Merge branch 'develop' of https://github.com/borglab/gtsam into dsf-gtsfm-to-gtsam-port

2022-07-26 21:49:24 -04:00 · 2022-07-26 21:49:24 -04:00 · 5712082a77
parent 00cadab3b0 a0c47f6b97
commit 5712082a77
30 changed files with 41 additions and 38 deletions
--- a/gtsam/groups.dox
+++ b/gtsam/groups.dox
@ -11,4 +11,7 @@

@}

-*/ 
+\defgroup SLAM Useful SLAM components
+@{ @}
+
+*/
--- a/gtsam/navigation/CombinedImuFactor.h
+++ b/gtsam/navigation/CombinedImuFactor.h
@ -123,7 +123,7 @@ public:
 * it is received from the IMU) so as to avoid costly integration at time of
 * factor construction.
 *
- * @addtogroup SLAM
+ * @ingroup SLAM
 */
 class GTSAM_EXPORT PreintegratedCombinedMeasurements : public PreintegrationType {

@ -252,7 +252,7 @@ public:
 *    the correlation between the bias uncertainty and the preintegrated
 *    measurements uncertainty.
 *
- * @addtogroup SLAM
+ * @ingroup SLAM
 */
 class GTSAM_EXPORT CombinedImuFactor: public NoiseModelFactor6<Pose3, Vector3, Pose3,
    Vector3, imuBias::ConstantBias, imuBias::ConstantBias> {
--- a/gtsam/navigation/ImuFactor.h
+++ b/gtsam/navigation/ImuFactor.h
@ -66,7 +66,7 @@ typedef ManifoldPreintegration PreintegrationType;
 * as soon as it is received from the IMU) so as to avoid costly integration
 * at time of factor construction.
 *
- * @addtogroup SLAM
+ * @ingroup SLAM
 */
 class GTSAM_EXPORT PreintegratedImuMeasurements: public PreintegrationType {

@ -165,7 +165,7 @@ public:
 * (which are usually slowly varying quantities), which is up to the caller.
 * See also CombinedImuFactor for a class that does this for you.
 *
- * @addtogroup SLAM
+ * @ingroup SLAM
 */
 class GTSAM_EXPORT ImuFactor: public NoiseModelFactor5<Pose3, Vector3, Pose3, Vector3,
    imuBias::ConstantBias> {
@ -256,7 +256,7 @@ public:

 /**
 * ImuFactor2 is a ternary factor that uses NavStates rather than Pose/Velocity.
- * @addtogroup SLAM
+ * @ingroup SLAM
 */
 class GTSAM_EXPORT ImuFactor2 : public NoiseModelFactor3<NavState, NavState, imuBias::ConstantBias> {
 private:
--- a/gtsam/nonlinear/PriorFactor.h
+++ b/gtsam/nonlinear/PriorFactor.h
@ -24,7 +24,7 @@ namespace gtsam {

  /**
   * A class for a soft prior on any Value type
-   * @addtogroup SLAM
+   * @ingroup SLAM
   */
  template<class VALUE>
  class PriorFactor: public NoiseModelFactor1<VALUE> {
--- a/gtsam/sam/BearingRangeFactor.h
+++ b/gtsam/sam/BearingRangeFactor.h
@ -27,7 +27,7 @@ namespace gtsam {

 /**
 * Binary factor for a bearing/range measurement
- * @addtogroup SLAM
+ * @ingroup SLAM
 */
 template <typename A1, typename A2,
          typename B = typename Bearing<A1, A2>::result_type,
--- a/gtsam/slam/AntiFactor.h
+++ b/gtsam/slam/AntiFactor.h
@ -26,7 +26,7 @@ namespace gtsam {
   * A class for downdating an existing factor from a graph. The AntiFactor returns the same
   * linearized Hessian matrices of the original factor, but with the opposite sign. This effectively
   * cancels out any affects of the original factor during optimization."
-   * @addtogroup SLAM
+   * @ingroup SLAM
   */
  class AntiFactor: public NonlinearFactor {

