Repository Analysis

borglab/gtsam

GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.

3.9 Likely human-written View on GitHub

Analysis Overview

This report presents the forensic synthetic code analysis of borglab/gtsam, a Jupyter Notebook project with 3,621 GitHub stars. SynthScan v2.0 examined 910,538 lines of code across 3989 source files, recording 2988 pattern matches distributed across 22 syntactic categories. The overall adjusted score of 3.9 places this repository in the Likely human-written band.

The scanner applied 160+ deterministic lexical heuristics, multi-line block detectors, abstract syntax tree depth profilers, and a cross-file Jaccard similarity matrix to construct a statistically normalised synthetic code estimate. All matches are individually weighted by severity coefficient and contextual multiplier before summation, and the resulting headline score is temporally discounted to account for the repository's development history relative to the commercial emergence of large language model coding tooling (November 2022 onward).

3.9
Adjusted Score
3.9
Raw Score
100%
Time Factor
2026-08-09
Last Push
3.6K
Stars
Jupyter Notebook
Language
910.5K
Lines of Code
4.0K
Files
3.0K
Pattern Hits
2026-08-09
Scan Date
0.02
HC Hit Rate

What These Metrics Mean

Adjusted Score
Primary synthetic code indicator. Raw score normalised per 1,000 lines of code and multiplied by the temporal discount factor. This is the definitive comparative metric — use it to rank repositories by AI authorship density.
Raw Score
The unmodified sum of all severity-weighted, context-multiplied pattern match scores before temporal discounting. Reflects the absolute signal strength independent of when the repository was last active.
Time Factor
The temporal discount multiplier (0–100%) applied to the raw score. Repositories last updated before ChatGPT's launch (Nov 2022) receive a 5% factor. Full signal is only assigned to repositories active in the post-adoption era (Jan 2024+).
Pattern Hits
Total count of individual pattern matches across all files and categories. A high hit count with a low score may indicate a very large codebase with isolated AI snippets; a low count with a high score indicates dense, concentrated AI signatures.
HC Hit Rate
High+Critical pattern hits per file, averaged across the repository. This orthogonal signal catches repositories where a few files are densely packed with high-severity AI tells — a strong indicator even when the normalised score appears moderate due to codebase size.
Lines of Code / Files
Total lines and files analysed. The scanner examines 94 file extensions. These denominators are used to normalise the score, enabling fair comparison between repositories of vastly different sizes.

Score History

Longitudinal tracking requires multiple scan runs. Once this repository is re-scanned after new commits land, this chart will visualise how the synthetic code signal evolves over time — enabling you to detect whether AI authorship is growing, stabilising, or being actively corrected by human engineers.

No multi-scan history yet — run the scanner again to build trend data.

Severity Breakdown

Classifies detected patterns by their diagnostic confidence and structural impact. CRITICAL patterns (coefficient 10) represent definitive synthetic signatures — hallucinated imports, explicit LLM attribution metadata — virtually never produced by human authors. HIGH (5) indicates strong structural tells such as cross-file repetition or cross-linguistic idioms. MEDIUM (2) covers recognisable conversational padding and AI-specific vocabulary. LOW (1) captures subtle indicators like tautological comments and generic boilerplate that require density to carry independent signal.

CRITICAL 1HIGH 85MEDIUM 153LOW 2749

Directory Score Breakdown

This horizontal bar chart decomposes the repository's raw synthetic code score by top-level directory, allowing you to pinpoint precisely which modules or components carry the highest AI authorship density. Directories with disproportionately high scores relative to their size warrant targeted manual review: concentrated AI signatures often trace back to mass-generated configuration layers, auto-ported test suites, LLM-scaffolded boilerplate classes, or entire subsystems authored under heavy copilot assistance. Use this view to prioritise your human code-review effort.

Pattern Findings

The scanner identified 2988 distinct pattern matches across 22 syntactic categories. Each entry below represents a discrete location in the source code where the engine recorded a statistically significant AI authorship indicator. Expand any category row to inspect the individual file paths, line numbers, code snippets, and the lexical context (CODE, COMMENT, or STRING) in which each match was detected.

Reading the findings table: The Severity column indicates the diagnostic confidence level (CRITICAL / HIGH / MEDIUM / LOW). The Context column identifies whether the match occurred inside executable code, an inline comment, or a string literal — comment-context matches receive a ×1.5 weight because LLMs systematically over-annotate. The ⚡ bolt icon marks clustered matches: three or more patterns within a 10-line window, each receiving an additional ×1.5 density multiplier as dense clusters constitute far stronger evidence of synthetic authorship than isolated hits.

