diff --git a/.cproject b/.cproject
index 56b3a0cae..2d1a0a81d 100644
--- a/.cproject
+++ b/.cproject
@@ -309,14 +309,6 @@
true
true
-
- make
- -j2
- testGaussianFactor.run
- true
- true
- true
-
make
-j2
@@ -343,6 +335,7 @@
make
+
tests/testBayesTree.run
true
false
@@ -350,6 +343,7 @@
make
+
testBinaryBayesNet.run
true
false
@@ -397,6 +391,7 @@
make
+
testSymbolicBayesNet.run
true
false
@@ -404,6 +399,7 @@
make
+
tests/testSymbolicFactor.run
true
false
@@ -411,6 +407,7 @@
make
+
testSymbolicFactorGraph.run
true
false
@@ -426,11 +423,20 @@
make
+
tests/testBayesTree
true
false
true
+
+ make
+ -j2
+ testGaussianFactor.run
+ true
+ true
+ true
+
make
-j5
@@ -527,22 +533,6 @@
false
true
-
- make
- -j2
- all
- true
- true
- true
-
-
- make
- -j2
- clean
- true
- true
- true
-
make
-j2
@@ -559,6 +549,22 @@
true
true
+
+ make
+ -j2
+ all
+ true
+ true
+ true
+
+
+ make
+ -j2
+ clean
+ true
+ true
+ true
+
make
-j2
@@ -583,6 +589,62 @@
true
true
+
+ make
+ -j2
+ all
+ true
+ true
+ true
+
+
+ make
+ -j2
+ check
+ true
+ true
+ true
+
+
+ make
+ -j2
+ clean
+ true
+ true
+ true
+
+
+ make
+ -j5
+ testGeneralSFMFactor.run
+ true
+ true
+ true
+
+
+ make
+ -j5
+ testProjectionFactor.run
+ true
+ true
+ true
+
+
+ make
+ -j5
+ testGeneralSFMFactor_Cal3Bundler.run
+ true
+ true
+ true
+
+
+ make
+ -j5
+ testSerialization.run
+ true
+ true
+ true
+
make
-j5
@@ -623,62 +685,6 @@
true
true
-
- make
- -j5
- testGeneralSFMFactor.run
- true
- true
- true
-
-
- make
- -j5
- testProjectionFactor.run
- true
- true
- true
-
-
- make
- -j5
- testGeneralSFMFactor_Cal3Bundler.run
- true
- true
- true
-
-
- make
- -j5
- testSerialization.run
- true
- true
- true
-
-
- make
- -j2
- all
- true
- true
- true
-
-
- make
- -j2
- check
- true
- true
- true
-
-
- make
- -j2
- clean
- true
- true
- true
-
make
-j5
@@ -1041,6 +1047,7 @@
make
+
testGraph.run
true
false
@@ -1048,6 +1055,7 @@
make
+
testJunctionTree.run
true
false
@@ -1055,6 +1063,7 @@
make
+
testSymbolicBayesNetB.run
true
false
@@ -1230,6 +1239,7 @@
make
+
testErrors.run
true
false
@@ -1275,14 +1285,6 @@
true
true
-
- make
- -j2
- testGaussianFactor.run
- true
- true
- true
-
make
-j2
@@ -1363,6 +1365,14 @@
true
true
+
+ make
+ -j2
+ testGaussianFactor.run
+ true
+ true
+ true
+
make
-j2
@@ -1677,7 +1687,6 @@
make
-
testSimulated2DOriented.run
true
false
@@ -1717,7 +1726,6 @@
make
-
testSimulated2D.run
true
false
@@ -1725,7 +1733,6 @@
make
-
testSimulated3D.run
true
false
@@ -1915,6 +1922,14 @@
true
true
+
+ make
+ -j5
+ RangeISAMExample_plaza2.run
+ true
+ true
+ true
+
make
-j2
@@ -1925,7 +1940,6 @@
make
-
tests/testGaussianISAM2
true
false
@@ -1947,102 +1961,6 @@
true
true
-
- make
- -j2
- testRot3.run
- true
- true
- true
-
-
- make
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- testRot2.run
- true
- true
- true
-
-
- make
- -j2
- testPose3.run
- true
- true
- true
-
-
- make
- -j2
- timeRot3.run
- true
- true
- true
-
-
- make
- -j2
- testPose2.run
- true
- true
- true
-
-
- make
- -j2
- testCal3_S2.run
- true
- true
- true
-
-
- make
- -j2
- testSimpleCamera.run
- true
- true
- true
-
-
- make
- -j2
- testHomography2.run
- true
- true
- true
-
-
- make
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- testCalibratedCamera.run
- true
- true
- true
-
-
- make
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- check
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-
-
- make
- -j2
- clean
- true
- true
- true
-
-
- make
- -j2
- testPoint2.run
- true
- true
- true
-
make
-j3
@@ -2244,6 +2162,7 @@
cpack
+
-G DEB
true
false
@@ -2251,6 +2170,7 @@
cpack
+
-G RPM
true
false
@@ -2258,6 +2178,7 @@
cpack
+
-G TGZ
true
false
@@ -2265,6 +2186,7 @@
cpack
+
--config CPackSourceConfig.cmake
true
false
@@ -2406,34 +2328,98 @@
true
true
-
+
make
- -j5
- testSpirit.run
+ -j2
+ testRot3.run
true
true
true
-
+
make
- -j5
- testWrap.run
+ -j2
+ testRot2.run
true
true
true
-
+
make
- -j5
- check.wrap
+ -j2
+ testPose3.run
true
true
true
-
+
make
- -j5
- wrap
+ -j2
+ timeRot3.run
+ true
+ true
+ true
+
+
+ make
+ -j2
