New docs: SLAM

[p-zach]

New docs for the SLAM directory.

Current issues:

• FrobeniusFactor seems to need FrobeniusPrior. Wrap it?
• KarcherMeanFactor doesn't know how to use JacobianFactor
• LAGO: invalid map
• OrientedPlane not wrapped
• PlanarProjectionFactor: weird type error
• PoseRotationPrior: not sure why import isn't working
• PoseTranslationPrior: same as RotationPrior
• ReferenceFrameFactor: not wrapped
• RotateFactor: not wrapped
• SmartFactorParams: just needs a couple functions wrapped
• SmartProjectionFactor: not wrapped
• SmartProjectionPoseFactor: not wrapped
• SmartProjectionRigFactor: not wrapped
• StereoFactor: Cal3S2_Stereo.backproject not wrapped

[dellaert]

Sure, wrap FrobeniusPrior and everything else :-)

[p-zach]

Decided in meeting that I will resolve KarcherMean and PoseRotationPrior issues; @dellaert will look into LAGO and PlanarProjectionFactor issues. I will also fix any typographical errors and wrap all the unwrapped functions.

[dellaert]

Sorry @p-zach I accidentally fixed KarcherMeanFactor. Hope you have not already done it also.

[p-zach]

Fixed most of the notebooks' problems.

Remaining issues

• OrientedPlane3Factor.ipynb
  • OrientedPlane3 does not act like a Value, so it can't be added to Values, etc.
• ReferenceFrameFactor.ipynb
  • Templating issues. I think I should be able to fix these tomorrow.
• SmartProjectionFactor.ipynb, SmartProjectionRigFactor.ipynb
  • These have the same problem, which stems from an issue with wrap (Improper template expansion wrap#175). In short, their add functions aren't wrapped properly because some of the parameters are based on typedefs within the double-templated class (double-templated meaning like SmartProjectionFactor<PinholeCamera<Cal3_S2>>). In this case, it's PinholeCamera's Measurement/MeasurementVector. I have not yet found a solution to this.

[dellaert]

Remaining issues

• OrientedPlane3Factor.ipynb

Fixed by adding to values.i

• SmartProjectionFactor.ipynb

Fixed by using typedefs in SimpleCamera.h

SmartProjectionRigFactor.ipynb

Wrapping works but type mismatch in notebook is still an issue

[dellaert]

Amazing effort ! Smart factors was harder than anticipated.
I think there are no more issues, so approving now. Let me know if not the case @p-zach .

[p-zach]

@dellaert Great! I was wrestling with RigFactor too, glad you figured it out. All good to merge after CI