Over-Commented Block1979 hits · 1810 pts
SeverityFileLineSnippetContext
LOWgtsam/precompiled_header.h21// All headers in base, except:COMMENT
LOWgtsam/precompiled_header.h41#include <gtsam/base/ProductLieGroup.h>COMMENT
LOWgtsam/precompiled_header.h61#include <gtsam/geometry/Pose3.h>COMMENT
LOWgtsam/global_includes.h21#include <gtsam/config.h> // Configuration from CMakeCOMMENT
LOWgtsam/slam/FrobeniusFactor.h21#include <gtsam/constrained/QcqpProblem.h>COMMENT
LOWgtsam/slam/RegularImplicitSchurFactor.h241 // F'*(I - E*P*E')*FCOMMENT
LOWgtsam/slam/EssentialMatrixFactor.h181 // We have point x,y in image 1COMMENT
LOWgtsam/slam/dataset.h21#pragma onceCOMMENT
LOWgtsam/slam/lago.cpp21#include <gtsam/base/kruskal.h>COMMENT
LOWgtsam/slam/SmartFactorBase.h21COMMENT
LOWgtsam/slam/dataset.cpp21#include <gtsam/base/GenericValue.h>COMMENT
LOWgtsam/slam/dataset.cpp41#include <fstream>COMMENT
LOWgtsam/slam/FastSync.h21#include <gtsam/dllexport.h>COMMENT
LOWgtsam/slam/GeneralSFMFactor.h21COMMENT
LOWgtsam/slam/cuda/CudaSfmProjectionBatch.h1#pragma onceCOMMENT
LOWgtsam/slam/cuda/CudaSfmValues.h1#pragma onceCOMMENT
LOWgtsam/slam/tests/testRegularImplicitSchurFactor.cpp21#include <gtsam/base/timing.h>COMMENT
LOWgtsam/slam/tests/testPlanarProjectionFactor.cpp1/**COMMENT
LOWgtsam/slam/tests/testRotateFactor.cpp1/*COMMENT
LOWgtsam/slam/tests/testCudaSfm.cpp1#include <gtsam/base/cuda/CudaContext.h>COMMENT
LOWgtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp21#include <gtsam/nonlinear/NonlinearFactorGraph.h>COMMENT
LOWgtsam/slam/tests/testSmartProjectionFactor.cpp661/* *************************************************************************/COMMENT
LOWgtsam/slam/tests/testSmartProjectionFactor.cpp681// // 1) triangulation introduces small errors, then for a fair comparison we use expectedPoint asCOMMENT
LOWgtsam/slam/tests/testEssentialMatrixFactor.cpp1/*COMMENT
LOWgtsam/slam/tests/testFrobeniusFactor.cpp21#include <CppUnitLite/TestHarness.h>COMMENT
LOWgtsam/slam/tests/testFrobeniusFactor.cpp121 EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5);COMMENT
LOWgtsam/slam/tests/testFastSync.cpp21#include <gtsam/geometry/Similarity2.h>COMMENT
LOWgtsam/slam/tests/testGeneralSFMFactor.cpp21#include <gtsam/geometry/Cal3_S2.h>COMMENT
LOWgtsam/slam/tests/testInitializePose3.cpp21#include <CppUnitLite/TestHarness.h>COMMENT
LOWgtsam/sam/tests/testBearingFactor.cpp61// which calls Local(value,measured), we actually call the reverse. This does notCOMMENT
LOWgtsam/sfm/TranslationRecovery.h21#include <map>COMMENT
LOWgtsam/sfm/ShonanAveraging.h21#include <gtsam/base/Matrix.h>COMMENT
LOWgtsam/sfm/ShonanAveraging.cpp21#if defined(__GNUC__) && __GNUC__ == 16COMMENT
LOWgtsam/sfm/ShonanAveraging.cpp601 // Do the multiplication using wrapped Eigen vectorsCOMMENT
LOWgtsam/sfm/ShonanAveraging.cpp621/// construct a starting vector v for the Lanczos process that will be close toCOMMENT
LOWgtsam/sfm/ShonanAveraging.cpp681 // relaxation is exact, this is the *minimum* eigenvalue, and therefore theCOMMENT
LOWgtsam/sfm/LocationRecovery.h21COMMENT
LOWgtsam/sfm/GlobalPositioner.h21COMMENT
LOWgtsam/sfm/DsfTrackGenerator.h21#include <gtsam/sfm/SfmTrack.h>COMMENT
LOWgtsam/sfm/TranslationRecovery.cpp21#include <gtsam/geometry/Pose3.h>COMMENT
LOWgtsam/sfm/LocationRecovery.cpp21#include <gtsam/geometry/Unit3.h>COMMENT
LOWgtsam/sfm/tests/testShonanFactor.cpp21#include <gtsam/base/lieProxies.h>COMMENT
LOWgtsam/linear/MultifrontalClique.h21#include <gtsam/base/SymmetricBlockMatrix.h>COMMENT
LOWgtsam/linear/VectorValues.cpp461COMMENT
LOWgtsam/linear/GaussianConditional.cpp21#include <gtsam/linear/Sampler.h>COMMENT
LOWgtsam/linear/NoiseModel.h21#include <gtsam/base/Manifold.h>COMMENT
LOWgtsam/linear/MultifrontalClique.cpp21#include <gtsam/linear/BatchJacobianFactor.h>COMMENT
LOWgtsam/linear/GaussianFactorGraph.cpp21#include <gtsam/base/debug.h>COMMENT
LOWgtsam/linear/GaussianFactorGraph.cpp501 // i++;COMMENT
LOWgtsam/linear/linearAlgorithms-inst.h121 //{COMMENT
LOWgtsam/linear/BatchJacobianFactor.h21#include <gtsam/base/SymmetricBlockMatrix.h>COMMENT
LOWgtsam/linear/GaussianBayesNet.cpp141 cg->solveTransposeInPlace(gy);COMMENT
LOWgtsam/linear/PCGSolver.cpp21#include <gtsam/base/TaskScheduler.h>COMMENT
LOWgtsam/linear/SubgraphBuilder.cpp21#include <gtsam/inference/VariableIndex.h>COMMENT
LOWgtsam/linear/MultifrontalSolver.cpp21#include <gtsam/inference/Key.h>COMMENT
LOWgtsam/linear/LossFunctions.h21#pragma onceCOMMENT
LOWgtsam/linear/JacobianFactor.cpp21#include <gtsam/linear/GaussianConditional.h>COMMENT
LOWgtsam/linear/KalmanFilter.cpp21 */COMMENT
LOWgtsam/linear/HessianFactor.cpp21#include <gtsam/linear/GaussianFactor.h>COMMENT
LOWgtsam/linear/MultifrontalSolver.h21#include <gtsam/base/ForestTraversal.h>COMMENT
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Hyper-Verbose Identifiers459 hits · 463 pts
SeverityFileLineSnippetContext
LOWpython/gtsam/tests/test_KarcherMeanFactor.py41 def test_find_karcher_mean_identity(self):CODE
LOWpython/gtsam/tests/test_FrobeniusFactor.py74 def test_frobenius_between_factor(self):CODE
LOWpython/gtsam/tests/test_FrobeniusFactor.py81 def test_frobenius_wormhole_factor(self):CODE
LOWpython/gtsam/tests/test_FrobeniusFactor.py101 def test_frobenius_between_factor(self):CODE
LOWpython/gtsam/tests/test_FrobeniusFactor.py115 def test_frobenius_between_factor(self):CODE
LOWpython/gtsam/tests/test_FrobeniusFactor.py129 def test_frobenius_between_factor(self):CODE
LOWpython/gtsam/tests/test_FrobeniusFactor.py144 def test_frobenius_between_factor(self):CODE
LOWpython/gtsam/tests/test_Factors.py36 def test_gaussian_factor_graph(self):CODE
LOWpython/gtsam/tests/test_Marginals.py23def create_planar_slam_problem():CODE
LOWpython/gtsam/tests/test_Marginals.py74 def test_joint_marginal_blocks(self):CODE
LOWpython/gtsam/tests/test_Sim2.py24 def test_align_poses_along_straight_line(self) -> None:CODE
LOWpython/gtsam/tests/test_Sim2.py59 def test_align_poses_along_straight_line_gauge(self):CODE
LOWpython/gtsam/tests/test_Sim2.py94 def test_align_poses_scaled_squares(self):CODE
LOWpython/gtsam/tests/test_Gal3.py31 def test_range_point_derivatives(self):CODE
LOWpython/gtsam/tests/test_Gal3.py47 def test_bearing_point_derivatives(self):CODE
LOWpython/gtsam/tests/test_Gal3.py69 def test_prior_and_between_factors(self):CODE
LOWpython/gtsam/tests/test_TrajectoryAlignerSim3.py44 def test_perfect_alignment_without_initial_sim(self):CODE
LOWpython/gtsam/tests/test_TrajectoryAlignerSim3.py62 def test_perfect_alignment_without_initial_sim_with_points(self):CODE
LOWpython/gtsam/tests/test_TrajectoryAlignerSim3.py91 def test_noisy_alignment_with_initial_guess(self):CODE
LOWpython/gtsam/tests/test_LeggedEstimator.py79 def test_wrapper_inheritance_uses_base_height_prior_methods(self):CODE