+ testPose2.run
+ true
+ true
+ true
+
+
+ make
+ -j2
+ testCal3_S2.run
+ true
+ true
+ true
+
+
+ make
+ -j2
+ testSimpleCamera.run
+ true
+ true
+ true
+
+
+ make
+ -j2
+ testHomography2.run
+ true
+ true
+ true
+
+
+ make
+ -j2
+ testCalibratedCamera.run
+ true
+ true
+ true
+
+
+ make
+ -j2
+ check
+ true
+ true
+ true
+
+
+ make
+ -j2
+ clean
+ true
+ true
+ true
+
+
+ make
+ -j2
+ testPoint2.run
true
true
true
@@ -2477,6 +2463,38 @@
false
true
+
+ make
+ -j5
+ testSpirit.run
+ true
+ true
+ true
+
+
+ make
+ -j5
+ testWrap.run
+ true
+ true
+ true
+
+
+ make
+ -j5
+ check.wrap
+ true
+ true
+ true
+
+
+ make
+ -j5
+ wrap
+ true
+ true
+ true
+
diff --git a/examples/Data/Plaza2_DR.txt b/examples/Data/Plaza2_DR.txt
new file mode 100644
index 000000000..1c1d58c04
--- /dev/null
+++ b/examples/Data/Plaza2_DR.txt
@@ -0,0 +1,4090 @@
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diff --git a/examples/Data/Plaza2_TD.txt b/examples/Data/Plaza2_TD.txt
new file mode 100644
index 000000000..ff80b9492
--- /dev/null
+++ b/examples/Data/Plaza2_TD.txt
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diff --git a/examples/RangeISAMExample_plaza2.cpp b/examples/RangeISAMExample_plaza2.cpp
new file mode 100644
index 000000000..1641b6922
--- /dev/null
+++ b/examples/RangeISAMExample_plaza2.cpp
@@ -0,0 +1,196 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file RangeISAMExample_plaza1.cpp
+ * @brief A 2D Range SLAM example
+ * @date June 20, 2013
+ * @author FRank Dellaert
+ */
+
+// Both relative poses and recovered trajectory poses will be stored as Pose2 objects
+#include
+
+// Each variable in the system (poses and landmarks) must be identified with a unique key.
+// We can either use simple integer keys (1, 2, 3, ...) or symbols (X1, X2, L1).
+// Here we will use Symbols
+#include
+
+// We want to use iSAM2 to solve the range-SLAM problem incrementally
+#include
+
+// iSAM2 requires as input a set set of new factors to be added stored in a factor graph,
+// and initial guesses for any new variables used in the added factors
+#include
+#include
+
+// We will use a non-liear solver to batch-inituialize from the first 150 frames
+#include
+
+// In GTSAM, measurement functions are represented as 'factors'. Several common factors
+// have been provided with the library for solving robotics SLAM problems.
+#include
+#include
+#include
+
+// Standard headers, added last, so we know headers above work on their own
+#include
+#include
+#include
+
+using namespace std;
+using namespace gtsam;
+
+// data available at http://www.frc.ri.cmu.edu/projects/emergencyresponse/RangeData/
+// Datafile format (from http://www.frc.ri.cmu.edu/projects/emergencyresponse/RangeData/log.html)
+
+// load the odometry
+// DR: Odometry Input (delta distance traveled and delta heading change)
+// Time (sec) Delta Dist. Trav. (m) Delta Heading (rad)
+typedef pair TimedOdometry;
+list readOdometry() {
+ list odometryList;
+ ifstream is("../../examples/Data/Plaza2_DR.txt");
+ if (!is)
+ throw runtime_error("../../examples/Data/Plaza2_DR.txt file not found");
+
+ while (is) {
+ double t, distance_traveled, delta_heading;
+ is >> t >> distance_traveled >> delta_heading;
+ odometryList.push_back(
+ TimedOdometry(t, Pose2(distance_traveled, 0, delta_heading)));
+ }
+ is.clear(); /* clears the end-of-file and error flags */
+ return odometryList;
+}
+
+// load the ranges from TD
+// Time (sec) Sender / Antenna ID Receiver Node ID Range (m)
+typedef boost::tuple RangeTriple;
+vector readTriples() {
+ vector triples;
+ ifstream is("../../examples/Data/Plaza2_TD.txt");
+ if (!is)
+ throw runtime_error("../../examples/Data/Plaza2_TD.txt file not found");
+
+ while (is) {
+ double t, sender, receiver, range;
+ is >> t >> sender >> receiver >> range;
+ triples.push_back(RangeTriple(t, receiver, range));
+ }
+ is.clear(); /* clears the end-of-file and error flags */
+ return triples;
+}
+
+// main
+int main(int argc, char** argv) {
+
+ // load Plaza2 data
+ list odometry = readOdometry();
