16b4f0fe8b
Moved ImuFactor and CombinedImuFactor into main gtsam, and moved InertialNavFactor family into gtsam_unstable.
2013-08-13 21:04:31 +00:00
13d829687c
Merged from branch 'trunk'
2013-08-12 21:49:59 +00:00
d9c9682f6e
Merge branch 'svn/trunk'
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Conflicts:
gtsam_unstable/slam/BetweenFactorEM.h
gtsam_unstable/slam/tests/testBetweenFactorEM.cpp
2013-08-12 21:47:36 +00:00
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
ea3ca54cba
"Fixed" more unit tests
2013-08-11 19:01:06 +00:00
517a5037a7
Enabled more unit tests and either fixed them or have them print a "disabled" message during make check
2013-08-11 18:41:08 +00:00
f4d816dcf8
Disabled testSmartProjectionFactor and made print message about this
2013-08-11 18:40:57 +00:00
f240327f24
Fixed testIMUSystem and BetweenFactorEM
2013-08-11 18:40:47 +00:00
4585fd1caa
Merge branch 'svn/trunk'
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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
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
4a4e16485c
Making more things in gtsam_unstable compile
2013-08-08 20:08:54 +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
e2f8dd866d
Merge branch 'svn/trunk'
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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
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
ede0805fac
Global find+replace to remove Ordered
2013-08-05 22:31:44 +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
2705d85fa7
Merged from branch 'trunk'
2013-07-31 18:55:15 +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
3ade190128
Renamed old classes to "Ordered" and removed "Unordered" name from new classes
2013-07-29 23:55:40 +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
Richard Roberts
Zsolt Kira
Vadim Indelman
Chris Beall
Alex Cunningham
Luca Carlone
Frank Dellaert