LOWpython/gtsam/tests/test_LeggedEstimator.py98 def test_height_prior_api_changes_filter_estimate_in_python(self):CODE
LOWpython/gtsam/tests/test_LeggedEstimator.py110 def test_height_prior_can_be_turned_off_again(self):CODE
LOWpython/gtsam/tests/test_HybridBayesNet.py80 def test_constructor_and_basic_props(self):CODE
LOWpython/gtsam/tests/test_HybridBayesNet.py184 def test_mpe_and_optimize_methods(self):CODE
LOWpython/gtsam/tests/test_HybridBayesNet.py235 def test_marginals_and_choice_methods(self):CODE
LOWpython/gtsam/tests/test_Sim3.py102 def test_align_poses_along_straight_line(self):CODE
LOWpython/gtsam/tests/test_Sim3.py137 def test_align_poses_along_straight_line_gauge(self):CODE
LOWpython/gtsam/tests/test_Sim3.py172 def test_align_poses_scaled_squares(self):CODE
LOWpython/gtsam/tests/test_NonlinearOptimizer.py68 def test_levenberg_marquardt_pcg(self):CODE
LOWpython/gtsam/tests/test_NonlinearOptimizer.py83 def test_graduated_non_convexity(self):CODE
LOWpython/gtsam/tests/test_Cal3Unified.py159 def test_triangulation_rectify(self):CODE
LOWpython/gtsam/tests/test_certifiable.py85 def test_negative_rank_is_rejected(self):CODE
LOWpython/gtsam/tests/test_GaussianBayesTree.py54 def test_marginal_information_and_covariance(self):CODE
LOWpython/gtsam/tests/test_GaussianBayesTree.py94 def test_joint_bayes_net_key_vector(self):CODE
LOWpython/gtsam/tests/test_GaussianBayesTree.py107 def test_joint_marginal_information_and_covariance(self):CODE
LOWpython/gtsam/tests/test_GaussianBayesTree.py128 def test_delete_cached_shortcuts(self):CODE
LOWpython/gtsam/tests/test_Cal3Fisheye.py126 def test_jacobian_convergence(self):CODE
LOWpython/gtsam/tests/test_Cal3Fisheye.py183 def test_triangulation_skipped(self):CODE
LOWpython/gtsam/tests/test_Cal3Fisheye.py188 def test_triangulation_rectify(self):CODE
LOWpython/gtsam/tests/test_DiscreteConditional.py31 def test_single_value_versions(self):CODE
LOWpython/gtsam/tests/test_Rot3.py2023 def test_axis_angle_stress_test(self) -> None:CODE
LOWpython/gtsam/tests/test_Rot3.py2060 def test_invalid_matrix_raises(self) -> None:CODE
LOWpython/gtsam/tests/test_Rot3.py2073 def test_valid_matrix_no_raise(self) -> None:CODE
LOWpython/gtsam/tests/test_dataset.py44 def test_find_nested_example_data_file(self):CODE
LOWpython/gtsam/tests/test_Se23.py33 def test_prior_and_between_factors(self):CODE
LOWpython/gtsam/tests/test_DsfTrackGenerator.py20 def test_generate_tracks_from_pairwise_matches_nontransitive(CODE
LOWpython/gtsam/tests/test_DsfTrackGenerator.py168def get_nontransitive_matches() -> Dict[Tuple[int, int], np.ndarray]:CODE
LOWpython/gtsam/tests/test_CudaSfm.py23def _make_zero_error_sfm_data():CODE
LOWpython/gtsam/tests/test_CudaSfm.py78def _make_perturbed_bal_like_data(measured_data):CODE
LOWpython/gtsam/tests/test_CudaSfm.py114 def _run_or_skip_unavailable_runtime(self, func):CODE
LOWpython/gtsam/tests/test_CudaSfm.py129 def test_cuda_sfm_params_are_wrapped(self):CODE
LOWpython/gtsam/tests/test_CudaSfm.py137 def test_optimize_cuda_sfm_runs_from_python(self):CODE
LOWpython/gtsam/tests/test_CudaSfm.py151 def test_optimize_cuda_sfm_matches_cpp_tiny_bal_behavior(self):CODE
LOWpython/gtsam/tests/test_AttitudeFactor.py43 def test_navstate_attitude_factor(self):CODE
LOWpython/gtsam/tests/test_backwards_compatibility.py321 def test_find_karcher_mean_identity(self):CODE
LOWpython/gtsam/tests/test_backwards_compatibility.py765 def test_triangulation_robust_three_poses(self) -> None:CODE
LOWpython/gtsam/tests/test_backwards_compatibility.py830 def test_outliers_and_far_landmarks(self) -> None:CODE
LOWpython/gtsam/tests/test_Triangulation.py145 def test_triangulation_robust_three_poses(self) -> None:CODE
LOWpython/gtsam/tests/test_Triangulation.py210 def test_outliers_and_far_landmarks(self) -> None:CODE
LOWpython/gtsam/tests/test_Triangulation.py275 def test_batch_complete_tracks(self) -> None:CODE
399 more matches not shown…
Self-Referential Comments83 hits · 285 pts
SeverityFileLineSnippetContext
MEDIUMgtsam/3rdparty/Eigen/.gitlab-ci.yml1# This file is part of Eigen, a lightweight C++ template libraryCOMMENT
MEDIUMgtsam/3rdparty/Eigen/scripts/relicense.py1# This file is part of Eigen, a lightweight C++ template libraryCOMMENT
MEDIUMgtsam/3rdparty/Eigen/debug/gdb/printers.py2# This file is part of Eigen, a lightweight C++ template libraryCOMMENT
MEDIUMpython/gtsam/__init__.py58 """This function is to add shims for the long-gone Point2 and Point3 types"""STRING
MEDIUMpython/gtsam/tests/test_OdometryExample.py22 # Create the graph (defined in pose2SLAM.h, derived fromCOMMENT
MEDIUMpython/gtsam/tests/test_HybridFactorGraph.py120 # Create a tiny Bayes net P(x0) P(m0) P(z0|x0)COMMENT
MEDIUMpython/gtsam/tests/test_KalmanFilter.py49 # Create the set of expected output TestValuesCOMMENT
MEDIUMpython/gtsam/tests/test_KalmanFilter.py65 # Create an KalmanFilter objectCOMMENT
MEDIUMpython/gtsam/tests/test_KalmanFilter.py68 # Create the Kalman Filter initialization pointCOMMENT
MEDIUMpython/gtsam/tests/test_KalmanFilter.py72 # Create an KF objectCOMMENT
MEDIUMpython/gtsam/tests/test_FundamentalMatrix.py53 # Create the simplest SimpleFundamentalMatrix, a stereo pairCOMMENT
MEDIUMpython/gtsam/tests/test_FundamentalMatrix.py78 # Create a point in bCOMMENT
MEDIUMpython/gtsam/tests/test_FundamentalMatrix.py90 # Create a stereo pair in pixels, zero principal pointsCOMMENT
MEDIUMpython/gtsam/tests/test_FundamentalMatrix.py108 # Create a point in bCOMMENT
MEDIUMpython/gtsam/tests/test_FundamentalMatrix.py120 # Create a stereo pair with the right camera rotated 90 degreesCOMMENT
MEDIUMpython/gtsam/tests/test_FundamentalMatrix.py139 # Create a point in bCOMMENT
MEDIUMpython/gtsam/tests/test_EssentialMatrixConstraint.py24 # Create a factorCOMMENT
MEDIUMpython/gtsam/tests/test_EssentialMatrixConstraint.py34 # Create a linearization point at the zero-error pointCOMMENT
MEDIUMpython/gtsam/tests/test_DiscreteFactorGraph.py43 # Create the DiscreteFactorGraphCOMMENT
MEDIUMpython/gtsam/tests/test_DiscreteFactorGraph.py61 # Create a new test with third node and adding unary and ternary factorCOMMENT
MEDIUMpython/gtsam/tests/test_DiscreteBayesNet.py156 # Create a reverse-topologically sorted fragment:COMMENT
MEDIUMpython/gtsam/tests/test_FixedLagSmootherExample.py30 # Define a batch fixed lag smoother, which usesCOMMENT
MEDIUMpython/gtsam/tests/test_FixedLagSmootherExample.py41 # Create a prior on the first pose, placing it at the originCOMMENT
MEDIUMpython/gtsam/tests/test_Sim3.py211 # Create a PriorFactor with a Sim3 priorCOMMENT
MEDIUMpython/gtsam/tests/test_Pose3SLAMExample.py24 # Create a hexagon of posesCOMMENT
