3b71fe47bc
Merge branch 'origin/release/2.4.0'
2013-12-25 07:49:43 -05:00
707c745aad
Created second example
2013-12-24 16:47:30 -05:00
2601b2ad00
Merged changes from the trunk back into examples. Mostly just Vector inits and some new examples.
2013-12-23 01:41:17 -05:00
0dc1eac55c
Merged changes from the trunk back into navigation and slam. Needed some data files for tests, as well.
...
git-svn-id: https://svn.cc.gatech.edu/borg/gtsam/branches/2.4@20423 898a188c-9671-0410-8e00-e3fd810bbb7f
2013-12-21 18:34:23 -05:00
da5d9949e8
5 point example now written BAL file and read by test (so Jing can use it in ransac)
2013-12-18 20:39:56 +00:00
880d9a8e3c
Switched to new Eigen built-in special comma initializer
2013-12-16 21:33:12 +00:00
d2cb52ea01
Fixed some warnings
2013-11-18 19:23:16 +00:00
e4d56df32e
Fix Matrix_(...) to Mat() <<…
2013-11-14 05:39:29 +00:00
b4942110bc
Fix for TimeTBB not compiling on linux
2013-11-12 17:03:10 +00:00
ec78d54f37
Removed old Index typedef and IndexFormatter
2013-11-08 16:35:28 +00:00
0e95ca0096
Added TimeTBB example for timing task scheduling overhead
2013-11-07 21:41:25 +00:00
431c9b1987
Added stats mode in SolverComparer
2013-11-07 21:41:23 +00:00
af0de393ea
Fixed assert bug in SFMExample_bal
2013-10-26 17:10:42 +00:00
fccdc46180
Fixed some compile errors related to rename
2013-10-25 19:16:15 +00:00
def9b84e45
Added virtual solve method to NonlinearOptimizer that you can override, e.g., with Ceres
...
See example in testNonlinearOptimizer
As part of this, I also merged SuccessiveLinearizationParams into NonlinearOptimizerParams, which is now in its own separate file NonlinearOptimizerParams.h
2013-10-25 18:27:43 +00:00
92f0bb64b2
added tests on smartHessianFactor with Cal3Bundler
2013-10-19 22:00:43 +00:00
52a1b3d444
added writeBAL utility and pose conversion between GTSAM and openCV camera conventions
2013-10-18 06:17:04 +00:00
f6d4da5d40
cleaned up but for some reason it segfaults in Release, as if not linked with correct dataset code...
2013-10-18 06:04:48 +00:00
ae95d2fa2a
SFM Example that reads (any) BAL dataset
2013-10-18 05:32:20 +00:00
c6d0cb4cba
renamed Visual SLAM -> SFM, reserve SLAM for problems where we have odometry
2013-10-18 05:31:55 +00:00
c547a456e9
added small BAL dataset
2013-10-18 01:25:20 +00:00
2a8ecd1e57
bundler output for Balbianello dataset
2013-10-18 01:25:10 +00:00
2e30709b35
Fix Matrix_() to Mat() in examples
2013-10-14 15:41:33 +00:00
4478bc6b87
Modified Vector_() to Vec() in examples
2013-10-14 03:20:57 +00:00
86be7b4ebe
use fdp not dot
2013-09-06 21:27:27 +00:00
0985758cec
Added graphviz example to show how to produce cool graphs from GTSAM
2013-09-06 20:07:40 +00:00
2baa593458
Removed some unneeded namespace qualifications
2013-08-30 16:53:21 +00:00
c9a7796fc3
Added prior, now no longer segfaults...
2013-08-30 16:18:41 +00:00
642e486ba9
Self-calibration example with GeneralSMFactor, compiles but throws an exception
2013-08-30 13:13:45 +00:00
d0cc7fbccc
File with common simulated data.
2013-08-30 04:23:45 +00:00
8e9556d900
Fixed dataset paths
2013-08-27 17:22:33 +00:00
46ab10fb06
fix easy Kalman filter example
2013-08-19 21:32:51 +00:00
f3156d4717
fix when TBB is disabled
2013-08-19 15:51:06 +00:00
4b12d6f794
Moved Symbol and LabeledSymbol to inference as they are no longer specific to nonlinear optimization
2013-08-19 15:32:16 +00:00
af173c1a1c
fixed the basic examples. Discrete & Kalman filter examples are disabled for now per CMakeLists.txt
2013-08-16 17:13:45 +00:00
f24496b8a0
Added w20000 dataset and simplified names of w100 and w10000
2013-08-15 20:17:27 +00:00
1ad8591b6a
Added relinSkip option to SolverComparer, trapping/printing exceptions, and changed default batch mode to Cholesky
2013-08-15 20:17:24 +00:00
dac4be44f1
Bug fix in SolverComparer
2013-08-15 20:17:23 +00:00
20b6e33362
Added w20000 dataset and simplified names of w100 and w10000
2013-08-15 20:17:02 +00:00
a0b9dd2724
Added relinSkip option to SolverComparer, trapping/printing exceptions, and changed default batch mode to Cholesky
2013-08-15 20:16:59 +00:00
2321952f0a
Bug fix in SolverComparer
2013-08-15 20:16:58 +00:00
19c69967a2
Printing number of threads in SolverComparer
2013-08-14 22:53:57 +00:00
4099c04dcd
Added threads option to SolverComparer
2013-08-14 19:47:30 +00:00
fee021e51c
Fixed timing statement in SolverComparer
2013-08-14 17:39:38 +00:00
deaabeb0bf
Committing correct dataset files for Kitti IMU example
2013-08-13 21:04:44 +00:00
004ec887a1
Committing correct dataset files for Kitti IMU example
2013-08-13 21:04:01 +00:00
175965a6bf
Merged from branch 'branches/unordered'
2013-08-12 21:52:43 +00:00
e458b37f50
Removed UnorderedLinear example
2013-08-12 18:21:29 +00:00
18a72718aa
Reenabled ISAM2 in SolverComparer
2013-08-11 19:29:01 +00:00
4c59e13f94
Reenabled ISAM2 in SolverComparer
2013-08-11 19:26:29 +00:00
4585fd1caa
Merge branch 'svn/trunk'
...
