04:23:45 +00:00

README

This directory contains a number of examples that illustrate the use of GTSAM:

SimpleRotation:  a super-simple example of optimizing a single rotation according to a single prior

Kalman Filter Examples
======================
elaboratePoint2KalmanFilter: simple linear Kalman filter on a moving 2D point, but done using factor graphs
easyPoint2KalmanFilter: uses the cool generic templated Kalman filter class to do the same
fullStateKalmanFilter: simple 1D example with a full-state filter
errorStateKalmanFilter: simple 1D example of a moving target measured by a accelerometer, incl. drift-rate bias

2D Pose SLAM 
============
LocalizationExample.cpp: modeling robot motion
LocalizationExample2.cpp: example with GPS like measurements
Pose2SLAMExample: A 2D Pose SLAM example using the predefined typedefs in gtsam/slam/pose2SLAM.h
Pose2SLAMExample_advanced: same, but uses an Optimizer object
Pose2SLAMwSPCG: solve a simple 3 by 3 grid of Pose2 SLAM problem by using easy SPCG interface

Planar SLAM with landmarks
==========================
PlanarSLAMExample: simple robotics example using the pre-built planar SLAM domain
PlanarSLAMExample_selfcontained: simple robotics example with all typedefs internal to this script.

Visual SLAM
===========
CameraResectioning.cpp: An example of gtsam for solving the camera resectioning problem
The directory vSLAMexample includes 2 simple examples using GTSAM:
- vSFMexample using visualSLAM in for structure-from-motion (SFM), and
- vISAMexample using visualSLAM and ISAM for incremental SLAM updates
See the separate README file there.

Undirected Graphical Models (UGM)
=================================
The best representation for a Markov Random Field is a factor graph :-)
This is illustrated with some discrete examples from the UGM MATLAB toolbox, which
can be found at http://www.di.ens.fr/~mschmidt/Software/UGM