advice on issue 2127?

Joel Truher

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May 8, 2025, 1:53:25 PMMay 8

to gtsam users

Hey everybody,

Another FRC team is interested in using GTSAM for mapping, and they're looking for advice about how to do it. The goal is to find tag center Pose3's, and for each tag, the camera provides four in-frame corner Point2's, representing the world Point3's of each corner. For each tag, the relationship between the corner Point3's and the center Pose3 should be treated as exact. What's the best way to do that?

Joel

Dellaert, Frank

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May 8, 2025, 2:29:09 PMMay 8

to Joel Truher, gtsam users

Joel

We have a *bunch* of factors, unit tests, example code on how to do that, in a project called “easyslam”, but it never made it into GTSAM. If you’re willing to do (or oversee) the work to PR it into GTSAM, probably in unstable/easyslam, I’d be happy to share the code. Let me know if interested – I can help by meeting with you about it.

Frank

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Joel Truher

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May 11, 2025, 9:26:56 AMMay 11

to Dellaert, Frank, gtsam users

that sounds promising! I'd be happy to take a look, maybe a few of us FRC folk could work together on it. Summer is a good time for that.

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