Conflicts:
gtsam/navigation/tests/testInertialNavFactor_GlobalVelocity.cpp
gtsam/nonlinear/ISAM2.cpp
gtsam/nonlinear/ISAM2.h
gtsam/slam/tests/testBetweenFactor.cpp
gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp
gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp
gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp
gtsam_unstable/slam/SmartProjectionFactor.h
2013-08-11 18:16:56 +00:00
7f5de1c3bc
Added simple Kitti example
2013-08-09 18:50:20 +00:00
e2f8dd866d
Merge branch 'svn/trunk'
...
Conflicts:
gtsam/linear/GaussianBayesTree.cpp
gtsam/linear/GaussianBayesTree.h
gtsam/linear/VectorValues.h
gtsam/linear/tests/testVectorValues.cpp
gtsam_unstable/nonlinear/sequentialSummarization.cpp
2013-08-06 18:33:24 +00:00
e39d100b6a
Made most global unit tests compile, includes dogleg, iterative, kalman filter, etc
2013-08-06 13:44:22 +00:00
ede0805fac
Global find+replace to remove Ordered
2013-08-05 22:31:44 +00:00
cb7eb1b510
Find+replace Ordered headers
2013-08-05 22:31:33 +00:00
95ffb0c4ea
fix ofstream filename c_str compilation issues
2013-08-02 13:33:23 +00:00
af8f302402
Fixed SolverComparer for unordered
2013-08-01 21:57:55 +00:00
c6f29cd827
Modifications to SolverComparer - only write soln to output file, read dataset instead of input graph in batch mode
2013-08-01 21:57:50 +00:00
fcc6b804d1
Switched SolverComparer to QR
2013-08-01 21:57:05 +00:00
15ae7b553a
Modifications to SolverComparer - only write soln to output file, read dataset instead of input graph in batch mode
2013-08-01 15:38:15 +00:00
2705d85fa7
Merged from branch 'trunk'
2013-07-31 18:55:15 +00:00
ab083b22c5
Added SolverComparer script for doing regression tests across branches and with datasets
2013-07-31 18:53:26 +00:00
c413789a0a
Linking examples with Boost program options library
2013-07-31 18:53:25 +00:00
5f9564dfb9
Added Victoria Park dataset to examples data folder
2013-07-30 14:32:54 +00:00
3ade190128
Renamed old classes to "Ordered" and removed "Unordered" name from new classes
2013-07-29 23:55:40 +00:00
594c0412cb
Adjusted parameters
2013-07-27 18:33:42 +00:00
5d0629c91a
More detailed timing in UnorderedLinear script
2013-07-26 18:00:38 +00:00
e6eb0b928e
Updated UnorderedLinear script
2013-07-26 01:10:14 +00:00
6b1e1d16d5
Added (de)serialization to UnorderedLinear timing example so that it loads faster
2013-07-23 18:34:24 +00:00
2f088dca9f
Added UnorderedLinear script to compare results and timing between old code and new code
2013-07-09 17:50:53 +00:00
123657e3d0
Merged from branch 'trunk'
2013-06-24 15:28:16 +00:00
2efc4294b8
Plaza 1 dataset
2013-06-24 12:05:44 +00:00
456a16526e
Vector3
2013-06-22 01:29:26 +00:00
05f883f953
C++ cleanup and dataset switch
2013-06-22 00:49:00 +00:00
f1ee3b353c
C++ Range SLAM example to compare with Boots13icml
2013-06-21 14:13:59 +00:00
6f2cbbb709
Added two new datafiles
2013-06-20 06:50:50 +00:00
d5e721a1d0
Continued work on unordered classes and elimination algorithm
2013-06-06 15:36:11 +00:00
32b3eebf07
removed redundant shared_ptr typedefs in Cal3_S2 and Cal3_S2Stereo
2013-05-08 19:21:00 +00:00
9223da18c9
Fixed linking to gtsam library in examples
2013-03-13 18:36:25 +00:00
89b50e7679
Renamed tic -> gttic and toc -> gttoc to avoid conflict with PCL tic/toc
2012-10-02 20:18:41 +00:00
c44f8f7f80
Fixed examples from timing statement change (missed)
2012-10-02 18:49:48 +00:00
4297d24c96
changed tabs to spaces for consistent indentation in all of GTSAM
2012-10-02 14:40:07 +00:00
af652b0e04
remove simpleSPCG
...
reorg SubgraphSolver
add unit test for SubgraphSolver
2012-09-03 19:43:08 +00:00
9230458e06
Planar SLAM example from factor graph talk
2012-08-24 22:03:24 +00:00
abdf46d494
Synchronizing C++ and MATLAB example again. Please coordinate with me before changing the values in the examples: changing them generates work in the manual and in the MATLAB examples.
2012-08-05 18:44:36 +00:00
f70af2ef38
Fixed up examples to be a bit less verbose and match up with the manual again.
2012-08-05 16:59:14 +00:00
93f995065f
Aligned example with manual, fixed example make targets
2012-08-04 21:56:21 +00:00
297fbfa1a5
Odometry example was deliberately not using Symbols... Fixed...
