gtsam users

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Welcome to the GTSAM users group. Please feel free to ask/answer/discuss any questions and/or topics you might have with regards to GTSAM, the Georgia Tech Smoothing and Mapping toolbox. Note the source code and documentation is available on the Github repo and https://gtsam.org/.

Enjoy!

Frank

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mohammadreza dindarloo

Apr 16

Constraint factor graph

Hello everyone, I wanted to know is there any documentation in Constraint Factor Graph? I had some

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Constraint factor graph

Hello everyone, I wanted to know is there any documentation in Constraint Factor Graph? I had some

Apr 16

Apr 1

SmartProjectionPoseFactor with initial point estimate

Howdy folks, Is there a way to instantiate a gtsam::SmartProjectionPoseFactor() with an initial

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SmartProjectionPoseFactor with initial point estimate

Howdy folks, Is there a way to instantiate a gtsam::SmartProjectionPoseFactor() with an initial

Apr 1

Mar 31

How do you incorporate extrinsic calibration information of sensors?

Hello, I have used GTSAM for SFM but I haven't tried to incorporate multiple sensors before. I

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How do you incorporate extrinsic calibration information of sensors?

Hello, I have used GTSAM for SFM but I haven't tried to incorporate multiple sensors before. I

Mar 31

Philippe-Antoine Gohard, Dellaert, Frank2

Mar 28

Constness in deref_iterator

That is probably an oversight. PR welcomed – CI will also tell us if some unit test has an issue with

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Constness in deref_iterator

That is probably an oversight. PR welcomed – CI will also tell us if some unit test has an issue with

Mar 28

Amjad Hussain, Brice Rebsamen2

Mar 25

Sliding window with LM optimizer approach.

I would suggest looking at the code in https://github.com/borglab/gtsam/blob/develop/gtsam_unstable/

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Sliding window with LM optimizer approach.

I would suggest looking at the code in https://github.com/borglab/gtsam/blob/develop/gtsam_unstable/

Mar 25

Michał Nowicki, Dellaert, Frank3

Mar 18

Confusion/Mistake in C++ example of IMUKittiExampleGPS

Sure! https://github.com/borglab/gtsam/pull/1735 Michal piątek, 15 marca 2024 o 20:48:06 UTC+1

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Confusion/Mistake in C++ example of IMUKittiExampleGPS

Sure! https://github.com/borglab/gtsam/pull/1735 Michal piątek, 15 marca 2024 o 20:48:06 UTC+1

Mar 18

Ivan Ivanov, Dellaert, Frank3

Mar 15

Question: how to create custom Symbols with python?

Thank you, Frank, now it`s clear четверг, 14 марта 2024 г. в 21:38:06 UTC+3, Dellaert, Frank: Hi!

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Question: how to create custom Symbols with python?

Thank you, Frank, now it`s clear четверг, 14 марта 2024 г. в 21:38:06 UTC+3, Dellaert, Frank: Hi!

Mar 15

Nikhil W, Dellaert, Frank2

Mar 7

Help: Calibration works sporadically (extrinsic)

Don't have time to read your email in depth, but did you try Shonan averaging? Best! Frank From:

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Help: Calibration works sporadically (extrinsic)

Don't have time to read your email in depth, but did you try Shonan averaging? Best! Frank From:

Mar 7

Feb 14

Uncertainty of the new prior - sliding window approach.

Hi GTSAM users, I have the following question - I use GTSAM to solve a factor graph consisting of a

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Uncertainty of the new prior - sliding window approach.

Hi GTSAM users, I have the following question - I use GTSAM to solve a factor graph consisting of a

Feb 14

jan m, … Amjad Hussain5

Feb 13

Hessian factor for oldest state marginalization in a sliding-window LM approach.

Hi Jan I'm utilizing the Levenberg-Marquardt (LM) optimizer for a sliding window-based approach.

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Hessian factor for oldest state marginalization in a sliding-window LM approach.

Hi Jan I'm utilizing the Levenberg-Marquardt (LM) optimizer for a sliding window-based approach.

Feb 13

Alex Pander, José Luis Blanco-Claraco3

Feb 6

Is GTSAM deterministic?

Hey José, that is one very good point. I am also getting a warning about two different TBB versions

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Is GTSAM deterministic?

Hey José, that is one very good point. I am also getting a warning about two different TBB versions

Feb 6

Harry, … Dellaert, Frank7

Jan 22

Projection Factor Marginals Crash (point along focus of expansion / collinear with motion) + code to reproduce

Wow, that's amazing! Yes, in effect, that is their condition number. I'm wondering whether

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Projection Factor Marginals Crash (point along focus of expansion / collinear with motion) + code to reproduce

Wow, that's amazing! Yes, in effect, that is their condition number. I'm wondering whether

Jan 22

11/26/23

Adding information matrix and vector as a new factor to a nonlinear graph

Hi all, I am trying to add factors to a NonlinearFactorGraph. This is for a multi-robot application

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Adding information matrix and vector as a new factor to a nonlinear graph

Hi all, I am trying to add factors to a NonlinearFactorGraph. This is for a multi-robot application

11/26/23

11/23/23

improper suggestions in VScode

Solved by installing PyCharm.. all classes are now available среда, 22 ноября 2023 г. в 19:29:46 UTC+