MEDIUMpython/gtsam/tests/test_SimpleCamera.py32 # Create a level camera, looking in Y-directionCOMMENT
MEDIUMpython/gtsam/tests/test_DiscreteSearch.py69 # Create an ordering:COMMENT
MEDIUMpython/gtsam/tests/test_backwards_compatibility.py188 # Define a batch fixed lag smoother, which usesCOMMENT
MEDIUMpython/gtsam/tests/test_backwards_compatibility.py199 # Create a prior on the first pose, placing it at the originCOMMENT
MEDIUMpython/gtsam/tests/test_LocalizationExample.py22 # Create the graph (defined in pose2SLAM.h, derived fromCOMMENT
MEDIUMpython/gtsam/tests/test_Chebyshev2.py71 # Create a sequence: dictionary mapping x -> y.COMMENT
MEDIUMpython/gtsam/tests/test_DiscreteBayesTree.py58 # Create a factor graph out of the Bayes net.COMMENT
MEDIUMpython/gtsam/tests/test_DiscreteBayesTree.py61 # Create a BayesTree out of the factor graph.COMMENT
MEDIUMpython/gtsam/tests/test_DiscreteBayesTree.py162 # Create a BayesNetCOMMENT
MEDIUMpython/gtsam/tests/test_DiscreteBayesTree.py174 # Create a BayesTreeCOMMENT
MEDIUMpython/gtsam/utils/visual_data_generator.py87 if options.triangle: # Create a triangle target, just 3 points on a planeCODE
MEDIUMpython/gtsam/examples/ImuFactorISAM2Example.py84 # Create a factor graphCOMMENT
MEDIUMpython/gtsam/examples/ImuFactorISAM2Example.py90 # Create the initial estimate to the solutionCOMMENT
MEDIUMpython/gtsam/examples/IMUKittiExampleGPS.py210 # Create the factor graph and values object that will store new factors andCOMMENT
MEDIUMpython/gtsam/examples/SFMExample_bal.py52 # Create a factor graphCOMMENT
MEDIUMpython/gtsam/examples/SFMExample_SphericalCamera.py48 # Create the set of ground-truth landmarks (cube corners)COMMENT
MEDIUMpython/gtsam/examples/SFMExample_SphericalCamera.py51 # Create the set of ground-truth poses (circular trajectory around landmarks)COMMENT
MEDIUMpython/gtsam/examples/SFMExample_SphericalCamera.py54 # Define the camera observation noise modelCOMMENT
MEDIUMpython/gtsam/examples/SFMExample_SphericalCamera.py59 # Create a factor graphCOMMENT
MEDIUMpython/gtsam/examples/ViewGraphComparison.py50 # Define the camera calibration parametersCOMMENT
MEDIUMpython/gtsam/examples/ViewGraphComparison.py53 # Create the set of 8 ground-truth landmarksCOMMENT
MEDIUMpython/gtsam/examples/ViewGraphComparison.py60 # Create the set of ground-truth posesCOMMENT
MEDIUMpython/gtsam/examples/Pose3ISAM2Example.py138 # Create a Nonlinear factor graph as well as the data structure to hold state estimates.COMMENT
MEDIUMpython/gtsam/examples/Pose3ISAM2Example.py149 # Create the ground truth poses of the robot trajectory.COMMENT
MEDIUMpython/gtsam/examples/Pose3ISAM2Example.py152 # Create the ground truth odometry transformations, xyz translations, and roll-pitch-yaw rotationsCOMMENT
MEDIUMpython/gtsam/examples/EssentialViewGraphExample.py41 # Define the camera calibration parametersCOMMENT
MEDIUMpython/gtsam/examples/EssentialViewGraphExample.py44 # Create the set of 8 ground-truth landmarksCOMMENT
MEDIUMpython/gtsam/examples/EssentialViewGraphExample.py47 # Create the set of 4 ground-truth posesCOMMENT
MEDIUMpython/gtsam/examples/EssentialViewGraphExample.py61 # Create the factor graphCOMMENT
MEDIUMpython/gtsam/examples/EssentialViewGraphExample.py85 # Create a delta vector to perturb the ground truth (small perturbation)COMMENT
MEDIUMpython/gtsam/examples/EssentialViewGraphExample.py88 # Create the initial estimate for essential matricesCOMMENT
MEDIUMpython/gtsam/examples/Pose2SLAMExample_g2o.py69 # Create the optimizer ...COMMENT
MEDIUMpython/gtsam/examples/VisualISAM2Example.py65 # Define the camera calibration parametersCOMMENT
MEDIUMpython/gtsam/examples/VisualISAM2Example.py68 # Define the camera observation noise modelCOMMENT
MEDIUMpython/gtsam/examples/VisualISAM2Example.py72 # Create the set of ground-truth landmarksCOMMENT
23 more matches not shown…
Cross-File Repetition49 hits · 245 pts
SeverityFileLineSnippetContext
HIGHpython/gtsam/tests/test_OdometryExample.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_VisualISAMExample.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_SFMExample.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_KalmanFilter.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_FixedLagSmootherExample.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_Cal3Unified.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_PriorFactor.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_Pose3SLAMExample.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_SimpleCamera.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_ScenarioRunner.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_Pose2SLAMExample.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_Values.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_JacobianFactor.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_LocalizationExample.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_PlanarSLAMExample.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_Scenario.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_StereoVOExample.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_KarcherMeanFactor.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_FrobeniusFactor.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_SO4.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_FundamentalMatrix.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_SOn.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_GaussianBayesNet.py0gtsam copyright 2010-2021, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_DiscreteBayesNet.py0gtsam copyright 2010-2021, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_DiscreteDistribution.py0gtsam copyright 2010-2021, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_DecisionTreeFactor.py0gtsam copyright 2010-2021, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_DiscreteBayesTree.py0gtsam copyright 2010-2021, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_Sim2.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_Sim3.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_Rot3.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_Sim2.py0test if align pose3pairs method can account for gauge ambiguity. make sure a big and small square can be aligned. the u'STRING
HIGHpython/gtsam/tests/test_Sim3.py0test if align pose3pairs method can account for gauge ambiguity. make sure a big and small square can be aligned. the u'STRING
HIGHpython/gtsam/tests/test_backwards_compatibility.py0test if align pose3pairs method can account for gauge ambiguity. make sure a big and small square can be aligned. the u'STRING