2012-08-04 20:18:42 +00:00
711b28ae01
Merge remote-tracking branch 'svn/trunk' into remove_slam_namespaces
...
Conflicts:
matlab/examples/Pose2SLAMExample_graph.m
2012-08-03 21:02:27 +00:00
da1a732eff
Merged duplicate Pose2SLAMExample_graph.m examples in different directories
2012-07-30 18:34:50 +00:00
08c72e2a8d
Updated Pose2SLAMExample_graph to remove SLAM namespaces
2012-07-30 14:59:18 +00:00
5177f31a5d
Merge remote-tracking branch 'svn/trunk' into remove_slam_namespaces
...
Conflicts:
gtsam/nonlinear/SuccessiveLinearizationOptimizer.h
matlab/examples/Pose2SLAMExample_circle.m
matlab/examples/Pose2SLAMExample_graph.m
matlab/examples/StereoVOExample_large.m
tests/testGradientDescentOptimizer.cpp
2012-07-27 19:01:43 +00:00
b32931f879
Examples that show rotation-first strategy
2012-07-27 04:44:02 +00:00
5becf405f8
load2D wrapped, but pair argument does not work?
2012-07-26 01:40:07 +00:00
a44b602d19
Changed parameter name from CG to CONJUGATE_GRADIENT
2012-07-25 21:04:00 +00:00
f865a9e551
Removed SLAM namespaces from Localization Example
2012-07-22 16:03:42 +00:00
61b82c9109
Tiny code formatting change
2012-07-22 15:47:07 +00:00
412ffa38c7
Created a iSAM2 version of the Visual SLAM example
2012-07-22 15:15:12 +00:00
5d46beed86
Put the relinearization interval back to 3 for the iSAM example
2012-07-22 14:59:22 +00:00
71c6458e96
Updated ExtendedKalmanFilter and relkated example, removing the need for the 'inl' header
2012-07-22 14:57:34 +00:00
ff522a73c0
Updated documentation on SimpleRotation example
2012-07-22 05:43:44 +00:00
e3a6282ff8
Removed SLAM namespaces from SPCG example. Still needs better documentation by someone who knows what SPCG is.
2012-07-22 05:34:22 +00:00
45d1c4f0ed
Removed SLAM namespaces from OdometryExample
2012-07-22 05:21:32 +00:00
67e2d832fe
Updated the VisualSLAM examples, removing the SLAM namespaces
2012-07-22 04:52:01 +00:00
5da5adb2f1
Combined the PlanarSLAM examples into a single example without SLAM namespaces
2012-07-22 04:36:40 +00:00
d259320aed
Combined the two versions of Pose2SLAMExample into a single example without SLAM namespaces
2012-07-22 04:35:12 +00:00
abc29ea2ca
capitalize static functions Level and Lookat in CalibratedCamera and PinholeCamera for matlab wrapper
2012-07-16 15:24:27 +00:00
801e0a065a
sift features
2012-06-24 04:20:16 +00:00
2d0ce1c3ca
Streamlining of SLAM namespaces:
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planarSLAM Values and Graph now derive from Pose3SLAM.
visualSLAM Values and Graph now derive from pose3SLAM.
Several methods have been renamed to make them consistent through these 4 namespaces:
addPrior -> addPosePrior
addHardConstraint -> addPoseConstraint
addOdometry/addConstraint -> addRelativePose
All gtsam and matlab examples/tests run.
PS: please don't use the deprecated typedefs in these namespaces.
2012-06-24 02:48:12 +00:00
eecafcebe7
Fixing Pose2SLAMwSPCG and make a unittest in testPose2SLAM for optimizeSPCG(). Why does SPCG need a constraint between
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2 poses to work? GaussNewton still works fine without the constraint!
2012-06-22 23:40:04 +00:00
1d95a379b7
Fixed compile problem that prevented install
2012-06-22 21:57:46 +00:00
6f1ea87a00
clean up noise model: Remove Shared[NoiseModel] classes and headers, typedef for backward compatibility in NoiseModel.h. Fix all tests and examples to create shared noise models through static functions in noise model classes. Fix MATLAB wrapper and examples as well. Add tests for MATLAB examples
2012-06-22 19:36:49 +00:00
9cb903fe08
1. remove a redundant constructor of PinholeCamera
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2. remove a "backproject_from_camera" function from PinholeCamera, please use "backproject" directly
2012-06-19 15:28:22 +00:00
c77e8176c7
Balbianello images for larger SFM example
2012-06-18 14:04:20 +00:00
562ec1b630
simplified basic StereoVOExample to use only 3 artificial landmarks and 2 poses
2012-06-14 17:33:58 +00:00
a6ea70da7b
small three pose VO example
2012-06-14 05:10:12 +00:00
642e180ff7
renamed StereoVO data files
2012-06-14 04:51:42 +00:00
aeeb47d470
Fixed up comments
2012-06-12 05:01:12 +00:00
c8cb0d00c8
Rename
2012-06-12 04:57:07 +00:00
7638da4192
Rename
2012-06-12 04:56:44 +00:00
b602e75a99
Removed the use of the ADD_CLONE_NONLINEAR_FACTOR macro, documented instances of clone() in factors
2012-06-09 21:06:06 +00:00
734a18b02e
old spcg solver fixed
2012-06-09 02:42:45 +00:00
9fdb28f9bf
Minor Improvements
2012-06-08 23:28:22 +00:00
913160462a
in the middle of resurrecting spcg
2012-06-08 16:45:16 +00:00
d188ed2e1a
Removed using namespace in header files
2012-06-08 14:33:59 +00:00
6fe2b77a25
In the middle of evaluating performance of DiscreteSequentialSolver vs DiscreteMarginals
2012-06-08 00:18:32 +00:00
bd8a3b8e9a
UGM_chain now uses DiscreteMarginals instead of DiscreteSequentialSolver
2012-06-07 23:20:40 +00:00
d70622abe0
Rearranged matlab folders to avoid calling utility functions "examples"
2012-06-07 20:09:54 +00:00
2288a6bc1f
fixed compile error due to NonlinearISAM change
2012-06-07 17:47:19 +00:00
df7ffe5923
Now installs matlab *.fig files with examples
2012-06-07 15:45:29 +00:00
e0686484b6
fixed compile errors
2012-06-07 14:53:39 +00:00
bf21239e41
printStats
2012-06-07 14:29:18 +00:00
8644f81dc8
VisualiSAM, going crazy. MATLAB is amazing!
