ISAM2_SmartFactorStereo_IMU.cpp File Reference

test of iSAM2 with smart stereo factors and IMU preintegration, originally used to debug valgrind invalid reads with Eigen More...

#include <gtsam/navigation/CombinedImuFactor.h>
#include <gtsam/nonlinear/ISAM2.h>
#include <gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h>
#include <fstream>
#include <iostream>
#include <sstream>
#include <string>
#include <vector>

Include dependency graph for ISAM2_SmartFactorStereo_IMU.cpp:

Go to the source code of this file.

Classes
struct	IMUHelper

Functions
int	main (int argc, char *argv[])

Detailed Description

test of iSAM2 with smart stereo factors and IMU preintegration, originally used to debug valgrind invalid reads with Eigen

Author

Nghia Ho

Setup is a stationary stereo camera with an IMU attached. The data file is at examples/Data/ISAM2_SmartFactorStereo_IMU.txt It contains 5 frames of stereo matches and IMU data.

Definition in file ISAM2_SmartFactorStereo_IMU.cpp.

Function Documentation

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 97 of file ISAM2_SmartFactorStereo_IMU.cpp.