--- a/gtsam/slam/BetweenFactor.h
+++ b/gtsam/slam/BetweenFactor.h
@ -34,7 +34,7 @@ namespace gtsam {
  /**
   * A class for a measurement predicted by "between(config[key1],config[key2])"
   * @tparam VALUE the Value type
-   * @addtogroup SLAM
+   * @ingroup SLAM
   */
  template<class VALUE>
  class BetweenFactor: public NoiseModelFactor2<VALUE, VALUE> {
--- a/gtsam/slam/BoundingConstraint.h
+++ b/gtsam/slam/BoundingConstraint.h
@ -27,7 +27,7 @@ namespace gtsam {
 * greater/less than a fixed threshold.  The function
 * will need to have its value function implemented to return
 * a scalar for comparison.
- * @addtogroup SLAM
+ * @ingroup SLAM
 */
 template<class VALUE>
 struct BoundingConstraint1: public NoiseModelFactor1<VALUE> {
--- a/gtsam/slam/EssentialMatrixConstraint.h
+++ b/gtsam/slam/EssentialMatrixConstraint.h
@ -25,7 +25,7 @@ namespace gtsam {

 /**
 * Binary factor between two Pose3 variables induced by an EssentialMatrix measurement
- * @addtogroup SLAM
+ * @ingroup SLAM
 */
 class GTSAM_EXPORT EssentialMatrixConstraint: public NoiseModelFactor2<Pose3, Pose3> {

--- a/gtsam/slam/GeneralSFMFactor.h
+++ b/gtsam/slam/GeneralSFMFactor.h
@ -54,7 +54,7 @@ namespace gtsam {
 /**
 * Non-linear factor for a constraint derived from a 2D measurement.
 * The calibration is unknown here compared to GenericProjectionFactor
- * @addtogroup SLAM
+ * @ingroup SLAM
 */
 template<class CAMERA, class LANDMARK>
 class GeneralSFMFactor: public NoiseModelFactor2<CAMERA, LANDMARK> {
--- a/gtsam/slam/ProjectionFactor.h
+++ b/gtsam/slam/ProjectionFactor.h
@ -33,7 +33,7 @@ namespace gtsam {
   * Non-linear factor for a constraint derived from a 2D measurement. 
   * The calibration is known here.
   * The main building block for visual SLAM.
-   * @addtogroup SLAM
+   * @ingroup SLAM
   */
  template <class POSE = Pose3, class LANDMARK = Point3,
            class CALIBRATION = Cal3_S2>
--- a/gtsam/slam/SmartProjectionPoseFactor.h
+++ b/gtsam/slam/SmartProjectionPoseFactor.h
@ -24,7 +24,7 @@
 namespace gtsam {
 /**
 *
- * @addtogroup SLAM
+ * @ingroup SLAM
 *
 * If you are using the factor, please cite:
 * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating conditionally
@ -39,7 +39,7 @@ namespace gtsam {
 * The factor only constrains poses (variable dimension is 6).
 * This factor requires that values contains the involved poses (Pose3).
 * If the calibration should be optimized, as well, use SmartProjectionFactor instead!
- * @addtogroup SLAM
+ * @ingroup SLAM
 */
 template <class CALIBRATION>
 class SmartProjectionPoseFactor
--- a/gtsam/slam/SmartProjectionRigFactor.h
+++ b/gtsam/slam/SmartProjectionRigFactor.h
@ -29,7 +29,7 @@
 namespace gtsam {
 /**
 *
- * @addtogroup SLAM
+ * @ingroup SLAM
 *
 * If you are using the factor, please cite:
 * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating
@ -46,7 +46,7 @@ namespace gtsam {
 * calibration (i.e., are from the same camera), use SmartProjectionPoseFactor
 * instead! If the calibration should be optimized, as well, use
 * SmartProjectionFactor instead!
- * @addtogroup SLAM
+ * @ingroup SLAM
 */
 template <class CAMERA>
 class SmartProjectionRigFactor : public SmartProjectionFactor<CAMERA> {
--- a/gtsam/slam/StereoFactor.h
+++ b/gtsam/slam/StereoFactor.h
@ -25,7 +25,7 @@ namespace gtsam {

