LiuZe
ReadMe.md
SLAM Factors
SmartFactors
These are "structure-less" factors, i.e., rather than introducing a new variable for an observed 3D point or landmark, a single factor is created that provides a multi-view constraint on several poses and/or cameras.
SmartRangeFactor
An experiment in creating a structure-less 2D range-SLAM factor with range-only measurements.
It uses a sophisticated triangulate logic based on circle intersections.
SmartStereoProjectionFactor
Version of SmartProjectionFactor for stereo observations, specializes SmartFactorBase for CAMERA == StereoCamera.
TODO: a lot of commented out code and could move a lot to .cpp file.
SmartStereoProjectionPoseFactor
Derives from SmartStereoProjectionFactor but adds an array of Cal3_S2Stereo calibration objects .
TODO: Again, as no template arguments, we could move a lot to .cpp file.
SmartStereoProjectionFactorPP
Similar SmartStereoProjectionPoseFactor but additionally adds an array of body_P_cam poses. The dimensions seem to be hardcoded and the types defined in the SmartFactorBase have been re-defined.
The body_P_cam poses are optimized here!
TODO: See above, same issues as SmartStereoProjectionPoseFactor.
SmartProjectionPoseFactorRollingShutter
Is templated on a CAMERA type and derives from SmartProjectionFactor.
This factor optimizes two consecutive poses of a body assuming a rolling shutter model of the camera with given readout time. The factor requires that values contain (for each 2D observation) two consecutive camera poses from which the 2D observation pose can be interpolated.
TODO: the dimensions seem to be hardcoded and the types defined in the SmartFactorBase have been re-defined. Also, possibly a lot of copy/paste computation of things that (should) happen in base class.