gtsam

History

Alex Cunningham 5a3740daeb Removed extraneous "shared" prefix from SharedNoiseModel named constructors		2012-02-12 17:41:57 +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	Removed extraneous "shared" prefix from SharedNoiseModel named constructors	2012-02-12 17:41:57 +00:00
vSLAMexample	All unit tests pass with TypedSymbol removed	2012-02-07 04:58:11 +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	All unit tests pass with TypedSymbol removed	2012-02-07 04:58:11 +00:00
Makefile.am	All compiled! Only SPCG and linear/SubgraphSolver are not fixed.	2012-01-29 22:10:35 +00:00
PlanarSLAMExample_easy.cpp	All unit tests pass with nonlinear factors templated on value instead of key	2012-02-07 04:02:20 +00:00
PlanarSLAMSelfContained_advanced.cpp	All unit tests pass with TypedSymbol removed	2012-02-07 04:58:11 +00:00
Pose2SLAMExample_advanced.cpp	All unit tests pass with nonlinear factors templated on value instead of key	2012-02-07 04:02:20 +00:00
Pose2SLAMExample_easy.cpp	All unit tests pass with nonlinear factors templated on value instead of key	2012-02-07 04:02:20 +00:00
Pose2SLAMwSPCG_advanced.cpp	(2.0_prep branch) Merged in virtual_values branch	2012-02-03 17:18:32 +00:00
Pose2SLAMwSPCG_easy.cpp	(2.0_prep branch) Merged in virtual_values branch	2012-02-03 17:18:32 +00:00
README	Added ExtendedKalmanFilter class and easyPoint2KalmanFilter example	2011-08-27 12:28:47 +00:00
SimpleRotation.cpp	All unit tests pass with TypedSymbol removed	2012-02-07 04:58:11 +00:00
easyPoint2KalmanFilter.cpp	All unit tests pass with nonlinear factors templated on value instead of key	2012-02-07 04:02:20 +00:00
elaboratePoint2KalmanFilter.cpp	All unit tests pass with TypedSymbol removed	2012-02-07 04:58:11 +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.