 /**
 * A Generic Stereo Factor
- * @addtogroup SLAM
+ * @ingroup SLAM
 */
 template<class POSE, class LANDMARK>
 class GenericStereoFactor: public NoiseModelFactor2<POSE, LANDMARK> {
--- a/gtsam/slam/TriangulationFactor.h
+++ b/gtsam/slam/TriangulationFactor.h
@ -27,7 +27,7 @@ namespace gtsam {
 /**
 * Non-linear factor for a constraint derived from a 2D measurement.
 * The calibration and pose are assumed known.
- * @addtogroup SLAM
+ * @ingroup SLAM
 */
 template<class CAMERA>
 class TriangulationFactor: public NoiseModelFactor1<Point3> {
--- a/gtsam_unstable/slam/BetweenFactorEM.h
+++ b/gtsam_unstable/slam/BetweenFactorEM.h
@ -28,7 +28,7 @@ namespace gtsam {
 /**
 * A class for a measurement predicted by "between(config[key1],config[key2])"
 * @tparam VALUE the Value type
- * @addtogroup SLAM
+ * @ingroup SLAM
 */
 template<class VALUE>
 class BetweenFactorEM: public NonlinearFactor {
--- a/gtsam_unstable/slam/BiasedGPSFactor.h
+++ b/gtsam_unstable/slam/BiasedGPSFactor.h
@ -25,7 +25,7 @@ namespace gtsam {
  /**
   * A class to model GPS measurements, including a bias term which models
   * common-mode errors and that can be partially corrected if other sensors are used
-   * @addtogroup SLAM
+   * @ingroup SLAM
   */
  class BiasedGPSFactor: public NoiseModelFactor2<Pose3, Point3> {

--- a/gtsam_unstable/slam/MultiProjectionFactor.h
+++ b/gtsam_unstable/slam/MultiProjectionFactor.h
@ -29,7 +29,7 @@ namespace gtsam {
  /**
   * Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here.
   * i.e. the main building block for visual SLAM.
-   * @addtogroup SLAM
+   * @ingroup SLAM
   */
  template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>
  class MultiProjectionFactor: public NoiseModelFactor {
--- a/gtsam_unstable/slam/PoseBetweenFactor.h
+++ b/gtsam_unstable/slam/PoseBetweenFactor.h
@ -26,7 +26,7 @@ namespace gtsam {
  /**
   * A class for a measurement predicted by "between(config[key1],config[key2])"
   * @tparam POSE the Pose type
-   * @addtogroup SLAM
+   * @ingroup SLAM
   */
  template<class POSE>
  class PoseBetweenFactor: public NoiseModelFactor2<POSE, POSE> {
--- a/gtsam_unstable/slam/PosePriorFactor.h
+++ b/gtsam_unstable/slam/PosePriorFactor.h
@ -23,7 +23,7 @@ namespace gtsam {

  /**
   * A class for a soft prior on any Value type
-   * @addtogroup SLAM
+   * @ingroup SLAM
   */
  template<class POSE>
  class PosePriorFactor: public NoiseModelFactor1<POSE> {
--- a/gtsam_unstable/slam/PoseToPointFactor.h
+++ b/gtsam_unstable/slam/PoseToPointFactor.h
@ -18,7 +18,7 @@ namespace gtsam {