HIGHpython/gtsam/tests/test_Gal3.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_Se23.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_ExtendedPose3.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_NavState.py0gtsam copyright 2010-2019, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHpython/gtsam/tests/test_lago.py0gtsam copyright 2010, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved authors: frank STRING
HIGHpython/gtsam/examples/EssentialViewGraphExample.py0gtsam copyright 2010, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved authors: frank STRING
HIGHpython/gtsam/examples/ViewGraphExample.py0gtsam copyright 2010, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved authors: frank STRING
HIGHwrap/gtwrap/interface_parser/type.py0gtsam copyright 2010-2020, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHwrap/gtwrap/interface_parser/template.py0gtsam copyright 2010-2020, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHwrap/gtwrap/interface_parser/module.py0gtsam copyright 2010-2020, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHwrap/gtwrap/interface_parser/classes.py0gtsam copyright 2010-2020, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHwrap/gtwrap/interface_parser/namespace.py0gtsam copyright 2010-2020, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHwrap/gtwrap/interface_parser/function.py0gtsam copyright 2010-2020, georgia tech research corporation, atlanta, georgia 30332-0415 all rights reserved see licensSTRING
HIGHwrap/gtwrap/interface_parser/declaration.py0get the namespaces which this class is nested under as a list.STRING
HIGHwrap/gtwrap/interface_parser/classes.py0get the namespaces which this class is nested under as a list.STRING
HIGHwrap/gtwrap/interface_parser/enum.py0get the namespaces which this class is nested under as a list.STRING
Unused Imports211 hits · 211 pts
SeverityFileLineSnippetContext
LOWgtsam/3rdparty/Eigen/debug/gdb/printers.py30CODE
LOWpython/gtsam/symbol_shorthand.py4CODE
LOWpython/gtsam/gtsfm.py4CODE
LOWpython/gtsam/__init__.py11CODE
LOWpython/gtsam/__init__.py13CODE
LOWpython/gtsam/__init__.py14CODE
LOWpython/gtsam/noiseModel.py4CODE
LOWpython/gtsam/imuBias.py4CODE
LOWpython/gtsam/tests/test_SFMExample.py17CODE
LOWpython/gtsam/tests/test_Robust.py13CODE
LOWpython/gtsam/tests/test_DSFMap.py13CODE
LOWpython/gtsam/tests/test_HybridBayesNet.py21CODE
LOWpython/gtsam/tests/test_initialize_pose3.py17CODE
LOWpython/gtsam/tests/test_Pose3SLAMExample.py12CODE
LOWpython/gtsam/tests/test_NonlinearOptimizer.py13CODE
LOWpython/gtsam/tests/test_ShonanAveraging.py20CODE
LOWpython/gtsam/tests/test_ShonanAveraging.py20CODE
LOWpython/gtsam/tests/test_SimpleCamera.py16CODE
LOWpython/gtsam/tests/test_PinholeCamera.py12CODE
LOWpython/gtsam/tests/test_DiscreteSearch.py19CODE
LOWpython/gtsam/tests/test_Rot3.py15CODE
LOWpython/gtsam/tests/test_Pose2.py17CODE
LOWpython/gtsam/tests/test_HybridNonlinearFactorGraph.py13CODE
LOWpython/gtsam/tests/test_dataset.py14CODE
LOWpython/gtsam/tests/test_Values.py16CODE
LOWpython/gtsam/tests/test_SfmData.py13CODE
LOWpython/gtsam/tests/test_GaussianFactorGraph.py13CODE
LOWpython/gtsam/tests/test_Scenario.py11CODE
LOWpython/gtsam/tests/test_SphericalCamera.py15CODE
LOWpython/gtsam/utils/plot.py10CODE
LOWpython/gtsam/utils/visual_data_generator.py1CODE
LOWpython/gtsam/utils/logging_optimizer.py7CODE
LOWpython/gtsam/utils/logging_optimizer.py9CODE
LOWpython/gtsam/utils/logging_optimizer.py9CODE
LOWpython/gtsam/examples/ImuFactorISAM2Example.py7CODE
LOWpython/gtsam/examples/ImuFactorISAM2Example.py13CODE
LOWpython/gtsam/examples/CombinedImuFactorExample.py15CODE
LOWpython/gtsam/examples/CombinedImuFactorExample.py24CODE
LOWpython/gtsam/examples/SFMExample_SphericalCamera.py28CODE
LOWpython/gtsam/examples/Pose3SLAMExample_g2o.py10CODE
LOWpython/gtsam/examples/Pose3SLAMExample_g2o.py18CODE
LOWpython/gtsam/examples/Pose2SLAMExample_g2o.py14CODE
LOW…am/examples/Pose3SLAMExample_initializePose3Chordal.py14CODE
LOWpython/gtsam/examples/VisualISAM2Example.py14CODE
LOWpython/gtsam/examples/VisualISAM2Example.py22CODE
LOWpython/gtsam/examples/Pose2SLAMExample_lago.py25CODE
LOWpython/gtsam/examples/LeggedEstimatorExample.py12CODE
LOWpython/gtsam/examples/AbcEquivariantFilterExample.py8CODE
LOWpython/gtsam/examples/PlanarManipulatorExample.py14CODE
LOWpython/gtsam/examples/PlanarManipulatorExample.py22CODE
LOWpython/gtsam/examples/PlanarManipulatorExample.py24CODE
LOWpython/gtsam/examples/ImuFactorExample.py15CODE
LOWpython/gtsam/examples/ImuFactorExample.py24CODE
LOWpython/gtsam/examples/PreintegrationExample.py21CODE
LOWpython/gtsam_unstable/__init__.py1CODE
LOW…ble/examples/SmartStereoProjectionPoseFactorExample.py8CODE
LOW…ble/examples/SmartStereoProjectionPoseFactorExample.py9CODE
LOWgtsam_unstable/timing/process_shonan_timing_results.py5CODE
LOWgtsam_unstable/timing/process_shonan_timing_results.py8CODE
LOWtiming/benchmark_range_factor_plaza2.py4CODE
151 more matches not shown…
AI Slop Vocabulary62 hits · 192 pts
SeverityFileLineSnippetContext
MEDIUMgtsam/slam/FrobeniusFactor.cpp31 // Unwrap robust model if present and remember its robust lossCOMMENT
MEDIUMgtsam/slam/SmartProjectionFactor.h138 // Definitely true if we do not have a previous linearization point or theCOMMENT
MEDIUMgtsam/slam/tests/testFastSync.cpp287// Verifies anisotropic, constrained, and robust models are rejected.COMMENT
MEDIUMgtsam/sfm/ShonanAveraging.h187 // Check if the noise model is already robustCOMMENT
MEDIUMgtsam/sfm/ShonanAveraging.h191 // make robustCOMMENT
MEDIUMgtsam/sfm/ShonanAveraging.cpp348 // Check if noise model is robustCOMMENT
MEDIUMgtsam/sfm/ShonanAveraging.cpp350 // If robust, check if optimality certificate is expectedCOMMENT
MEDIUMgtsam/sfm/tests/testShonanAveraging.cpp386 // test that each factor is actually robustCOMMENT
MEDIUMgtsam/sfm/tests/testShonanAveraging.cpp387 for (size_t i=0; i<=4; i++) { // note: last is the Gauge factor and is not robustCODE
MEDIUMgtsam/sfm/tests/testShonanAveraging.cpp390 // we expect the factors to be use a robust noise modelCOMMENT
MEDIUMgtsam/linear/NoiseModel.h735 const RobustModel::shared_ptr robust_; ///< robust error function usedCODE
MEDIUMgtsam/linear/NoiseModel.h753 /// Return the contained robust error functionCOMMENT
MEDIUMgtsam/linear/NoiseModel.h778 // These are really robust iterated re-weighting support functionsCOMMENT
MEDIUMgtsam/navigation/LeggedEstimator.h55 /// Enable robust contact noise for graph-based variants.COMMENT
MEDIUMgtsam/navigation/LeggedEstimator.h57 /// Scalar-Huber threshold for robust contact factors in graph-based variants.COMMENT
MEDIUMgtsam/3rdparty/Eigen/test/packetmath.cpp499 // apply different offsets to check that ploaddup is robust to unaligned inputsCOMMENT