2012-06-07 13:16:28 +00:00
ce71979c8c
VisualISAMExample_triangle
2012-06-07 07:43:56 +00:00
2a633b75c8
use surf instead of mesh for covarianceEllipse3D
2012-06-07 07:43:22 +00:00
61e95f4ace
temporarily revive the old VisualISAMExample
2012-06-07 07:06:54 +00:00
b10f4d09e3
iSAM with options
2012-06-07 06:14:47 +00:00
9ef891198b
Re-factored iSAM MATLAB example and wrapped more ISAM functions
2012-06-07 05:19:43 +00:00
c78e649042
create and use cameras, not poses
2012-06-07 04:09:22 +00:00
903580abb4
Rotated display so Z is up, made axis square
2012-06-07 03:54:48 +00:00
2414bfc3c9
Use correct calibration matrix K in camera creation
2012-06-07 03:35:06 +00:00
e986311566
small details
2012-06-07 02:18:24 +00:00
c518381373
VisualISAMExample in MATLAB: try to enable point priors. Disable logging images.
2012-06-06 21:21:49 +00:00
31d88649f7
fix bug in VisualISAM matlab example
2012-06-06 18:08:30 +00:00
3e36890fd1
VisualISAMExample in MATLAB. Doesn't look quite right...
2012-06-06 09:41:06 +00:00
bb89cdda76
axisLength for plotting Pose2 in MATLAB
2012-06-06 09:40:24 +00:00
3a28baf3c8
simplify VisualSLAMExample code in MATLAB
2012-06-06 09:39:55 +00:00
a8ffa407ae
remove noise sampler in visualSLAM examples
2012-06-06 09:36:10 +00:00
59960a8d14
Changes to Discrete Examples
2012-06-06 03:25:56 +00:00
e6a0663540
rotate and color 3D covariance ellipses for visual SLAM example with Frank
2012-06-05 23:51:12 +00:00
ad3b431c4d
Moved building of wrap libraries to a cmake macro and moved install for matlab components to the appropriate folder
2012-06-05 18:05:00 +00:00
1241bf383a
stereo VO Matlab example and data
2012-06-05 17:54:29 +00:00
02ce40546f
Changed names of cmake flags to be more intuitive, fixed include/library path issues for building the mex binaries
2012-06-05 17:20:19 +00:00
bef45d5b7b
Merged from branch 'branches/windows'
2012-06-05 14:09:58 +00:00
7b48e56d56
Plot marginals, sample
2012-06-05 13:29:26 +00:00
10d6157d1d
formatting/naming only
2012-06-05 13:29:04 +00:00
90578e2532
Merge remote-tracking branch 'svn/trunk' into windows
...
Conflicts:
gtsam.h
wrap/CMakeLists.txt
2012-06-05 13:11:34 +00:00
715d663e4f
VisualSLAM matlab example
2012-06-05 05:15:26 +00:00
76a9e651cb
minor variable renaming
2012-06-05 04:10:13 +00:00
fe1a9997cf
simplified, sync with manual
2012-06-05 04:01:37 +00:00
9560997bc7
Plotting
2012-06-05 03:51:21 +00:00
9a8e083697
Rotate covariance ellipses correctly (plotPose2 stolen from ASPN)
2012-06-05 00:17:37 +00:00
647b38c758
small improvements to plotting coordinate frames
2012-06-05 00:02:55 +00:00
83f656f93d
add the spcg example to matlab
2012-06-04 20:14:41 +00:00
74322b0764
remove the optional
2012-06-04 17:23:45 +00:00
f7d7c5b9c8
change filename for visualSLAM examples
2012-06-04 16:05:13 +00:00
9c8377f476
Merge remote-tracking branch 'svn/trunk' into windows
...
Conflicts:
examples/Pose2SLAMExample.cpp
examples/vSLAMexample/CMakeLists.txt
examples/vSLAMexample/vISAMexample.cpp
gtsam/nonlinear/ISAM2-impl.cpp
gtsam/slam/pose2SLAM.cpp
gtsam/slam/tests/testGeneralSFMFactor.cpp
gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp
gtsam/slam/tests/testPlanarSLAM.cpp
gtsam/slam/tests/testPose2SLAM.cpp
tests/testDoglegOptimizer.cpp
tests/testGraph.cpp
2012-06-04 14:13:37 +00:00
d40d8879ae
removed vSLAMExample directory reference
2012-06-04 12:34:58 +00:00
9c6eba4cf8
remove old visual SLAM example and its data
2012-06-04 08:51:34 +00:00
4fbdd979a1
small rewording
2012-06-04 08:51:03 +00:00
4eee4b72f4
add better visualSLAM examples
2012-06-04 08:31:26 +00:00
be7828b8cf
Pose3SLAM example works (MATLAB only)
2012-06-04 05:53:51 +00:00
198279f4ff
Michael's example with our conventions...