 /**
 * A class for a measurement between a pose and a point.
- * @addtogroup SLAM
+ * @ingroup SLAM
 */
 template<typename POSE = Pose3, typename POINT = Point3>
 class PoseToPointFactor : public NoiseModelFactor2<POSE, POINT> {
--- a/gtsam_unstable/slam/ProjectionFactorPPP.h
+++ b/gtsam_unstable/slam/ProjectionFactorPPP.h
@ -28,7 +28,7 @@ namespace gtsam {
  /**
   * Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here.
   * i.e. the main building block for visual SLAM.
-   * @addtogroup SLAM
+   * @ingroup SLAM
   */
  template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>
  class ProjectionFactorPPP: public NoiseModelFactor3<POSE, POSE, LANDMARK> {
--- a/gtsam_unstable/slam/ProjectionFactorPPPC.h
+++ b/gtsam_unstable/slam/ProjectionFactorPPPC.h
@ -30,7 +30,7 @@ namespace gtsam {
  /**
   * Non-linear factor for a constraint derived from a 2D measurement. This factor
   * estimates the body pose, body-camera transform, 3D landmark, and calibration.
-   * @addtogroup SLAM
+   * @ingroup SLAM
   */
 template <class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>
 class GTSAM_UNSTABLE_EXPORT ProjectionFactorPPPC
--- a/gtsam_unstable/slam/ProjectionFactorRollingShutter.h
+++ b/gtsam_unstable/slam/ProjectionFactorRollingShutter.h
@ -38,7 +38,7 @@ namespace gtsam {
 * define the alpha = (t_p - t_A) / (t_B - t_A), we will use the pose
 * interpolated between A and B by the alpha to project the corresponding
 * landmark to Point2.
- * @addtogroup SLAM
+ * @ingroup SLAM
 */

 class GTSAM_UNSTABLE_EXPORT ProjectionFactorRollingShutter
--- a/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
+++ b/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
@ -25,7 +25,7 @@
 namespace gtsam {
 /**
 *
- * @addtogroup SLAM
+ * @ingroup SLAM
 *
 * If you are using the factor, please cite:
 * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert,
@ -39,7 +39,7 @@ namespace gtsam {
 * shutter model of the camera with given readout time. The factor requires that
 * values contain (for each pixel observation) two consecutive camera poses from
 * which the pixel observation pose can be interpolated.
- * @addtogroup SLAM
+ * @ingroup SLAM
 */
 template <class CAMERA>
 class GTSAM_UNSTABLE_EXPORT SmartProjectionPoseFactorRollingShutter
--- a/gtsam_unstable/slam/SmartRangeFactor.h
+++ b/gtsam_unstable/slam/SmartRangeFactor.h
@ -24,7 +24,7 @@ namespace gtsam {

 /**
 * Smart factor for range SLAM
- * @addtogroup SLAM
+ * @ingroup SLAM
 */
 class SmartRangeFactor: public NoiseModelFactor {
 protected:
--- a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
@ -23,7 +23,7 @@
 namespace gtsam {
 /**
 *
- * @addtogroup SLAM
+ * @ingroup SLAM
 *
 * If you are using the factor, please cite:
 * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert,
@ -38,7 +38,7 @@ namespace gtsam {
 * calibration or the same calibration can be shared by multiple cameras. This
 * factor requires that values contain the involved poses and extrinsics (both
 * are Pose3 variables).
- * @addtogroup SLAM
+ * @ingroup SLAM
 */
 class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP
    : public SmartStereoProjectionFactor {
--- a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
@ -26,7 +26,7 @@
 namespace gtsam {
 /**
 *
- * @addtogroup SLAM
+ * @ingroup SLAM
 *
 * If you are using the factor, please cite:
 * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert,
@ -41,7 +41,7 @@ namespace gtsam {
 * has its own calibration.
 * The factor only constrains poses (variable dimension is 6).
 * This factor requires that values contains the involved poses (Pose3).
- * @addtogroup SLAM
+ * @ingroup SLAM
 */
 class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionPoseFactor
    : public SmartStereoProjectionFactor {
--- a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h
+++ b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h
@ -29,7 +29,7 @@ namespace gtsam {
  /**
   * A class for a measurement predicted by "between(config[key1],config[key2])"
   * @tparam VALUE the Value type
-   * @addtogroup SLAM
+   * @ingroup SLAM
   */
  template<class VALUE>
  class TransformBtwRobotsUnaryFactor: public NonlinearFactor { // TODO why not NoiseModelFactor1 ?
--- a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h
+++ b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h
@ -31,7 +31,7 @@ namespace gtsam {
  /**
   * A class for a measurement predicted by "between(config[key1],config[key2])"
   * @tparam VALUE the Value type
-   * @addtogroup SLAM
+   * @ingroup SLAM
   */
  template<class VALUE>
  class TransformBtwRobotsUnaryFactorEM: public NonlinearFactor {