Doxygen documentation

gtsam/geometry/Cal3_S2.h

@@ -152,6 +152,6 @@ namespace gtsam {
 		}
 	};
 
-	typedef boost::shared_ptr<Cal3_S2> shared_ptrK;
+	typedef boost::shared_ptr<Cal3_S2> shared_ptrK;		///< shared pointer to calibration object
 
 } // gtsam

gtsam/geometry/Cal3_S2Stereo.h

@@ -68,6 +68,6 @@ namespace gtsam {
 		}
 	};
 
-	typedef boost::shared_ptr<Cal3_S2Stereo> shared_ptrKStereo;
+	typedef boost::shared_ptr<Cal3_S2Stereo> shared_ptrKStereo;  ///< shared pointer to stereo calibration object
 
 }

gtsam/slam/GeneralSFMFactor.h

@@ -9,12 +9,13 @@
 
  * -------------------------------------------------------------------------- */
 
-/*
+/**
- * GeneralSFMFactor.h
+ * @file GeneralSFMFactor.h
  *
- *   Created on: Dec 15, 2010
+ * @brief a general SFM factor with an unknown calibration
- *       Author: nikai
+ *
- *  Description: a general SFM factor with an unknown calibration
+ * @date Dec 15, 2010
+ * @author Kai Ni
  */
 
 #pragma once
@@ -31,14 +32,14 @@ namespace gtsam {
 	class GeneralSFMFactor:
 	public NonlinearFactor2<VALUES, CamK, LmK> {
 	protected:
-		Point2 z_;
+		Point2 z_;			///< the 2D measurement
 
 	public:
 
-		typedef typename CamK::Value Cam;
+		typedef typename CamK::Value Cam;										///< typedef for camera type
-		typedef GeneralSFMFactor<VALUES, CamK, LmK> Self ;
+		typedef GeneralSFMFactor<VALUES, CamK, LmK> Self ;	///< typedef for this object
-		typedef NonlinearFactor2<VALUES, CamK, LmK> Base;
+		typedef NonlinearFactor2<VALUES, CamK, LmK> Base;		///< typedef for the base class
-		typedef Point2 Measurement;
+		typedef Point2 Measurement;													///< typedef for the measurement
 
 		// shorthand for a smart pointer to a factor
 		typedef boost::shared_ptr<GeneralSFMFactor<VALUES, LmK, CamK> > shared_ptr;
@@ -46,18 +47,17 @@ namespace gtsam {
 		/**
 		 * Constructor
 		 * @param z is the 2 dimensional location of point in image (the measurement)
-		 * @param sigma is the standard deviation
+		 * @param model is the standard deviation of the measurements
-		 * @param cameraFrameNumber is basically the frame number
+		 * @param i is basically the frame number
-		 * @param landmarkNumber is the index of the landmark
+		 * @param j is the index of the landmark
-		 * @param K the constant calibration
 		 */
-
-		GeneralSFMFactor():z_(0.0,0.0) {}
-		GeneralSFMFactor(const Point2 & p):z_(p) {}
-		GeneralSFMFactor(double x, double y):z_(x,y) {}
 		GeneralSFMFactor(const Point2& z, const SharedNoiseModel& model, const CamK& i, const LmK& j) : Base(model, i, j), z_(z) {}
 
-		virtual ~GeneralSFMFactor() {}
+		GeneralSFMFactor():z_(0.0,0.0) {} 							///< default constructor
+		GeneralSFMFactor(const Point2 & p):z_(p) {}			///< constructor that takes a Point2
+		GeneralSFMFactor(double x, double y):z_(x,y) {} ///< constructor that takes doubles x,y to make a Point2
+
+		virtual ~GeneralSFMFactor() {} ///< destructor
 
 		/**
 		 * print

gtsam/slam/ProjectionFactor.h

@@ -34,8 +34,8 @@ namespace gtsam {
 	protected:
 