2012-06-04 05:51:36 +00:00
ae78b89c6f
finished wrapping visualSLAM namespace
2012-06-04 02:41:14 +00:00
877e9d4045
new Pose3SLAM examples in C++ and MATLAB
2012-06-04 00:41:13 +00:00
5aee7b4439
add doxygen-comment to spcg solver
2012-06-03 20:24:58 +00:00
2d4fcbf101
renamed MATLAB examples
2012-06-03 20:14:23 +00:00
6895481f0d
Synchronized C++ and MATLAB
2012-06-03 20:12:12 +00:00
0baa83cf45
Another rename
2012-06-03 20:11:40 +00:00
e23818431e
Renamed examples to not have _easy....
2012-06-03 19:52:35 +00:00
73d1f0f6e0
use make_shared, cleanup
2012-06-03 19:50:04 +00:00
720db709be
Examples install now installs data for Matlab examples. Fixed typo in examples documentation
2012-06-03 19:26:28 +00:00
bd7724781d
Manhattan world example with covariances, in C++ and MATLAB
2012-06-03 18:20:48 +00:00
950bd8fcad
Added MATLAB utility functions to pose2SLAM
2012-06-03 15:44:39 +00:00
7d132ef217
add a simple spcg implementation and revive the example
2012-06-03 14:52:26 +00:00
a75c9f1da3
Small Manhattan world example
2012-06-03 05:26:30 +00:00
20a5eed051
Fixed keys in planarSLAM matlab example
2012-06-03 05:25:50 +00:00
f924d01bc3
Synchronized mixed case naming
2012-06-03 05:25:05 +00:00
8440939f27
Using symbol_shorthand instead of redundant kx, kl functions
2012-06-02 19:28:21 +00:00
a2512475c9
Symbol.h is now included just in time, no longer by default everywhere.
2012-06-02 19:05:38 +00:00
5160c2eb50
Significant API change in slam (GTSAM 2.0.1 or 2.1): to eliminate confusion and give the user more freedom in creating their own Keys, the different slam variants no longer create Symbol keys themselves. Instead, all interaction is done via Keys (which are just unordered, unsigned ints). All PoseSLAM unit tests and examples now just use sequential keys. However, a user can still create Keys using the Symbol constructor, which is illustrated in the landmark-based unit tests and examples.
2012-06-02 16:18:40 +00:00
069be2b143
Fixed examples compiling on windows
2012-05-28 20:48:32 +00:00
1ca9e7049e
Merge remote-tracking branch 'svn/trunk' into windows
...
Conflicts:
gtsam/linear/HessianFactor.h
gtsam/nonlinear/Marginals.cpp
2012-05-28 12:22:36 +00:00
ace4327897
reorg the nonlinear/linear parameters to accommodate the iterative solvers
2012-05-25 15:26:30 +00:00
90717dd583
Tweaking build settings for visual studio
2012-05-23 21:23:32 +00:00
bcfe39f4ae
Merge remote-tracking branch 'svn/trunk' into windows
...
Conflicts:
gtsam/nonlinear/Marginals.h
2012-05-23 18:55:18 +00:00
c2c9c4a982
Almost everything compiles and passes in windows
2012-05-23 18:51:49 +00:00
7cdd8e19da
Tweaking build scripts for visual studio
2012-05-23 18:51:42 +00:00
69e8923690
Plot covariance ellipses in MATLAB
2012-05-23 12:35:48 +00:00
8a69bb8bcb
Added marginals in MATLAB, but had to fix a bug in converting from 64 bit ints to size_t. This begs the question what happens on 32-bit machines with Symbols.
2012-05-22 19:01:40 +00:00
10456a153c
More complex Pose2SLAM example, synced up with manual (in progress)
2012-05-22 04:31:05 +00:00
3e9ceda062
Sync with C++ example
2012-05-21 21:53:26 +00:00
399a81911e
Fixed optimizer/marginals confusion
2012-05-21 21:52:50 +00:00
54f6f3629c
Added clone() functionality to nonlinear factors
2012-05-21 20:54:40 +00:00
5a397f0c25
Second localization example, with GPS-like factors
2012-05-21 05:18:06 +00:00
7a28e6d5cb
marginals
2012-05-20 22:02:11 +00:00
edb9c17962
Cleaned up planar SLAM example and created new Localization example
2012-05-20 20:31:33 +00:00
720ff3ac82
Added a flag to optionally remove examples from "all" target
2012-05-19 02:21:21 +00:00
3dc3f93145
Removed references to the old nonlinear optimizer parameters from Matlab
2012-05-15 18:46:51 +00:00
1ce95c1d89
Removed LDL in favor of Cholesky
2012-05-15 15:49:14 +00:00
7b183d1237
Renamed derived optimizer verbosity parameters to start with 'verbosity' to make more auto-complete friendly
2012-05-15 13:33:32 +00:00
ff3edc6823
Updated examples to use the new Marginals interface
2012-05-15 00:15:11 +00:00
7f0881f2e4
Updated examples and namespaces for the new NonlinearOptimizer interface
2012-05-14 20:25:20 +00:00
88f5e3d9b6
Merge remote-tracking branch 'svn/trunk' into NLO
...