MEDIUMgtsam/3rdparty/Eigen/test/packetmath.cpp508 // apply different offsets to check that ploadquad is robust to unaligned inputsCOMMENT
MEDIUMgtsam/3rdparty/Eigen/test/array_cwise.cpp538 // msvc complex division is not robustCOMMENT
MEDIUM…gen/unsupported/Eigen/CXX11/src/Tensor/TensorPadding.h366 // number of calls to LinCopy and better utilize vector instructions.COMMENT
MEDIUM…sam/3rdparty/Eigen/Eigen/src/Core/ConditionEstimator.h128 // added to make the algorithm more robust in certain corner cases whereCOMMENT
MEDIUM…am/3rdparty/Eigen/Eigen/src/Core/arch/SSE/PacketMath.h123// to leverage AVX instructions.COMMENT
MEDIUMgtsam/3rdparty/Eigen/Eigen/src/Core/arch/SSE/Complex.h26// to leverage AVX instructions.COMMENT
MEDIUMgtsam/3rdparty/Eigen/Eigen/src/Core/arch/SSE/Complex.h194// to leverage AVX instructions.COMMENT
MEDIUM…am/3rdparty/Eigen/Eigen/src/Core/arch/AVX/PacketMath.h56// to leverage AVX512 instructions.COMMENT
MEDIUM…am/3rdparty/Eigen/Eigen/src/Core/arch/AVX/PacketMath.h638// NOTE: leverage _mm256_i32gather_ps and _mm256_i32gather_pd if AVX2 instructions are availableCOMMENT
MEDIUMgtsam/3rdparty/Eigen/Eigen/src/Geometry/AngleAxis.h200 // let's use the robust Quaternion implementation:COMMENT
MEDIUMgtsam/geometry/Rot3M.cpp131 /// Essentially, this computes the orthogonalization error, distributes theCOMMENT
MEDIUMgtsam/geometry/tests/testTriangulation.cpp365 // DLT is surprisingly robust, but still off (actual error is around 0.26m):COMMENT
MEDIUMgtsam/geometry/tests/testTriangulation.cpp372 // result from nonlinear (but non-robust optimization) is close to DLT and still offCOMMENT
MEDIUMgtsam/geometry/tests/testTriangulation.cpp375 // Again with nonlinear optimization, this time with robust lossCOMMENT
MEDIUMgtsam/geometry/tests/testTriangulation.cpp410 // DLT is surprisingly robust, but still off (actual error is around 0.17m):COMMENT
MEDIUMgtsam/geometry/tests/testTriangulation.cpp417 // result from nonlinear (but non-robust optimization) is close to DLT and still offCOMMENT
MEDIUMgtsam/geometry/tests/testTriangulation.cpp420 // Again with nonlinear optimization, this time with robust lossCOMMENT
MEDIUMgtsam/nonlinear/GncParams.h35/// Choice of robust loss function for GNC.COMMENT
MEDIUMgtsam/nonlinear/GncParams.h93 /// Set the robust loss function to be used in GNC (chosen among the ones in GncLossType).COMMENT
MEDIUMgtsam/nonlinear/GncOptimizer.h157 // if the factor has a robust loss, we remove the robust lossCOMMENT
MEDIUMgtsam/nonlinear/LevenbergMarquardtOptimizer.cpp166 // as the nonlinear error when robust noise models are used.COMMENT
MEDIUMgtsam/nonlinear/WnoaInterpFactor.h811 // Note: Here, we leverage the block-diagonal approximation of theCOMMENT
MEDIUMpython/gtsam/tests/test_backwards_compatibility.py766 """Ensure triangulation with a robust model works."""STRING
MEDIUMpython/gtsam/tests/test_backwards_compatibility.py804 # DLT is surprisingly robust, but still off (actual error is around 0.26m)COMMENT
MEDIUMpython/gtsam/tests/test_backwards_compatibility.py814 # result from nonlinear (but non-robust optimization) is close to DLT and still offCOMMENT
MEDIUMpython/gtsam/tests/test_backwards_compatibility.py817 # Again with nonlinear optimization, this time with robust lossCOMMENT
MEDIUMpython/gtsam/tests/test_Triangulation.py146 """Ensure triangulation with a robust model works."""STRING
MEDIUMpython/gtsam/tests/test_Triangulation.py184 # DLT is surprisingly robust, but still off (actual error is around 0.26m)COMMENT
MEDIUMpython/gtsam/tests/test_Triangulation.py194 # result from nonlinear (but non-robust optimization) is close to DLT and still offCOMMENT
MEDIUMpython/gtsam/tests/test_Triangulation.py197 # Again with nonlinear optimization, this time with robust lossCOMMENT
MEDIUMtests/testNonlinearFactor.cpp130 // vector to store all the robust models in so we can test iteratively.COMMENT
MEDIUMtests/testGncOptimizer.cpp149 // same graph with robust noise modelCOMMENT
MEDIUMtests/testGncOptimizer.cpp162 // robust lossCOMMENT
MEDIUMtests/testGncOptimizer.cpp686 // try with robust loss function and standard GNCOMMENT
MEDIUMtests/testGncOptimizer.cpp970 CHECK(assert_equal(expected, actual, 1e-3)); // yay! we are robust to outliers!CODE
MEDIUMgtsam_unstable/examples/SmartRangeExample_plaza1.cpp118 gaussian = NM::Isotropic::Sigma(1, sigmaR), // non-robustCODE
MEDIUMgtsam_unstable/examples/SmartRangeExample_plaza1.cpp119 tukey = NM::Robust::Create(NM::mEstimator::Tukey::Create(15), gaussian), //robustCODE
MEDIUMgtsam_unstable/examples/SmartRangeExample_plaza2.cpp116 gaussian = NM::Isotropic::Sigma(1, sigmaR), // non-robustCODE
MEDIUMgtsam_unstable/examples/SmartRangeExample_plaza2.cpp117 tukey = NM::Robust::Create(NM::mEstimator::Tukey::Create(15), gaussian), //robustCODE
MEDIUMwrap/pybind11/pybind11/__main__.py28 # about nuanced counting here.COMMENT
MEDIUMwrap/pybind11/tests/test_numpy_array.py612# HINT: An easy and robust way (although only manual unfortunately) to check forCOMMENT
LOWwrap/pybind11/tests/test_modules.py138 # changes in future Python versions, simply add the new expected exception types here.COMMENT
LOWwrap/gtwrap/template_instantiator/helpers.py293 # If no method level templates, just use the class templatesCOMMENT
MEDIUMexamples/RangeISAMExample_plaza2.cpp135 gaussian = NM::Isotropic::Sigma(1, sigmaR), // non-robustCODE
2 more matches not shown…
Cross-Language Confusion32 hits · 175 pts
SeverityFileLineSnippetContext
HIGHpython/gtsam/tests/test_HybridValues.py123 self.assertTrue(hv1.equals(hv2, 1e-9))CODE
HIGHpython/gtsam/tests/test_HybridValues.py158 self.assertTrue(hv_copy.equals(hv, 1e-9))CODE
HIGHpython/gtsam/tests/test_SO4.py37 self.assertTrue(actual.equals(I4, 1e-9))CODE
HIGHpython/gtsam/tests/test_SO4.py49 self.assertTrue(actual.equals(expected, 1e-9))CODE
HIGHpython/gtsam/tests/test_TrajectoryAlignerSim3.py60 self.assertTrue(gt_bSa.equals(recovered, 1e-6))CODE
HIGHpython/gtsam/tests/test_TrajectoryAlignerSim3.py89 self.assertTrue(gt_bSa.equals(recovered, 1e-6))CODE
HIGHpython/gtsam/tests/test_TrajectoryAlignerSim3.py112 self.assertTrue(gt_bSa.equals(recovered, 1e-2))CODE
HIGHpython/gtsam/tests/test_WnoaFactors.py137 self.assertTrue(factor1.equals(factor2, 1e-9))CODE
HIGHpython/gtsam/tests/test_FundamentalMatrix.py41 self.assertTrue(self.trueF.equals(actual, 1e-9))CODE
HIGHpython/gtsam/tests/test_FundamentalMatrix.py69 self.assertTrue(self.stereoF.equals(actual, 1e-9))CODE
HIGHpython/gtsam/tests/test_HybridBayesNet.py105 self.assertTrue(self.bayesNet.equals(bn_copy, 1e-9))CODE
HIGHpython/gtsam/tests/test_HybridBayesNet.py111 self.assertFalse(self.bayesNet.equals(bn_different_order, 1e-9))CODE
HIGHpython/gtsam/tests/test_HybridBayesNet.py118 self.assertFalse(self.bayesNet.equals(bn_different_cond, 1e-9))CODE
