gtsam/examples
Alex Cunningham c43a9b4852 Added a variety of options to the cmake build, working on automating wrap execution/install 2012-01-31 19:59:15 +00:00
..
Data updated visual SLAM examples to follow correct coordinate system conventions. The ISAM example now also uses the same input files as the general SFM example. 2011-12-12 03:57:48 +00:00
matlab Matlab wrapped classes now live within the gtsam namespace, meaning you have to use gtsamPose2 instead of just Pose2 in Matlab. This fixes the Point2 and Point3 issues we had with Matlab 2011b. 2012-01-30 22:00:13 +00:00
vSLAMexample Removed unnecessary cpp file in vSLAMexample, added CMake support for examples, used static linking to the real gtsam for tests 2012-01-31 05:28:02 +00:00
CMakeLists.txt Added a variety of options to the cmake build, working on automating wrap execution/install 2012-01-31 19:59:15 +00:00
CameraResectioning.cpp Included the inline header at the bottom of SubgraphSolver, NonlinearFactorGraph, NonlinearOptimization, and NonlinearOptimizer. This avoids having to include the '-inl.h' in subsequent projects. 2011-12-20 23:25:43 +00:00
Makefile.am Fixed Data subdirectory with wrong path for make dist 2011-11-12 21:18:44 +00:00
PlanarSLAMExample_easy.cpp Matlab wrapped classes now live within the gtsam namespace, meaning you have to use gtsamPose2 instead of just Pose2 in Matlab. This fixes the Point2 and Point3 issues we had with Matlab 2011b. 2012-01-30 22:00:13 +00:00
PlanarSLAMSelfContained_advanced.cpp Included the inline header at the bottom of SubgraphSolver, NonlinearFactorGraph, NonlinearOptimization, and NonlinearOptimizer. This avoids having to include the '-inl.h' in subsequent projects. 2011-12-20 23:25:43 +00:00
Pose2SLAMExample_advanced.cpp Matlab wrapped classes now live within the gtsam namespace, meaning you have to use gtsamPose2 instead of just Pose2 in Matlab. This fixes the Point2 and Point3 issues we had with Matlab 2011b. 2012-01-30 22:00:13 +00:00
Pose2SLAMExample_easy.cpp Matlab wrapped classes now live within the gtsam namespace, meaning you have to use gtsamPose2 instead of just Pose2 in Matlab. This fixes the Point2 and Point3 issues we had with Matlab 2011b. 2012-01-30 22:00:13 +00:00
Pose2SLAMwSPCG_advanced.cpp For ASPN release, added temporary ENABLE_SPCG flag to avoid conflict with boost::variant 2012-01-27 16:43:31 +00:00
Pose2SLAMwSPCG_easy.cpp For ASPN release, added temporary ENABLE_SPCG flag to avoid conflict with boost::variant 2012-01-27 16:43:31 +00:00
README Added ExtendedKalmanFilter class and easyPoint2KalmanFilter example 2011-08-27 12:28:47 +00:00
SimpleRotation.cpp Included the inline header at the bottom of SubgraphSolver, NonlinearFactorGraph, NonlinearOptimization, and NonlinearOptimizer. This avoids having to include the '-inl.h' in subsequent projects. 2011-12-20 23:25:43 +00:00
easyPoint2KalmanFilter.cpp Changed -inl.h use with Values and TupleValues, removed instantiation macros for Values and TupleValues 2011-11-17 22:44:46 +00:00
elaboratePoint2KalmanFilter.cpp Changed -inl.h use with Values and TupleValues, removed instantiation macros for Values and TupleValues 2011-11-17 22:44:46 +00:00

README

This directory contains a number of exapmples 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 
============
Pose2SLAMExample_easy: A 2D Pose SLAM example using the predefined typedefs in gtsam/slam/pose2SLAM.h
Pose2SLAMExample_advanced: same, but uses an Optimizer object
Pose2SLAMwSPCG_easy: solve a simple 3 by 3 grid of Pose2 SLAM problem by using easy SPCG interface
Pose2SLAMwSPCG_advanced: solve a simple 3 by 3 grid of Pose2 SLAM problem by using advanced SPCG interface

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

Visual SLAM
===========
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.