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gtsam/examples
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dellaert c8bfeb6692 Now using awesome ExpressionFactorGraph 2014-12-28 19:26:00 +01:00
..
Data Remove intermediate file for dataset I/O test, commit f833472 was undone by merge of BAD 2014-11-13 21:03:09 -05:00
CMakeLists.txt Using macro for creating examples to remove cmake code copy/paste 2014-02-13 13:24:14 -05:00
CameraResectioning.cpp Converted Vector(2|3) << ... to Vector2(...) or Vector3(...) syntax 2014-11-23 10:22:25 -08:00
CreateSFMExampleData.cpp Created second example 2013-12-24 16:47:30 -05:00
DiscreteBayesNet_FG.cpp changed tabs to spaces for consistent indentation in all of GTSAM 2012-10-02 14:40:07 +00:00
LocalizationExample.cpp Converted Vector(2|3) << ... to Vector2(...) or Vector3(...) syntax 2014-11-23 10:22:25 -08:00
METISOrderingExample.cpp Fix comma initializer 2014-11-24 18:15:56 -05:00
OdometryExample.cpp Converted Vector(2|3) << ... to Vector2(...) or Vector3(...) syntax 2014-11-23 10:22:25 -08:00
PlanarSLAMExample.cpp Converted Vector(2|3) << ... to Vector2(...) or Vector3(...) syntax 2014-11-23 10:22:25 -08:00
Pose2SLAMExample.cpp Converted Vector(2|3) << ... to Vector2(...) or Vector3(...) syntax 2014-11-23 10:22:25 -08:00
Pose2SLAMExampleExpressions.cpp Now using awesome ExpressionFactorGraph 2014-12-28 19:26:00 +01:00
Pose2SLAMExample_g2o.cpp Updated some usages that were missed 2014-11-23 15:24:55 -08:00
Pose2SLAMExample_graph.cpp Converted Vector(2|3) << ... to Vector2(...) or Vector3(...) syntax 2014-11-23 10:22:25 -08:00
Pose2SLAMExample_graphviz.cpp Converted Vector(2|3) << ... to Vector2(...) or Vector3(...) syntax 2014-11-23 10:22:25 -08:00
Pose2SLAMExample_lago.cpp Updated some usages that were missed 2014-11-23 15:24:55 -08:00
Pose2SLAMwSPCG.cpp Converted Vector(2|3) << ... to Vector2(...) or Vector3(...) syntax 2014-11-23 10:22:25 -08:00
Pose3SLAMExample_changeKeys.cpp Merge branch 'develop' 2014-10-06 17:02:08 -04:00
Pose3SLAMExample_g2o.cpp Updated all comma initializer usages to use .finished() 2014-11-22 16:35:27 -08:00
Pose3SLAMExample_initializePose3Chordal.cpp Updated all comma initializer usages to use .finished() 2014-11-22 16:35:27 -08:00
Pose3SLAMExample_initializePose3Gradient.cpp Updated all comma initializer usages to use .finished() 2014-11-22 16:35:27 -08:00
README Another rename 2012-06-03 20:11:40 +00:00
RangeISAMExample_plaza2.cpp Use findExampleDataFile function to discover data file location 2014-06-12 16:23:41 -04:00
SFMExample.cpp Updated all comma initializer usages to use .finished() 2014-11-22 16:35:27 -08:00
SFMExampleExpressions.cpp Updated examples and test 2014-12-28 19:10:41 +01:00
SFMExample_SmartFactor.cpp Merged in feature/TemplatedSmartFactors (pull request #39) 2014-11-25 07:36:14 -05:00
SFMExample_bal.cpp warning in release 2014-07-01 11:21:23 -04:00
SFMdata.h Merged changes from the trunk back into examples. Mostly just Vector inits and some new examples. 2013-12-23 01:41:17 -05:00
SelfCalibrationExample.cpp Updated all comma initializer usages to use .finished() 2014-11-22 16:35:27 -08:00
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 Removed EXPORT (Chris?) 2014-12-28 17:13:11 +01:00
StereoVOExample.cpp Formatting/spacing 2014-06-12 16:09:39 -04:00
StereoVOExample_large.cpp Update ordering 2014-11-24 12:50:55 -05:00
TimeTBB.cpp Fixed some warnings 2013-11-18 19:23:16 +00:00
UGM_chain.cpp Renamed tic -> gttic and toc -> gttoc to avoid conflict with PCL tic/toc 2012-10-02 20:18:41 +00:00
UGM_small.cpp changed tabs to spaces for consistent indentation in all of GTSAM 2012-10-02 14:40:07 +00:00
VisualISAM2Example.cpp Updated all comma initializer usages to use .finished() 2014-11-22 16:35:27 -08:00
VisualISAMExample.cpp Updated all comma initializer usages to use .finished() 2014-11-22 16:35:27 -08:00
easyPoint2KalmanFilter.cpp Converted Vector(2|3) << ... to Vector2(...) or Vector3(...) syntax 2014-11-23 10:22:25 -08:00
elaboratePoint2KalmanFilter.cpp Modified Vector_() to Vec() in examples 2013-10-14 03:20:57 +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