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1317 Commits (28f7704eea4445b5c1493a7514a2c97dea95b1d1)

Author SHA1 Message Date
Paul Drews 0d5f0510ab Expmap and Logmap, still incorrect around identity 2015-06-10 11:01:34 -04:00
dellaert d385984f26 Working compose/between/inverse derivatives 2015-05-26 01:08:27 -07:00
dellaert d060d4621e PoseRTV is now implemented using ProductLieGroup 2015-05-25 23:50:00 -07:00
dellaert 9d522c72f3 internal::LieGroup needed if you also want Testable traits 2015-05-25 22:04:04 -07:00
dellaert b23a51db6d PoseRTV as ProductManifold works 2015-05-25 17:13:08 -07:00
cbeall3 f8ab4ef144 Change SimpleCamera from typedef back to regular class to make wrapping+serialiation work. Had to change some templates because vector<PinholeCamera> can't be upcast to vector<SimpleCamera> 2015-05-18 14:33:27 -04:00
Duy-Nguyen Ta 58de1ac296 re-enable all tests. Disable printing. Fixing bad names due to unintentional global replace 2015-05-15 08:57:43 -04:00
Duy-Nguyen Ta 827caf1793 compute a feasible initial value for LPSolver: simple test passed. 2015-05-15 08:47:57 -04:00
Duy-Nguyen Ta f30e2501be compute error for constrained linear factor graphs 2015-05-15 08:45:47 -04:00
Duy-Nguyen Ta ee8316e291 fix comments 2015-05-15 08:44:58 -04:00
dellaert 79d20b6c44 GTSAM-style formatting 2015-05-13 23:44:46 -07:00
Abe 13a4da21b2 misc bugfixes and cleanup from skydio 2015-05-13 22:26:24 -07:00
Frank Dellaert e456923a74 Merged in feature/SimplerExpressions (pull request #135) 
Expressions without MPL
 2015-05-13 00:36:49 -07:00
Frank 057aef90d9 Fixed some more warnings on Ubuntu 2015-05-12 15:05:34 -07:00
Frank 4ba329c23b Fixed many warnings on Ubuntu 2015-05-12 13:46:24 -07:00
dellaert 4f846ff75f No more boost::mpl needed for Expressions 2015-05-12 01:33:33 -07:00
dellaert 81b3860991 Moved all internal data structures to internal namespace 2015-05-11 21:19:40 -07:00
dellaert 13dcc977f2 Moved Point2Vector wrapper from gtsam_unstable.h to gtsam.h 2015-05-03 17:31:08 -07:00
Chris Beall b52ced7a09 Merged in fix/serialization_warnings (pull request #128) 
Fix some unused variable warnings in the serialization code.
 2015-04-20 15:00:45 -04:00
nsrinivasan7 a4fac2ab62 added cout style print statements for similarity 2015-04-12 15:38:40 -04:00
cbeall3 ea6f5e3fb9 Use TriangulationParameters 2015-04-08 21:36:11 -04:00
cbeall3 762a7b7435 Remove selective relinearization and state 2015-04-08 17:52:25 -04:00
cbeall3 51482ea358 Remove template parameter D, get from Base::Dim instead 2015-04-08 14:21:40 -04:00
Duy-Nguyen Ta 40659cab38 first LPSolver test passed!! 2015-03-25 08:19:43 -04:00
dellaert 956b53dc3b Fixed sign in stereo version 2015-03-12 09:51:44 -07:00
dellaert 2bdeac30f0 Fixed compile error w PointCov 2015-03-12 07:56:47 -07:00
Duy-Nguyen Ta d8564f25e0 fix exception text 2015-03-12 09:37:26 -04:00
dellaert a4d1874af4 Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3 2015-03-09 17:51:16 -07:00
dellaert faadf5b06f Fully compiles now 2015-03-06 08:48:35 -08:00
Thomas Schneider 472821f16d Merge remote-tracking branch 'upstream/develop' into fix/serialization_warnings 2015-03-06 17:10:59 +01:00
Thomas Schneider ebf5746987 Fix some serialization warnings. 2015-03-06 16:12:09 +01:00
Chris Beall 3be6b16995 relax threshold from 1e-7 to 1e-6 to make test pass. 2015-03-06 00:32:43 -05:00
dellaert 758aab6e80 Cleaned up test 2015-03-05 10:41:49 -08:00
