Assignment 2 - Analyse and Report on public code snippets

Part 1:

Go to the following file: https://github.com/HKUST-Aerial-Robotics/VINS-Fusion/blob/master/vins_estimator/src/estimator/estimator.cppLinks to an external site.

From line 1045 to 1108, there are 5 instances of problem.AddResidualBlock() being called.

Write a report describing the cost function consisting of these five factors. Explain what state estimates are coupled with each factor. Use mathematical notations, textual elaboration and factor graph as if you are writing a paper but you are NOT writing a paper but rather explaining to the reader what you are doing. 

Part 2:

Go to the following file: https://github.com/HKUST-Aerial-Robotics/VINS-Fusion/blob/master/vins_estimator/src/factor/projectionTwoFrameTwoCamFactor.cppLinks to an external site.

From line 106 to 161, the Jacobians of a factor on the state estimates are performed.

Double check these calculations and rewrite the Jacobians in mathematical notations. Correct any potential mistake.

Accessment:

Submit the report with the write-ups for both part 1 and part 2.

Peer-review:

Please meet (Zoom is fine but IRL better) and discuss as part of the peer-review. It is OK to adjust your solution based on what you learned here.