Conflicts:
examples/Pose2SLAMExample_advanced.cpp
2012-05-14 18:35:15 +00:00
88b46000e5
UGM (undirected graphical model) example, small, see http://www.di.ens.fr/~mschmidt/Software/UGM/small.html
2012-05-03 05:09:22 +00:00
2365ade34c
fixed typo
2012-04-11 06:37:26 +00:00
7a24e1c940
Updated examples for new NonlinearOptimizer
2012-03-24 19:53:17 +00:00
0e17458e11
moved typedefs after Can's suggestion
2012-02-29 02:49:48 +00:00
1345a5fe86
fix small bugs in matlab wrapper to make it compiled. Still have runtime errors in when calling graph.optimize in matlab
2012-02-25 17:31:00 +00:00
342ccf644e
add .run targets for examples
2012-02-25 17:28:41 +00:00
8517f852fd
Removed unnecessary files, cmake flags
2012-02-24 15:47:23 +00:00
1d0aaacbd6
Removed use of GTSAM_MAGIC_KEY for constructing Symbols from strings
2012-02-22 23:38:09 +00:00
0a81c4e57a
Renamed NonlinearFactor[1-6] to NoiseModelFactor[1-6]
2012-02-20 21:52:47 +00:00
6f09998e10
Removed autotools from gtsam2 branch
2012-02-13 21:13:07 +00:00
5a3740daeb
Removed extraneous "shared" prefix from SharedNoiseModel named constructors
2012-02-12 17:41:57 +00:00
0d2a9018e3
Merged sub-branch into 2.0_prep branch
2012-02-08 22:05:24 +00:00
3d40f5e6fc
All unit tests pass with TypedSymbol removed
2012-02-07 04:58:11 +00:00
2f7f535f34
All unit tests pass with nonlinear factors templated on value instead of key
2012-02-07 04:02:20 +00:00
9f055fc812
bug fix in advanced example. Question: Currently, pose2SLAMOptimizer is in fact useless! Is it needed? Why don't we add more functionalities for it?
2012-02-06 03:33:40 +00:00
71e757d2cf
fix typo in "newDrecreaseThresholds" in NonlinearOptimizationParams
2012-02-05 23:00:57 +00:00
f4515d7b30
put back Value in slam sub-namespaces for the wrapper to interface with MATLAB. Cannot solve the return shared_ptr problem in NonlinearOptimizationParameters::newDecreaseThresholds
2012-02-05 22:34:35 +00:00
820b33bd55
(2.0_prep branch) Merged in virtual_values branch
2012-02-03 17:18:32 +00:00
7b49ac6b4b
moved visualSLAM namespace out of gtsam
2012-02-02 16:20:54 +00:00
26cdf28421
Renamed DynamicValues to Values and removed specialized derived Values classes
2012-02-02 16:16:46 +00:00
c43a9b4852
Added a variety of options to the cmake build, working on automating wrap execution/install
2012-01-31 19:59:15 +00:00
03b4743e7a
Removed unnecessary cpp file in vSLAMexample, added CMake support for examples, used static linking to the real gtsam for tests
2012-01-31 05:28:02 +00:00
537a1a3fae
Matlab wrapped classes now live within the gtsam namespace, meaning you have to use gtsamPose2 instead of just Pose2 in Matlab. This fixes the Point2 and Point3 issues we had with Matlab 2011b.
...
promote pose2SLAM planarSLAM etc. namespaces to be next to gtsam instead of within
2012-01-30 22:00:13 +00:00
2db224df3c
All compiled! Only SPCG and linear/SubgraphSolver are not fixed.
2012-01-29 22:10:35 +00:00
67aa0bf63d
Fixed compile problems with NonlinearOptimizationParameters, removed redundant typedef
2012-01-29 01:24:27 +00:00
37ba09d836
adding Pose2SLAM example
2012-01-28 02:51:35 +00:00
63dc9399b9
refactored Pose2SLAM
2012-01-28 02:31:44 +00:00
ac5d539afb
Added SRI's Find cmake scripts and small comment changes in other cmake scripts
2012-01-27 20:28:13 +00:00
b3df8d336a
For ASPN release, added temporary ENABLE_SPCG flag to avoid conflict with boost::variant
2012-01-27 16:43:31 +00:00
4e5e361d3f
Removed extraneous references to gtsam/inference/graph.h - now only in SubgraphSolver
2012-01-22 16:46:38 +00:00
379fe4e557
Removed references to "Landmark2" in matlab example
2012-01-10 14:55:42 +00:00
2572265096
Added noisemodel syntactic sugar so that matlab interface examples and tests work
2012-01-04 16:18:38 +00:00
7c87a4f58d
Included the inline header at the bottom of SubgraphSolver, NonlinearFactorGraph, NonlinearOptimization, and NonlinearOptimizer. This avoids having to include the '-inl.h' in subsequent projects.
2011-12-20 23:25:43 +00:00
17bf0f0169
Added static and shared versions of gtsam
2011-12-15 16:17:58 +00:00
61d05813ff
Library now builds and all tests run with cmake
2011-12-14 02:24:21 +00:00
3c8a7a29f9
updated visual SLAM examples to follow correct coordinate system conventions. The ISAM example now also uses the same input files as the general SFM example.
2011-12-12 03:57:48 +00:00
8bc83d4219
Changed -inl.h use with Values and TupleValues, removed instantiation macros for Values and TupleValues
2011-11-17 22:44:46 +00:00
96f77466c6
Removed need to include -inl.h for isam variants
2011-11-17 21:20:04 +00:00
83ccc6211e
Fixed Data subdirectory with wrong path for make dist
2011-11-12 21:18:44 +00:00
5798868ab7
Changed LieValues->Values. Did not change Values typedefs in slam domains, just adjusted namespaces
2011-11-06 19:08:42 +00:00
fd601b55d8
Replaced expmap with retract in kalman filter example
2011-11-05 03:10:49 +00:00
03280f2446
renamed sparse to sparseJacobian_
2011-10-30 20:38:08 +00:00
0a101eb50f
Fixed matlab wrapper of sparse to take no arguments
2011-10-30 20:25:08 +00:00
9ff18b4e4e
Wrapped GaussianFactorGraph.sparse and provided example usage in PlanarSLAMExample_easy
2011-10-29 04:28:47 +00:00
2d5602bbc8
Moved data directory, added make targets
2011-10-28 22:10:08 +00:00
980ed4d590
Fixed VectorValues, added linearize and denseJacobian/denseHessian
2011-10-28 16:25:15 +00:00
3fbc459d0f
planar SLAM example works in MATLAB !
