Assignment 2 - Analysize and Report on public code snippets.

Instructions:

Part 1:

Go to the following file: https://github.com/HKUST-Aerial-Robotics/VINS-Fusion/blob/master/vins_estimator/src/estimator/estimator.cpp Links 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.

Part 2:

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

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

Write down these Jacobians in mathematical notations.

Accessment:

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