dcsam

This library, built using GTSAM, provides factor type definitions and a new solver to perform approximate inference on discrete-continuous (hybrid) factor graph models typically encountered in robotics applications.

References

A technical report describing this library and our solver can be found here. If you found this code useful, please cite it as:

@article{doherty2022discrete,
  title={Discrete-{C}ontinuous {S}moothing and {M}apping},
  author={Doherty, Kevin J and Lu, Ziqi and Singh, Kurran and Leonard, John J},
  journal={arXiv preprint arXiv:2204.11936},
  year={2022}
}

Prerequisites

• GTSAM @ caa14bc

To retrieve the appropriate version of GTSAM:

~/$ git clone https://github.com/borglab/gtsam
~/$ cd gtsam
~/gtsam/$ git checkout caa14bc

Follow instructions in the GTSAM repository to build and install with your desired configuration.

Optional

• gtest for building tests.

Building

Building the project

To build using cmake:

~/dcsam/$ mkdir build
~/dcsam/$ cd build
~/dcsam/build$ cmake ..
~/dcsam/build$ make -j

Run tests

To run unit tests, first build with testing enabled:

~/$ mkdir build
~/$ cd build
~/build$ cmake .. -DENABLE_TESTS=ON
~/build$ make -j

Now you can run the tests as follows:

~/build$ make test

Examples

For example usage, check out the DC-SAM examples repo or take a look through testDCSAM.cpp.

Developing

We're using pre-commit for automatic linting. To install pre-commit run:

pip3 install pre-commit

You can verify your installation went through by running pre-commit --version and you should see something like pre-commit 2.7.1.

To get started using pre-commit with this codebase, from the project repo run:

pre-commit install

Now, each time you git add new files and try to git commit your code will automatically be run through a variety of linters. You won't be able to commit anything until the linters are happy with your code.