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gtsam/examples/Data/Klaus3.g2o

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Feature/shonan averaging (#473) Shonan Rotation Averaging. 199 commit messages below, many are obsolete as design has changed quite a bit over time, especially from the earlier period where I thought we only needed SO(4). * prototyping weighted sampler * Moved WeightedSampler into its own header * Random now uses std header <random>. * Removed boost/random usage from linear and discrete directories * Made into class * Now using new WeightedSampler class * Inlined random direction generation * eradicated last vestiges of boost/random in gtsam_unstable * Added 3D example g2o file * Added Frobenius norm factors * Shonan averaging algorithm, using SOn class * Wrapping Frobenius and Shonan * Fixed issues with << * Use Builder parameters * Refactored Shonan interface * Fixed << issues as well as MATLAB segfault, using eval(), as discussed in issue #451 * ShonanAveragingParameters * New factor FrobeniusWormholeFactorP computes |Rj*P - Ri*P*Rij| * Fixed broken GetDimension for Lie groups with variable dimension. * Removed all but Shonan averaging factor and made everything work with new SOn * Just a single WormholeFactor, wrapped noise model * Use std <random> * comments/todos * added timing script * add script to process ShonanAveraging timing results * Now producing a CSV file * Parse csv file and make combined plot * Fixed range * change p value and set two flags on * input file path, all the csv files proceeses at the same time * add check convergence rate part * csv file have name according to input data name * correct one mistake in initialization * generate the convergence rate for each p value * add yticks for the bar plot * add noises to the measurements * test add noise * Basic structure for checkOptimalityAt * change optimizer method to cholesky * buildQ now working. Tests should be better but visually inspected. * multiple test with cholesky * back * computeLambda now works * make combined plots while make bar plot * Calculate minimum eigenvalue - the very expensive version * Exposed computeMinEigenValue * make plots and bar togenter * method change to jacobi * add time for check optimality, min_eigen_value, sub_bound * updated plot min_eigen value and subounds * Adding Spectra headers * David's min eigenvalue code inserted and made to compile. * Made it work * Made "run" method work. * add rim.g2o name * Fixed bug in shifting eigenvalues * roundSolution which replaces projectFrom * removed extra arguments * Added to wrapper * Add SOn to template lists * roundSolution delete the extra arguement p * only calculate p=5 and change to the correct way computing f_R * Fixed conflict and made Google-style name changes * prototype descent code and unit test for initializeWithDescent * add averaging cost/time part in processing data * initializewithDescent success in test * Formatting and find example rather than hardcode * Removed accidentally checked in cmake files * give value to xi by block * correct gradient descent * correct xi * } * Fix wrapper * Make Hat/Vee have alternating signs * MakeATangentVector helpder function * Fixed cmake files * changed sign * add line search * unit test for line search * test real data with line search * correct comment * Fix boost::uniform_real * add save .dat file * correct test case * add explanation * delete redundant cout * add name to .dat output file * correct checkR * add get poses_ in shonan * add Vector Point type for savig data * Remove cmake file which magically re-appeared?? * Switched to std random library. * Prepare Klaus test * Add klaus3.g2o data. * fix comment * Fix derivatives * Fixed broken GetDimension for Lie groups with variable dimension. * Fix SOn tests to report correct dimension * Added tests for Klaus3 data * Add runWithRandomKlaus test for shonan. * Finish runWithRandomKlaus unittest. * Correct datafile. * Correct the format. * Added measured and keys methods * Shonan works on Klaus data * Create dense versions for wrappers, for testing * Now store D, Q, and L * Remove another cmake file incorrectly checked in. * Found and fixed the bug in ComputeLambda ! * Now using Q in Lambdas calculation, so Lambdas agree with Eriksson18cvpr. * Make FrobeniusFactor not use deprecated methods * FrobeniusWormholeFactor takes Rot3 as argument * Wrapped some more methods. * Wrapped more methods * Allow creating and populating BetweenFactorPose3s in python * New constructors for ShonanAveraging * add function of get measurements number * Remove option not to use noise model * wrap Use nrMeasurements * Made Logmap a bit more tolerant of slightly degenerate rotations (with trace < -1) * Allow for Anchor index * Fix anchor bug * Change outside view to Rot3 rather than SO3 * Add Lift in SOn class * Make comet working * Small fixes * Delete extra function * Add SOn::Lift * Removed hardcoded flag * Moved Frobenius factor to gtsam from unstable * Added new tests and made an old regression pass again * Cleaned up formatting and some comments, added EXPORT directives * Throw exception if wrongly dimensioned values are given * static_cast and other throw * Fixed run-time dimension * Added gauge-constraining factor * LM parameters now passed in, added Gauge fixing * 2D test scaffold * Comments * Pre-allocated generators * Document API * Add optional weight * New prior weeights infrastructure * Made d a template parameter * Recursive Hat and RetractJacobian test * Added Spectra 0.9.0 to 3rdparty * Enabling 2D averaging * Templatized Wormhole factor * ignore xcode folder * Fixed vec and VectorizedGenerators templates for fixed N!=3 or 4 * Simplifying constructors Moved file loading to tests (for now) All unit tests pass for d==3! * Templated some methods internally * Very generic parseToVector * refactored load2d * Very much improved FrobeniusWormholeFactor (Shonan) Jacobians * SO(2) averaging works ! * Templated parse methods * Switched to new Dataset paradigm * Moved Shonan to gtsam * Checked noise model is correctly gotten from file * Fixed covariance bug * Making Shonan wrapper work * Renamed FrobeniusWormholeFactor to ShonanFactor and moved into its own compilation unit in gtsam/sfm * Fixed wrong include * Simplified interface (removed irrelevant random inits) and fixed eigenvector test * Removed stray boost::none * Added citation as suggested by Jose * Made descent test deterministic * Fixed some comments, commented out flaky test Co-authored-by: Jing Wu <jingwu@gatech.edu> Co-authored-by: jingwuOUO <wujing2951@gmail.com> Co-authored-by: swang <swang736@gatech.edu> Co-authored-by: ss <ss> Co-authored-by: Fan Jiang <prof.fan@foxmail.com>
2020-08-17 19:43:10 +08:00
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