 		// Keep a copy of measurement and calibration for I/O
-		Point2 z_;
+		Point2 z_;											///< 2D measurement
-		boost::shared_ptr<Cal3_S2> K_;
+		boost::shared_ptr<Cal3_S2> K_;  ///< shared pointer to calibration object
 
 	public:
 
@@ -53,10 +53,10 @@ namespace gtsam {
 		/**
 		 * Constructor
 		 * @param z is the 2 dimensional location of point in image (the measurement)
-		 * @param sigma is the standard deviation
+		 * @param model is the standard deviation
-		 * @param cameraFrameNumber is basically the frame number
+		 * @param j_pose is basically the frame number
-		 * @param landmarkNumber is the index of the landmark
+		 * @param j_landmark is the index of the landmark
-		 * @param K the constant calibration
+		 * @param K shared pointer to the constant calibration
 		 */
 		GenericProjectionFactor(const Point2& z, const SharedNoiseModel& model,
 				POSK j_pose, LMK j_landmark, const shared_ptrK& K) :

gtsam/slam/StereoFactor.h

@@ -27,16 +27,15 @@ class GenericStereoFactor: public NonlinearFactor2<VALUES, KEY1, KEY2> {
 private:
 
 	// Keep a copy of measurement and calibration for I/O
-	StereoPoint2 z_;
+	StereoPoint2 z_;											///< the measurement
-	boost::shared_ptr<Cal3_S2Stereo> K_;
+	boost::shared_ptr<Cal3_S2Stereo> K_;	///< shared pointer to calibration
 
 public:
 
 	// shorthand for base class type
-	typedef NonlinearFactor2<VALUES, KEY1, KEY2> Base;
+	typedef NonlinearFactor2<VALUES, KEY1, KEY2> Base;					///< typedef for base class
-	typedef boost::shared_ptr<GenericStereoFactor> shared_ptr;
+	typedef boost::shared_ptr<GenericStereoFactor> shared_ptr;  ///< typedef for shared pointer to this object
-	typedef typename KEY1::Value CamPose;
+	typedef typename KEY1::Value CamPose;												///< typedef for Pose Lie Value type
-	typedef StereoPoint2 Measurement;
 
 	/**
 	 * Default constructor
@@ -45,10 +44,10 @@ public:
 
 	/**
 	 * Constructor
-	 * @param z is the 2 dimensional location of point in image (the measurement)
+	 * @param z is the Stereo Point measurement (u_l, u_r, v). v will be identical for left & right for rectified stereo pair
-	 * @param sigma is the standard deviation
+	 * @param model is the noise model in on the measurement
-	 * @param cameraFrameNumber is basically the frame number
+	 * @param j_pose the pose index
-	 * @param landmarkNumber is the index of the landmark
+	 * @param j_landmark the landmark index
 	 * @param K the constant calibration
 	 */
 	GenericStereoFactor(const StereoPoint2& z, const SharedNoiseModel& model, KEY1 j_pose,
@@ -56,7 +55,7 @@ public:
 		Base(model, j_pose, j_landmark), z_(z), K_(K) {
 	}
 
-	~GenericStereoFactor() {}
+	~GenericStereoFactor() {}  ///< desctructor
 
 	/**
 	 * print
@@ -91,6 +90,7 @@ public:
 		return (stereoCam.project(point, H1, H2) - z_).vector();
 	}
 
+	/// get the measurement z
 	StereoPoint2 z() {
 		return z_;
 	}

gtsam/slam/visualSLAM.h

@@ -9,11 +9,12 @@
 
  * -------------------------------------------------------------------------- */
 
-/*
+/**
- * visualSLAM.h
+ *  @file visualSLAM.h
- *
+ *  @brief Basic typedefs for general VisualSLAM problems. Useful for monocular and stereo systems.
- *  Created on: Jan 14, 2010
+ *  @date Jan 14, 2010
- *      Author: Richard Roberts and Chris Beall
+ *  @author Richard Roberts
+ *  @author Chris Beall
  */
 
 #pragma once