HIGHpython/gtsam/tests/test_FixedLagSmootherExample.py117 self.assertTrue(estimate.equals(ground_truth[i], 1e-4))CODE
HIGHpython/gtsam/tests/test_PseudorangeFactor.py45 self.assertTrue(factor1.equals(factor1, 1e-6))CODE
HIGHpython/gtsam/tests/test_PseudorangeFactor.py46 self.assertFalse(factor1.equals(factor2, 1e-6))CODE
HIGHpython/gtsam/tests/test_PseudorangeFactor.py47 self.assertTrue(factor1.equals(factor3, 1e99))CODE
HIGHpython/gtsam/tests/test_SOn.py37 self.assertTrue(actual.equals(I4, 1e-9))CODE
HIGHpython/gtsam/tests/test_SOn.py49 self.assertTrue(actual.equals(expected, 1e-3)) # not exmap so only approximateCODE
HIGHpython/gtsam/tests/test_fast_sync.py41 self.assertTrue(expected.equals(estimated, tolerance))CODE
HIGHpython/gtsam/tests/test_fast_sync.py49 self.assertTrue(expected_relative.equals(actual_relative, tolerance))CODE
HIGHpython/gtsam/tests/test_backwards_compatibility.py270 self.assertTrue(estimate.equals(ground_truth[i], 1e-4))CODE
HIGHpython/gtsam/utils/test_case.py30 equal = actual.equals(expected, tol)CODE
HIGHpython/gtsam/examples/IMUKittiExampleGPS.py339 if not kitti_calibration.bodyTimu.equals(Pose3(), 1e-8):CODE
HIGHpython/gtsam/examples/PlanarManipulatorExample.py212 equal = actual.equals(expected, tol)CODE
HIGHwrap/tests/test_matlab_wrapper.py156 "length(varargin) == 1 && isa(varargin{1},'double')"CODE
HIGHwrap/tests/test_matlab_wrapper.py157 " && size(varargin{1},1)==3 && size(varargin{1},2)==1"CODE
HIGHwrap/tests/test_matlab_wrapper.py170 self.assertIn('length(varargin) == 0 && nargout == 2', matlab_content)CODE
HIGHwrap/tests/test_matlab_wrapper.py180 "length(varargin) == 1 && isa(varargin{1},'gtsam.Pose3') && nargout == 3",CODE
HIGHwrap/tests/test_matlab_wrapper.py192 "length(varargin) == 1 && isa(varargin{1},'double')"CODE
HIGHwrap/tests/test_matlab_wrapper.py193 " && size(varargin{1},2)==1 && nargout == 2",CODE
HIGHwrap/gtwrap/matlab_wrapper/wrapper.py683 methods_wrap += " if (nargin == 2 || (nargin == 3 && strcmp(varargin{3}, 'void')))"STRING
Deep Nesting33 hits · 33 pts
SeverityFileLineSnippetContext
LOWpython/gtsam/utils/__init__.py4CODE
LOWpython/gtsam/examples/simulation.py7CODE
LOWpython/gtsam/examples/IMUKittiExampleGPS.py183CODE
LOWpython/gtsam/examples/gtsam_plotly.py203CODE
LOWpython/gtsam/examples/ViewGraphComparison.py97CODE
LOWpython/gtsam/examples/ViewGraphComparison.py222CODE
LOWpython/gtsam/examples/ViewGraphComparison.py314CODE
LOWpython/gtsam/examples/LeggedEstimatorExample.py54CODE
LOWpython/gtsam/examples/LeggedEstimatorExample.py903CODE
LOWpython/gtsam/examples/gnss_frontend.py94CODE
LOW…p/pybind11/tools/codespell_ignore_lines_from_errors.py17CODE
LOWwrap/pybind11/pybind11/setup_helpers.py290CODE
LOWwrap/pybind11/tests/test_numpy_array.py552CODE
LOWwrap/pybind11/tests/test_factory_constructors.py481CODE
LOWwrap/pybind11/tests/test_factory_constructors.py499CODE
LOWwrap/pybind11/tests/test_numpy_dtypes.py374CODE
LOWwrap/docs/parser/parse_xml.py10CODE
LOWwrap/docs/parser/parse_doxygen_xml.py21CODE
LOWwrap/gtwrap/pybind_wrapper.py420CODE
LOWwrap/gtwrap/pybind_wrapper.py646CODE
LOWwrap/gtwrap/interface_parser/diagnostics.py268CODE
LOWwrap/gtwrap/interface_parser/classes.py296CODE
LOWwrap/gtwrap/xml_parser/xml_parser.py238CODE
LOWwrap/gtwrap/xml_parser/xml_parser.py420CODE
LOWwrap/gtwrap/matlab_wrapper/wrapper.py361CODE
LOWwrap/gtwrap/matlab_wrapper/wrapper.py1191CODE
LOWwrap/gtwrap/matlab_wrapper/wrapper.py1310CODE
LOWwrap/gtwrap/matlab_wrapper/wrapper.py1382CODE
LOWwrap/gtwrap/matlab_wrapper/wrapper.py1469CODE
LOWwrap/gtwrap/matlab_wrapper/wrapper.py1734CODE
LOWwrap/gtwrap/matlab_wrapper/wrapper.py1904CODE
LOWwrap/gtwrap/template_instantiator/namespace.py11CODE
LOWwrap/gtwrap/template_instantiator/helpers.py31CODE
Redundant / Tautological Comments19 hits · 32 pts
SeverityFileLineSnippetContext
LOWpython/gtsam/tests/test_FundamentalMatrix.py82 # Check if the line is horizontal at height 2COMMENT
LOWpython/gtsam/tests/test_FundamentalMatrix.py112 # Check if the line is horizontal at height 0.3COMMENT
LOWpython/gtsam/tests/test_FundamentalMatrix.py143 # Check if the line is horizontal at height 0.3COMMENT
LOWpython/gtsam/tests/test_DiscreteFactorGraph.py58 # Check if graph evaluation works ( 0.3*0.6*4 )COMMENT
LOWpython/gtsam/tests/test_DiscreteFactorGraph.py74 # Check if graph evaluation works (0.3*0.9*1*0.2*8)COMMENT
LOWpython/gtsam/tests/test_DiscreteFactorGraph.py82 # Check if graph evaluation works (0.9*0.6*1*0.9*4)COMMENT
LOWpython/gtsam/tests/test_DiscreteFactorGraph.py85 # Check if graph product worksCOMMENT
LOWpython/gtsam/tests/test_numerical_derivative.py33 # Check if numerical derivative is close to analytical derivativeCOMMENT
LOWpython/gtsam/tests/test_TranslationRecovery.py48 # Set verbosity to Silent for testsCOMMENT
LOWwrap/gtwrap/xml_parser/xml_parser.py16 # Set this to true to have useful information for debugging this class, as in the CLICOMMENT
LOWwrap/gtwrap/xml_parser/xml_parser.py459 # Check if it's a para AND doesn't contain a parameterlist or simplesect (handle those separately)COMMENT
LOWwrap/gtwrap/matlab_wrapper/wrapper.py1747 # Check if class is in ignore list.STRING
LOWwrap/gtwrap/template_instantiator/namespace.py61 # Check if element is a typedef'd class, function orCOMMENT
LOWwrap/gtwrap/template_instantiator/helpers.py58 # Check if the return type has template parameters as the typename's nameCOMMENT
LOWwrap/gtwrap/template_instantiator/helpers.py68 # Check if template is a scoped template e.g. T::Value where T is the templateCOMMENT
LOWwrap/gtwrap/template_instantiator/helpers.py111 # Check if the class is template instantiatedCOMMENT
LOWwrap/gtwrap/template_instantiator/helpers.py130 # Check if `This` is in the namespacesCOMMENT
LOW.github/workflows/build-cibw.yml155 # Set DYLD_LIBRARY_PATH to REPAIR_LIBRARY_PATH, which is set in cibw_before_all.sh. REPAIR_LIBRARY_PATHCOMMENT
LOW.github/workflows/prod-cibw.yml135 # Set DYLD_LIBRARY_PATH to REPAIR_LIBRARY_PATH, which is set in cibw_before_all.sh. REPAIR_LIBRARY_PATHCOMMENT
Verbosity Indicators12 hits · 25 pts
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LOW…orted/Eigen/CXX11/src/Tensor/TensorContractionMapper.h318 // On the right hand side we need to check if the contracting dimensions may haveCOMMENT
LOWgtsam/base/WeightedSampler.h62 // Step 1: The first m items of V are inserted into reservoirCOMMENT
LOWgtsam/base/WeightedSampler.h63 // Step 2: For each item v_i ∈ reservoir: Calculate a key k_i = u_i^(1/w),COMMENT
LOWgtsam/base/WeightedSampler.h75 // Step 4: Repeat Steps 5–10 until the population is exhaustedCOMMENT
LOWgtsam/base/WeightedSampler.h77 // Step 3: The threshold T_w is the minimum key of reservoirCOMMENT
