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CMakeLists.txt
CMakeLists.txt
 
 
CameraResectioning.cpp
CameraResectioning.cpp
 
 
CreateSFMExampleData.cpp
CreateSFMExampleData.cpp
 
 
DiscreteBayesNet_FG.cpp
DiscreteBayesNet_FG.cpp
 
 
FisheyeExample.cpp
FisheyeExample.cpp
 
 
ISAM2Example_SmartFactor.cpp
ISAM2Example_SmartFactor.cpp
 
 
ISAM2_SmartFactorStereo_IMU.cpp
ISAM2_SmartFactorStereo_IMU.cpp
 
 
ImuFactorExample2.cpp
ImuFactorExample2.cpp
 
 
ImuFactorsExample.cpp
ImuFactorsExample.cpp
 
 
InverseKinematicsExampleExpressions.cpp
InverseKinematicsExampleExpressions.cpp
 
 
LocalizationExample.cpp
LocalizationExample.cpp
 
 
METISOrderingExample.cpp
METISOrderingExample.cpp
 
 
OdometryExample.cpp
OdometryExample.cpp
 
 
PlanarSLAMExample.cpp
PlanarSLAMExample.cpp
 
 
Pose2SLAMExample.cpp
Pose2SLAMExample.cpp
 
 
Pose2SLAMExampleExpressions.cpp
Pose2SLAMExampleExpressions.cpp
 
 
Pose2SLAMExample_g2o.cpp
Pose2SLAMExample_g2o.cpp
 
 
Pose2SLAMExample_graph.cpp
Pose2SLAMExample_graph.cpp
 
 
Pose2SLAMExample_graphviz.cpp
Pose2SLAMExample_graphviz.cpp
 
 
Pose2SLAMExample_lago.cpp
Pose2SLAMExample_lago.cpp
 
 
Pose2SLAMStressTest.cpp
Pose2SLAMStressTest.cpp
 
 
Pose2SLAMwSPCG.cpp
Pose2SLAMwSPCG.cpp
 
 
Pose3Localization.cpp
Pose3Localization.cpp
 
 
Pose3SLAMExampleExpressions_BearingRangeWithTransform.cpp
Pose3SLAMExampleExpressions_BearingRangeWithTransform.cpp
 
 
Pose3SLAMExample_changeKeys.cpp
Pose3SLAMExample_changeKeys.cpp
 
 
Pose3SLAMExample_g2o.cpp
Pose3SLAMExample_g2o.cpp
 
 
Pose3SLAMExample_initializePose3Chordal.cpp
Pose3SLAMExample_initializePose3Chordal.cpp
 
 
Pose3SLAMExample_initializePose3Gradient.cpp
Pose3SLAMExample_initializePose3Gradient.cpp
 
 
README.md
README.md
 
 
RangeISAMExample_plaza2.cpp
RangeISAMExample_plaza2.cpp
 
 
SFMExample.cpp
SFMExample.cpp
 
 
SFMExampleExpressions.cpp
SFMExampleExpressions.cpp
 
 
SFMExampleExpressions_bal.cpp
SFMExampleExpressions_bal.cpp
 
 
SFMExample_SmartFactor.cpp
SFMExample_SmartFactor.cpp
 
 
SFMExample_SmartFactorPCG.cpp
SFMExample_SmartFactorPCG.cpp
 
 
SFMExample_bal.cpp
SFMExample_bal.cpp
 
 
SFMExample_bal_COLAMD_METIS.cpp
SFMExample_bal_COLAMD_METIS.cpp
 
 
SFMdata.h
SFMdata.h
 
 
SelfCalibrationExample.cpp
SelfCalibrationExample.cpp
 
 
SimpleRotation.cpp
SimpleRotation.cpp
 
 
SolverComparer.cpp
SolverComparer.cpp
 
 
StereoVOExample.cpp
StereoVOExample.cpp
 
 
StereoVOExample_large.cpp
StereoVOExample_large.cpp
 
 
TimeTBB.cpp
TimeTBB.cpp
 
 
UGM_chain.cpp
UGM_chain.cpp
 
 
UGM_small.cpp
UGM_small.cpp
 
 
VisualISAM2Example.cpp
VisualISAM2Example.cpp
 
 
VisualISAMExample.cpp
VisualISAMExample.cpp
 
 
easyPoint2KalmanFilter.cpp
easyPoint2KalmanFilter.cpp
 
 
elaboratePoint2KalmanFilter.cpp
elaboratePoint2KalmanFilter.cpp
 
 

README.md

GTSAM Examples

This directory contains all GTSAM C++ examples GTSAM pertaining to SFM

Basic Examples:

  • SimpleRotation: a simple example of optimizing a single rotation according to a single prior
  • CameraResectioning: resection camera from some known points
  • SFMExample: basic structure from motion
  • SFMExample_bal: same, but read data from read from BAL file
  • SelfCalibrationExample: Do SFM while also optimizing for calibration

Stereo Visual Odometry Examples

Visual odometry using a stereo rig:

  • StereoVOExample: basic example of stereo VO
  • StereoVOExample_large: larger, with a snippet of Kitti data

More Advanced Examples

The following examples illustrate some concepts from Georgia Tech's research papers, listed in the references section at the end:

  • VisualISAMExample: uses iSAM [TRO08]
  • VisualISAM2Example: uses iSAM2 [IJRR12]
  • SFMExample_SmartFactor: uses smartFactors [ICRA14]

Kalman Filter Examples

  • elaboratePoint2KalmanFilter: simple linear Kalman filter on a moving 2D point, but done using factor graphs
  • easyPoint2KalmanFilter: uses the 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

The directory vSLAMexample includes 2 simple examples using GTSAM:

  • vSFMexample using visual SLAM for structure-from-motion (SFM)
  • vISAMexample using visual SLAM 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

##Building and Running To build, cd into the directory and do:

mkdir build
cd build
cmake ..

For each .cpp file in this directory two make targets are created, one to build the executable, and one to build and run it. For example, the file CameraResectioning.cpp contains simple example to resection a camera from 4 known points. You can build it using

make CameraResectioning

or build and run it immediately with

make CameraResectioning.run

which should output:

Final result:
Values with 1 values:
Value x1: R:
[
           1,	         0.0,	         0.0,	
         0.0,	          -1,	         0.0,	
         0.0,	         0.0,	          -1,	
];
t: [0, 0, 2]';

References