2011-10-22 20:10:25 +00:00
7c55724ddd
Doxygen
2011-10-22 19:57:36 +00:00
f62a6bda1e
wrapping PlanarSLAMExample_easy
2011-10-21 16:56:50 +00:00
56d1d6ae34
Fixed some Doxygen problems with global replace
2011-10-14 03:23:14 +00:00
44b74c3d55
Fixed bad doxygen @Author: to correct @author style
2011-09-07 01:26:28 +00:00
817bb913ab
Removed duplicate header comment block.
2011-08-30 20:01:24 +00:00
27d062a0f0
Fixed compile errors due to new SharedGaussian definition
2011-08-27 13:50:35 +00:00
82fdb0a5f8
Added ExtendedKalmanFilter class and easyPoint2KalmanFilter example
2011-08-27 12:28:47 +00:00
295faba745
Fixed error in creation of Jacobian Prior from root of Bayes Net for the elaboratePoint2KalmanFilter example. Previously the permutation of R inside the GaussianCondition was ignored.
2011-08-27 12:27:13 +00:00
fd07d61a2e
Add a robust noise model. Change SharedGaussian to SharedNoiseModel
2011-08-26 21:41:01 +00:00
b39970ad9a
Removed dependency of eloboratePoint2KalmnFIlter example on the LinearizedFactor class
2011-08-25 13:34:06 +00:00
9be9251d1b
check with perfect measurements
2011-08-23 22:17:09 +00:00
24a897429a
A simple example of using gtsam for the camera resectioning problem
2011-08-23 22:10:50 +00:00
f4bfc435ff
Added first of the Kalman Filter examples
2011-08-22 15:35:24 +00:00
fd3acbd2c9
Plan/outline for Kalman filter examples
2011-08-19 21:27:47 +00:00
e62c2bf5e9
Comments and README file
2011-08-19 13:11:04 +00:00
964af8b21c
Commented use of GTSAM_MAGIC_KEY
2011-08-18 13:18:26 +00:00
a858ddb560
Added more comments to SimpleRotation in response to Stephen's comments
2011-08-12 19:24:59 +00:00
b9b8250f36
comments only
2011-08-11 17:18:40 +00:00
fa4faa274a
Merge branch 'prep_0.9.3'
2011-06-13 16:55:31 +00:00
e9b8a48c43
ccolamd now installs and works with gtsam - all tests pass
2011-06-02 14:35:26 +00:00
e20561be73
Merge branch 'eigen'
2011-05-20 13:52:08 +00:00
d35eb581ee
Removed experimental cmake files - see the branch cmake_build
2011-05-19 19:16:03 +00:00
85ff7853eb
experimental cmake support for linux
2011-05-09 16:53:08 +00:00
105041ae01
cmath rather than math.h
2011-03-21 15:05:40 +00:00
a09a9683f9
Added covariance calculation to advanced Planar SLAM example
2011-01-30 17:03:21 +00:00
880040a6f6
Added extra link libraries to examples and global tests required when building a static-only gtsam library
2010-12-29 03:25:52 +00:00
f4babac85c
Moved ISAMLoop to gtsam/nonlinear and renamed it to NonlinearISAM so it can be used elsewhere
2010-12-15 16:51:46 +00:00
06c319f42c
fix bugs
2010-11-24 02:16:35 +00:00
e726f7c7af
remove backward compatible functions in NonlinearOptimizer
2010-11-21 22:00:22 +00:00
8c91fe5f53
move things to vSLAM according to new policies
2010-10-30 05:31:22 +00:00
b53bcc7d66
add preconditioned conjugate gradient
2010-10-28 03:26:03 +00:00
ea3e137060
Fixed headers missing from distribution again
2010-10-26 22:03:29 +00:00
012e6b86cc
Added missing headers and data directory so they are included with the distribution
2010-10-26 21:24:13 +00:00
645fe1592a
Just fix some comments
2010-10-26 21:12:44 +00:00
daa50ffe9a
Formatting
2010-10-26 20:02:01 +00:00
07532b815b
Code formatting and inserting copyright notice
2010-10-26 15:01:34 +00:00
67ecfed86e
NonlinearOptimizer marginalCovariance returns mean as well
2010-10-26 13:51:39 +00:00
1873cd4158
Someone disabled vSLAMexample. Put it back. Also update its Makefile.am to be consistent with the new directory structure.
2010-10-26 01:11:35 +00:00
3743342534
Standardized function names - marginalFactor, marginalFactorGraph, marginalCovariance
2010-10-25 22:45:45 +00:00
46cfa84068
revised include files
2010-10-25 22:26:18 +00:00
c81f33eb9e
revised spcg examples
2010-10-25 22:21:53 +00:00
2c90e3d836
Moved the subdirectories that compile into libgtsam.la into a 'gtsam' subdirectory. Hopefully a good fix for the problem we had trying to make a gtsam distribution, that the source directory may not be called 'gtsam'.
2010-10-25 20:10:33 +00:00
3bb1f26916
adapt spcg to new optimization interface
2010-10-23 05:47:29 +00:00
a411cf9683
small change to covariance stuff
2010-10-22 23:15:27 +00:00
c47893f105
added method to get covariance to optimizer
2010-10-22 21:27:46 +00:00
69c6d05ce1
config() changed to values() for consistency
2010-10-22 19:29:15 +00:00
4b137de4a6
add README file for vSLAMexample. This file explains data format and coordinate frame convention used in these examples.