LOWgtsam/base/WeightedSampler.h79 // Step 10: The new threshold T w is the new minimum key of reservoirCOMMENT
LOWgtsam/base/WeightedSampler.h84 // Step 5: Let r = random(0, 1) and X_w = log(r) / log(T_w)COMMENT
LOWgtsam/base/WeightedSampler.h88 // Step 6: From the current item v_c skip items until item v_i, suchCOMMENT
LOWgtsam/base/WeightedSampler.h92 // Step 7: w_c + w_{c+1} + ··· + w_{i−1} < X_w <= w_c + w_{c+1} + ··· +COMMENT
LOWgtsam/base/WeightedSampler.h99 // Step 7: No such item, terminateCOMMENT
LOWgtsam/base/WeightedSampler.h102 // Step 9: Let t_w = T_w^{w_i}, r_2 = random(t_w, 1) and v_i’s key: k_iCOMMENT
LOWgtsam/base/WeightedSampler.h110 // Step 8: The item in reservoir with the minimum key is replaced byCOMMENT
Structural Annotation Overuse11 hits · 24 pts
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LOWgtsam/base/WeightedSampler.h62 // Step 1: The first m items of V are inserted into reservoirCOMMENT
LOWgtsam/base/WeightedSampler.h63 // Step 2: For each item v_i ∈ reservoir: Calculate a key k_i = u_i^(1/w),COMMENT
LOWgtsam/base/WeightedSampler.h75 // Step 4: Repeat Steps 5–10 until the population is exhaustedCOMMENT
LOWgtsam/base/WeightedSampler.h77 // Step 3: The threshold T_w is the minimum key of reservoirCOMMENT
LOWgtsam/base/WeightedSampler.h79 // Step 10: The new threshold T w is the new minimum key of reservoirCOMMENT
LOWgtsam/base/WeightedSampler.h84 // Step 5: Let r = random(0, 1) and X_w = log(r) / log(T_w)COMMENT
LOWgtsam/base/WeightedSampler.h88 // Step 6: From the current item v_c skip items until item v_i, suchCOMMENT
LOWgtsam/base/WeightedSampler.h92 // Step 7: w_c + w_{c+1} + ··· + w_{i−1} < X_w <= w_c + w_{c+1} + ··· +COMMENT
LOWgtsam/base/WeightedSampler.h99 // Step 7: No such item, terminateCOMMENT
LOWgtsam/base/WeightedSampler.h102 // Step 9: Let t_w = T_w^{w_i}, r_2 = random(t_w, 1) and v_i’s key: k_iCOMMENT
LOWgtsam/base/WeightedSampler.h110 // Step 8: The item in reservoir with the minimum key is replaced byCOMMENT
AI Response Leakage3 hits · 22 pts
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HIGHgtsam/navigation/CombinedImuFactor.cpp113 // framework. In this implementation, in contrast to [2], we consider theCOMMENT
HIGH…am/3rdparty/Eigen/Eigen/src/Core/arch/SSE/PacketMath.h547 // In this implementation, we take advantage of the fact that pmin/pmax for SSECOMMENT
HIGH…am/3rdparty/Eigen/Eigen/src/Core/arch/SSE/PacketMath.h556 // In this implementation, we take advantage of the fact that pmin/pmax for SSECOMMENT
Excessive Try-Catch Wrapping16 hits · 22 pts
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LOWpython/gtsam/examples/simulation.py119 except Exception as e:CODE
LOWpython/gtsam/examples/gtsam_plotly.py197 except Exception as e:CODE
LOWpython/gtsam/examples/gtsam_plotly.py286 except Exception as e:CODE
LOWpython/gtsam/examples/AbcEquivariantFilterExample.py155 except Exception:CODE
LOWpython/gtsam/examples/AbcEquivariantFilterExample.py225 except Exception:CODE
MEDIUMpython/gtsam/examples/AbcEquivariantFilterExample.py226 print("Error: Could not find EqFdata.csv")CODE
MEDIUMpython/gtsam/notebooks/standardize_notebooks.py109 print(f"Error reading {notebook_path}: {e}")CODE
LOWpython/gtsam/notebooks/standardize_notebooks.py146 except Exception as e:CODE
MEDIUMpython/gtsam/notebooks/standardize_notebooks.py147 print(f"Error writing {notebook_path}: {e}")CODE
MEDIUMpython/gtsam/notebooks/standardize_notebooks.py158 print(f"Error: Directory {directory_path} does not exist")CODE
MEDIUMpython/gtsam/notebooks/standardize_notebooks.py162 print(f"Error: {directory_path} is not a directory")CODE
LOWtiming/pypose_ba/setup_env.sh84except Exception as exc:CODE
LOWwrap/pybind11/tests/conftest.py26except Exception:CODE
LOWwrap/pybind11/tests/test_thread.py21 except Exception as e:CODE
MEDIUMwrap/pybind11/tests/test_thread.py17def run(self):CODE
LOWwrap/pybind11/tests/test_multiple_interpreters.py106 except Exception as e:STRING
Hallucination Indicators1 hit · 10 pts
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CRITICAL…m/3rdparty/Eigen/bench/perf_monitoring/resources/s2.js1!function(){var a={};a.dev=!1,a.tooltip=a.tooltip||{},a.utils=a.utils||{},a.models=a.models||{},a.charts={},a.logs={},a.CODE
Slop Phrases3 hits · 8 pts
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MEDIUM…sam/3rdparty/Eigen/Eigen/src/Core/util/SymbolicIndex.h19 * Here is a simple example:COMMENT
MEDIUM…arty/Eigen/Eigen/src/Core/arch/AltiVec/MatrixProduct.h114 * As mentioned earlier MatrixProduct breaks complex numbers into a real vector and a complex vector so packing hasCOMMENT
LOWwrap/pybind11/tests/test_numpy_array.py619# value increases without bounds. (Don't forget to Ctrl-C the test!)COMMENT
Synthetic Comment Markers1 hit · 8 pts
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HIGHwrap/pybind11/include/pybind11/detail/class.h635 // Fill in all the information, and then downgrade as requested by the caller, or raise anCOMMENT
TODO Padding4 hits · 6 pts
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LOWgtsam/slam/GeneralSFMFactor.h197 // TODO: implement WhitenSystem for fixed size matrices and includeCOMMENT
LOWgtsam/3rdparty/Eigen/test/hessenberg.cpp49 // TODO: Add tests for packedMatrix() and householderCoefficients()COMMENT
LOWgtsam/3rdparty/Eigen/unsupported/test/EulerAngles.cpp294 // TODO: Add tests for auto diffCOMMENT
LOWgtsam/3rdparty/Eigen/unsupported/test/EulerAngles.cpp295 // TODO: Add tests for complex numbersCOMMENT
Decorative Section Separators2 hits · 6 pts
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MEDIUMgtsam/3rdparty/Eigen/lapack/CMakeLists.txt442 # ==============================================================================COMMENT
MEDIUMpython/gtsam/examples/IMUKittiExampleGPS.py307 # =======================================================================COMMENT
AI Structural Patterns4 hits · 4 pts
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LOWpython/gtsam/examples/CombinedImuFactorExample.py105CODE
LOWpython/gtsam/examples/ImuFactorExample.py103CODE
LOWwrap/gtwrap/pybind_wrapper.py229CODE
LOWwrap/gtwrap/pybind_wrapper.py544CODE
Modern Structural Boilerplate2 hits · 2 pts
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LOWpython/gtsam/utils/plot.py36def set_axes_equal(fignum: int) -> None:CODE
LOWpython/gtsam/examples/LeggedEstimatorExample.py934 def update_terrain_height(timestamp_s: float) -> None:CODE
Example Usage Blocks1 hit · 2 pts
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LOWwrap/pybind11/tools/libsize.py7# Usage:COMMENT
Overly Generic Function Names1 hit · 1 pts
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LOWwrap/tests/test_interface_parser.py547 def test_function(self):CODE