+// size_t M = odometry.size();
+
+ vector triples = readTriples();
+ size_t K = triples.size();
+
+ // parameters
+ size_t minK = 150; // minimum number of range measurements to process initially
+ size_t incK = 5; // minimum number of range measurements to process after
+ double sigmaR = 100; // range standard deviation
+ bool batchInitialization = true;
+
+ // Set Noise parameters
+ const noiseModel::Robust::shared_ptr rangeNoiseModel =
+ noiseModel::Robust::Create(noiseModel::mEstimator::Tukey::Create(15),
+ noiseModel::Isotropic::Sigma(1, sigmaR));
+
+ // Initialize iSAM
+ ISAM2 isam;
+
+ // Add prior on first pose
+ Pose2 pose0 = Pose2(-34.2086489999201, 45.3007639991120,
+ M_PI - 2.02108900000000);
+ NonlinearFactorGraph newFactors;
+ newFactors.add(
+ PriorFactor(0, pose0,
+ noiseModel::Diagonal::Sigmas(Vector_(3, 1.0, 1.0, M_PI))));
+ Values initial;
+ initial.insert(0, pose0);
+
+ // initialize points drawn from sigma=1 Gaussian in matlab version
+ initial.insert(symbol('L', 1), Point2(3.5784, 2.76944));
+ initial.insert(symbol('L', 6), Point2(-1.34989, 3.03492));
+ initial.insert(symbol('L', 0), Point2(0.725404, -0.0630549));
+ initial.insert(symbol('L', 5), Point2(0.714743, -0.204966));
+
+ // Loop over odometry
+ gttic_(iSAM);
+ size_t i = 1; // step counter
+ size_t k = 0; // range measurement counter
+ bool update = false;
+ Pose2 lastPose = pose0;
+ size_t countK = 0;
+ BOOST_FOREACH(const TimedOdometry& timedOdometry, odometry) {
+ double t;
+ Pose2 odometry;
+ boost::tie(t, odometry) = timedOdometry;
+
+ // add odometry factor
+ newFactors.add(
+ BetweenFactor(i - 1, i, odometry,
+ noiseModel::Diagonal::Sigmas(Vector_(3, 0.05, 0.01, 0.2))));
+
+ // predict pose and add as initial estimate
+ Pose2 predictedPose = lastPose.compose(odometry);
+ lastPose = predictedPose;
+ initial.insert(i, predictedPose);
+
+ // Check if there are range factors to be added
+ while (k < K && t >= boost::get<0>(triples[k])) {
+ size_t j = boost::get<1>(triples[k]);
+ double range = boost::get<2>(triples[k]);
+ newFactors.add(
+ RangeFactor(i, symbol('L', j), range,
+ rangeNoiseModel));
+ k = k + 1;
+ countK = countK + 1;
+ update = true;
+ }
+
+ // Check whether to update iSAM 2
+ if (update && (k > minK) && (countK > incK)) {
+ if (batchInitialization) { // Do a full optimize for first minK ranges
+ gttic_(batchInitialization);
+ LevenbergMarquardtOptimizer batchOptimizer(newFactors, initial);
+ initial = batchOptimizer.optimize();
+ gttoc_(batchInitialization);
+ batchInitialization = false; // only once
+ }
+ gttic_(update);
+ isam.update(newFactors, initial);
+ gttoc_(update);
+ gttic_(calculateEstimate);
+ Values result = isam.calculateEstimate();
+ gttoc_(calculateEstimate);
+ lastPose = result.at(i);
+ newFactors = NonlinearFactorGraph();
+ initial = Values();
+ countK = 0;
+ }
+ i += 1;
+ } // odometry loop
+ gttoc_(iSAM);
+
+ // Print timings
+ tictoc_print_();
+
+ exit(0);
+}
+
diff --git a/examples/VisualISAM2Example.cpp b/examples/VisualISAM2Example.cpp
index 1485da1e4..f27664cfe 100644
--- a/examples/VisualISAM2Example.cpp
+++ b/examples/VisualISAM2Example.cpp
@@ -36,13 +36,6 @@
// Here we will use Symbols
#include
-// In GTSAM, measurement functions are represented as 'factors'. Several common factors
-// have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems.
-// Here we will use Projection factors to model the camera's landmark observations.
-// Also, we will initialize the robot at some location using a Prior factor.
-#include
-#include
-
// We want to use iSAM2 to solve the structure-from-motion problem incrementally, so
// include iSAM2 here
#include
@@ -52,6 +45,13 @@
#include
#include
+// In GTSAM, measurement functions are represented as 'factors'. Several common factors
+// have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems.
+// Here we will use Projection factors to model the camera's landmark observations.
+// Also, we will initialize the robot at some location using a Prior factor.
+#include
+#include
+
#include
using namespace std;