2010-10-22 05:00:32 +00:00
1d94dacca0
make check passes with dense qr using lapack geqrf
2010-10-22 03:51:10 +00:00
58f23eb6ad
- add include ClusterTree-inl.h into JunctionTree-inl to avoid the "Clique->addChild(...)" undefined reference issue
...
- clean up ISAMLoop and fix comments in vISAMexample
2010-10-22 03:40:47 +00:00
f354f8183d
Added examples of using NonlinearOptimizer with multifrontal elimination
2010-10-22 02:53:27 +00:00
acde4d99a5
Removed remaining references to denseQR, some fixes in NonlinearOptimizer
2010-10-22 01:46:33 +00:00
6f2ef4ed72
Pacified warnings
2010-10-22 00:17:08 +00:00
31a080e4bf
vISAMexample is now working.
2010-10-21 23:32:51 +00:00
b9ec67cc3f
add data for vISAMexample
2010-10-21 22:55:55 +00:00
96057df75b
delete old files
2010-10-21 22:53:43 +00:00
5add714480
delete old files
2010-10-21 22:52:09 +00:00
099552dbc9
- rename vSLAMexample to vSFMexample
...
- add vISAMexample. NOT working yet
2010-10-21 22:51:20 +00:00
6458ac46f8
put pragma once for ISAM-inl
...
fix some path problem in vSLAMexample
2010-10-21 22:49:37 +00:00
adc8921f3b
separate the examples into easy/advanced style, remove shared pointer in easy examples, unify the convention
2010-10-21 21:38:38 +00:00
fbcbea5f61
- Fix threshold in Rot3 Logmap for Linux 32bit. Should be 1e-5 instead of 1e-10
...
- The fix makes PriorFactor and PosePrior in vSLAM work.
- Now vSLAMexample can use PosePrior. It doesn't need hard constraints. Also, the gaussNewton can converge.
2010-10-21 17:29:29 +00:00
c4df80df55
sample for new optimization interface
2010-10-21 01:51:23 +00:00
fa56595650
Fix vSLAMexample compilation error. Update to new Optimizer interface.
...
Fix data reading interface. Now the program requires a Data folder to be specified.
2010-10-20 18:50:41 +00:00
95f91ab831
add Optimizer typedef to visualSLAM.h
2010-10-19 02:58:13 +00:00
4071d4f673
small change to make boost work properly
2010-10-18 21:44:38 +00:00
1e01e31363
add a self-contained example to demonstrate spcg solver
2010-10-18 20:36:01 +00:00
9d8498617c
easy interfaces of nonlinear optimization
2010-10-17 18:52:52 +00:00
4a7b8bad27
--with-boost no longer required, automatically finding boost
2010-10-17 17:06:28 +00:00
47a668866e
set default path for CCOLAMD and DenseQR
2010-10-16 02:29:17 +00:00
bc36e653fd
depend on external CCOLAMD and DenseQR
2010-10-16 01:55:47 +00:00
130d9d2797
Made EliminationTree generic, with Symbolic and Gaussian unit tests
2010-10-15 15:53:36 +00:00
d55e72ae53
- Add vSLAMexample
...
- Add addPosePrior in visualSLAM.h
- Don't know how to install/copy Data folder
2010-10-15 02:16:21 +00:00
24d499039f
prepend license information on all the codes
2010-10-14 04:54:38 +00:00
5cbf67eeba
move colamd and spqr_mini out of gtsam
2010-10-14 02:41:08 +00:00
540608fed4
typo
2010-10-14 01:08:22 +00:00
4eab976e5c
Basic Pose2SLAM example. Marginals still missing.
2010-10-14 01:07:55 +00:00
07bda5aa97
Changed linear config names to *Values, updated comments
2010-10-09 03:09:58 +00:00
6002931e12
Renamed LieConfig and TupleConfig to use Values
2010-10-09 03:09:55 +00:00
1d52ff90a8
Merged simplelinear branch into trunk
2010-10-08 22:04:47 +00:00
0fb6c1320e
Renamed example to be more consistent, pulled in Ordering in NonlinearOptimizer
2010-10-08 18:39:19 +00:00
f6ada87314
Removed LDL, ConstraintOptimizer things, and FusionTupleConfig. Added *.valgrind run commands so that tests can be checked for memory errors. Removed some extraneous stuff in configure.ac
2010-10-02 23:38:01 +00:00
55dedc97e3
Fixed include paths so that making individual unit tests works again
2010-09-11 16:54:50 +00:00
5650f5af5e
Removed binaries and generated files
2010-09-10 13:20:01 +00:00
80d61d5f9f
Fixed bug to make sure that carmen_readers output poses in the correct frame
2010-09-09 19:30:35 +00:00
d17aef492c
Added two example scripts to gtsam from the tutorial, with a single planar example that either contains all typedefs and manually creates the structure, and another that uses planarSLAM.h. Also added a BearingRange helper function to planarSLAM
2010-08-26 21:21:15 +00:00
23a30f8475
Removed remaining global lie functions on lie objects and configs, switched the Lie base class to a simple concept check function, fixed build script for examples. ISAM2 and MastSLAM verified as compiling.
2010-08-26 19:55:40 +00:00
9dd1d6bc10
Added examples folder with simple rotation over one varialble - build script not finalized
2010-08-26 18:46:48 +00:00
Frank Dellaert
Frank Dellaert
Richard Roberts
Jing Dong
Luca Carlone
Chris Beall
Alex Cunningham
Duy-Nguyen Ta
Yong-Dian Jian
Stephen Williams
Abhijit Kundu
Kai Ni