b34b6cc9ee
Added warning if triangulation fails
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Added ability to pass in landmark position directly, thereby avoiding triangulation
Added test that compares GenericProjectionFactor and SmartProjectionFactor for 1 iteration using
both GaussNewton and LM optimization. These tests also fail, until we find the problem/bug.
2013-08-12 21:44:54 +00:00
7a027be7e5
Fixed unit tests compiling on windows
2013-08-12 16:25:13 +00:00
87a7c56c88
Switched to square root of covariance norm.
2013-08-12 16:11:48 +00:00
14931bcc7d
improved tests a little. basic 3 landmark test with smart projection factor fails!
2013-08-12 14:40:57 +00:00
bb4ad176da
Needed std::
2013-08-09 18:50:15 +00:00
1eae17561d
Taking ImuFactor noise model automatically from preintegrated measurement covariance
2013-08-09 18:50:14 +00:00
369e69b0d2
actually set everything to zero to turn factor off during linearization
2013-08-09 15:28:57 +00:00
b0c96f9bf6
unwhitenedError.
2013-08-08 20:14:12 +00:00
579e0931dc
Fixed different issues with EM.
2013-08-08 15:12:21 +00:00
b3ea3f9465
lines added to testSmartProjectionFactor
2013-08-08 14:30:26 +00:00
a82262cf99
Included noise model and f term in SmartProjectionFactor
2013-08-08 14:00:26 +00:00
f423d6f2a8
SmartProjectionFactor: More cleanup, added more tests, added some timing
2013-08-07 23:32:40 +00:00
d33f435eab
Added BetweenFactorEM with 2 indicator variables.
2013-08-07 15:25:00 +00:00
c2f5adc7d0
Cleaned up code: Removed commented out code, added debug condition
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If debug is enabled, both blockwise and full implementations are performed and then compared
2013-08-07 13:05:08 +00:00
482c5df647
updates in SmartProjectionFactor: first working version with full and block version producing the same results (non-optimized)
2013-08-05 22:34:31 +00:00
2e085ace91
Changes in SmartProjectionFactor
2013-08-05 19:25:08 +00:00
5518007317
adding test with regular projection factors for comparison, and bug fixes in SmartFactor test.
2013-08-05 17:58:32 +00:00
d1de6b29a9
adding 3 camera, 3 landmark test
2013-08-05 15:50:19 +00:00
39ec641c4a
Modifications to SmartProjectionFactor and unit test: work in progress
2013-08-05 15:09:03 +00:00
d1419a3d11
Added SmartProjectionFactor (+unit tests)
2013-08-02 23:35:39 +00:00
f273b8f915
Removed extra 'typename'
2013-08-02 16:04:29 +00:00
34dc67c1af
Brought some relevant changes from aspn-imu-factor branch (is correct this time)
2013-08-02 16:04:17 +00:00
ed79432a69
Added MultiProjectionFactor, invoving n views (camera poses) observing a single landmark: work in progress
2013-07-31 18:02:56 +00:00
321a286f02
Revert "Brought some relevant changes from aspn-imu-factor branch"
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This reverts commit b08a11ffb27d14487115f20745f1cea17fcc55ee.
2013-07-31 15:26:48 +00:00
b62af20fdc
Revert "Removed extra 'typename'"
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This reverts commit 04fd69f56c1e1cbd934a54aeb415e2cf2132d236.
2013-07-31 15:26:46 +00:00
90cf73d4a7
Removed extra 'typename'
2013-07-31 15:25:05 +00:00
7345b40feb
Brought some relevant changes from aspn-imu-factor branch
2013-07-31 15:25:03 +00:00
f3aa2fde53
Fixed compile error
2013-06-25 17:22:45 +00:00
0837eab8f5
Scripts to test (still not working so-well) smart range factor
2013-06-25 17:13:02 +00:00
26df712592
Put new unit test global variables into anonymous namespaces. Removed dll export tag from SmartRangeFactor since it is a header-only class.
2013-06-24 19:30:00 +00:00
39910717d6
Picked the winner
2013-06-24 16:25:02 +00:00
34db300802
Fixed n<3 Jacobians
2013-06-24 16:18:48 +00:00
3383e52c5f
Split unit tests....
2013-06-24 16:02:17 +00:00
43fe036c32
Made more efficient by adding errors -> Jacobians back to 1*3, always. This is big savings if a landmark is seen from many poses.
2013-06-24 15:57:03 +00:00
aea4f31096
Fixed Jacobians, optimization works
2013-06-24 15:31:13 +00:00
b7dbcefa8b
simplified measurements_ to vector
2013-06-24 12:15:01 +00:00
4b412b0a4b
keys and Jacobians
2013-06-24 12:07:21 +00:00
d041c5b8a8
Split up circle intersection code into three routines that are used in SmartRangeFactor
2013-06-24 08:24:56 +00:00
5f5e481394
AHRS mechanization small efficiency change (in progress)
2013-06-21 00:21:18 +00:00
e7334b89bd
Rebasing...
2013-06-20 17:08:30 +00:00
5ae4f21517
Added missing dll export tags to new functions
2013-06-20 16:05:23 +00:00
456d1b5cf7
Cleanup: moving old serialization function to gtsam_unstable, renaming matlab serializaion test
2013-06-19 17:50:09 +00:00
d85c773f7c
Changes in AHRS - flat trim initialization added, some comments by Frank, aidingAvailablitiy function
2013-06-14 21:18:22 +00:00
b2d4469cb3
Added missing export tag
2013-06-04 17:34:02 +00:00
16c11c70fb
Fixes to compile on Windows
2013-05-21 17:24:49 +00:00
1d9000724d
Moved AHRS to gtsam_unstable
2013-05-20 23:16:44 +00:00
32b3eebf07
removed redundant shared_ptr typedefs in Cal3_S2 and Cal3_S2Stereo
2013-05-08 19:21:00 +00:00
9e39df6e88
Added PriorFactor and BetweenFactor with optional sensor pose
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transformations. Ideally these should simply be the PriorFactor and
BetweenFactor, but more investigation is needed.
2013-05-08 13:23:56 +00:00
54808f6d44
Added several experimental versions of an Inverse Depth Factor
2013-05-08 13:23:35 +00:00
a069d24374
Moved PoseRotationPrior, PoseTranslationPrior and ReferenceFrameFactor to gtsam.slam
2013-04-30 17:50:47 +00:00
Zsolt Kira
Richard Roberts
Vadim Indelman
Chris Beall
Luca Carlone
Alex Cunningham
Frank Dellaert
Kyel Ok
Stephen Williams