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improper suggestions in VScode

Solved by installing PyCharm.. all classes are now available среда, 22 ноября 2023 г. в 19:29:46 UTC+

11/23/23

10/30/23

Joint Covariance for correlated factors

I'm developing a factor graph for GNSS RTK, whose factors are derived from so-called double

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Joint Covariance for correlated factors

I'm developing a factor graph for GNSS RTK, whose factors are derived from so-called double

10/30/23

10/17/23

Difference between add and addPrior

Hi I would like to know what makes difference between simply adding factor and adding factor through

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Difference between add and addPrior

Hi I would like to know what makes difference between simply adding factor and adding factor through

10/17/23

Jeong Kibaek, Dellaert, Frank2

10/11/23

Not fully using cpu

Hi Hard to say – TBB will be maximally used – in theory 😊 – when you use Nested Dissection ordering

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Not fully using cpu

Hi Hard to say – TBB will be maximally used – in theory 😊 – when you use Nested Dissection ordering

10/11/23

Sandilya Garimella

10/11/23

Example on creating a single multi-robot factor graph using gtsam::LabeledSymbol

I am looking to do multi-robot pose graph optimization, where I have a single factor graph for all

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Example on creating a single multi-robot factor graph using gtsam::LabeledSymbol

I am looking to do multi-robot pose graph optimization, where I have a single factor graph for all

10/11/23

10/9/23

Custom factor: applying one measurement to multiple variables

Hi, I'm implementing a custom odometry factor that needs to be applied to multiple state

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Custom factor: applying one measurement to multiple variables

Hi, I'm implementing a custom odometry factor that needs to be applied to multiple state

10/9/23

9/21/23

VIO with ISAM2 - old factors are irrelevant and cause indeterminant error

Update: I found some usefull background material (1), (2). together with reading some of the code I

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VIO with ISAM2 - old factors are irrelevant and cause indeterminant error

Update: I found some usefull background material (1), (2). together with reading some of the code I

9/21/23

9/15/23

Using multiple range scanners

I found the mistake, it was clearly a logic error on my side. I fixed it by adding the correct

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Using multiple range scanners

I found the mistake, it was clearly a logic error on my side. I fixed it by adding the correct

9/15/23

Harry, Aryaman Patel2

9/6/23

Smart Projection Factors

Actually I have a similar question. GenericProjection factors also allows to encode different

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Smart Projection Factors

Actually I have a similar question. GenericProjection factors also allows to encode different

9/6/23

8/30/23

Linearization and Degenracy modes for SmartProjectionRigFactor

Why is the linearization mode and fixed to "HESSIAN" and degeracy mode fixed to "

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Linearization and Degenracy modes for SmartProjectionRigFactor

Why is the linearization mode and fixed to "HESSIAN" and degeracy mode fixed to "

8/30/23

Harry, Dellaert, Frank2

8/29/23

Python API Documentation?

Hi, no, unfortunately we could never find someone who really *killed* our “readthedocs” project. That

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Python API Documentation?

Hi, no, unfortunately we could never find someone who really *killed* our “readthedocs” project. That

8/29/23

mohammadreza dindarloo, Dellaert, Frank3

8/26/23

Handle (create) model and jacobian in my custom factor

Symforce is very cool! Glad you were able to find a solution. Best Frank Dellaert http://www.cc.

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Handle (create) model and jacobian in my custom factor

Symforce is very cool! Glad you were able to find a solution. Best Frank Dellaert http://www.cc.

8/26/23

8/9/23

Inequality Constraint Implementation

Good Morning, I'm working on applying a nonlinear inequality constraint between values using the

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Inequality Constraint Implementation

Good Morning, I'm working on applying a nonlinear inequality constraint between values using the

8/9/23

Nhat Nguyen Duy

8/8/23

Custom GICP score to the GTSAM for 3D points

Hello everyone, Currently, I want to optimize the sensor poses using pose graph optimization (based

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Custom GICP score to the GTSAM for 3D points

Hello everyone, Currently, I want to optimize the sensor poses using pose graph optimization (based

8/8/23

7/26/23

ShonanRotationAveraging failed on toy example

Hello Authors and Users, Any thoughts on this? Any hint or feedback would be really helpful! Thank

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ShonanRotationAveraging failed on toy example

Hello Authors and Users, Any thoughts on this? Any hint or feedback would be really helpful! Thank

7/26/23

Charles Hamesse

7/25/23

GTSAM for a LiDAR odometry front-end?

Hi all, I'm looking to implement various multi-sensor SLAM systems (LiDAR, visual, inertial) and

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GTSAM for a LiDAR odometry front-end?

Hi all, I'm looking to implement various multi-sensor SLAM systems (LiDAR, visual, inertial) and

7/25/23

Harry, Russell Buchanan3

7/19/23

Preintegrated IMU - Gravity vs Acceleration Bias?

Thanks Russell! That makes perfect sense. On Tuesday, July 18, 2023 at 6:15:56 AM UTC-5 rus...@

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Preintegrated IMU - Gravity vs Acceleration Bias?

Thanks Russell! That makes perfect sense. On Tuesday, July 18, 2023 at 6:15:56 AM UTC-5 rus...@

7/19/23

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