dellaert b40c0f7f15 Fixed sign 2015-03-05 10:36:03 -08:00
dellaert dc3d5f77fe Extra stereo tests 2015-03-05 10:35:54 -08:00
dellaert e6a90db2d5 Migrated to non-keyed Fblocks 2015-03-04 23:11:01 -08:00
dellaert f28b083c14 Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3 
Conflicts:
	gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
 2015-03-04 16:02:25 -08:00
dellaert 74605df641 Re-ordered methods in .h and .cpp to match them 2015-03-03 07:42:31 -08:00
dellaert d8822e5b57 H1 works for rot/translation, but not scale :-( 2015-03-02 21:58:54 -08:00
dellaert 728991e31f Fixed H2 2015-03-02 21:08:57 -08:00
dellaert 05198c091e comment 2015-03-02 21:08:41 -08:00
dellaert e0e5590856 matrix() returns 4*4 matrix \in GL(4) 2015-03-02 21:08:23 -08:00
dellaert 6bfda9fcba Added prototype derivatives for transform_from 2015-03-02 20:34:56 -08:00
dellaert fcd00450d3 Formatting, use Point3/Rot3, resolved link error of operator*(Point3) 2015-03-02 20:09:44 -08:00
dellaert 1e58c0b0a2 Comments and standard BORG formatting 2015-03-02 19:34:33 -08:00
thduynguyen bdd00d8b49 move code to cpp and some small clean up 2015-03-02 08:27:24 -05:00
Frank Dellaert b2dcf35e77 Merged in feature/Similarity (pull request #117) 
Sim3 Support
 2015-02-26 23:33:37 +01:00
Paul Drews 6faa881de6 Make the code prettier. 2015-02-26 15:10:59 -05:00
dellaert a375e7b5be RADICAL2: The SmartProjectionPoseFactor (soon to be renamed SmartPinholePoseFactor, if it survives at all) now no longer stores shared calibrations. Values expect to contain PinholePoses not Pose3s now. The current state of affairs was simply a bug: one pose could be optimized for several different calibrations. It relied on the user to make sure all measurements for a specific pose to optimize were all given the same shared calibration, which was then stored *millions of times* in the pose factors. Instead, there is now *one* shared calibration per PinholePose unknown. 2015-02-26 13:55:16 +01:00
dellaert a132d959f5 RADICAL: Got rid of sensor_pose. In the new PinholePose philosophy, this is entirely the responsibility of the CAMERA. Just like PinholePose, we can have a camera class that has a shared extra transform: it is part of the calibration. PinholePose itself is not able to do this, as the calibration is assumed 2D only, but it's easy to create a class and have the correct derivatives in place. 2015-02-26 12:06:43 +01:00
dellaert 0bf95ae7f6 Removed obsolete code, including slow Schur-complement versions 2015-02-26 11:44:51 +01:00
dellaert fd71974ff3 Got mostly rid of computeEP: just a call to cameras.project2 2015-02-25 20:52:16 +01:00
dellaert 850470ef06 rename of computeJacobians overloads to better reflect functionality 2015-02-25 19:30:17 +01:00
Paul Drews abfcfa1a17 Merged 'develop'. 2015-02-25 11:00:46 -05:00
Paul Drews 9991ae04f3 Fixed unit tests 2015-02-25 10:59:25 -05:00
thduynguyen b9dbde14f2 fix file heading comments for doxygen 2015-02-25 09:09:33 -05:00
thduynguyen bd16c52e7c support params and verbosity debug info for LinearConstraintSQP 2015-02-25 08:07:40 -05:00
thduynguyen d80caeb44b small comment fix 2015-02-24 23:41:39 -05:00
thduynguyen d9773da125 rename classes 2015-02-24 23:40:53 -05:00
thduynguyen d2f919e632 Linear[In]EqualityFactorGraph --> [In]EqualityFactorGraph 2015-02-24 22:25:26 -05:00
thduynguyen ce50219f9d fix comments for doxygen 2015-02-24 22:15:41 -05:00
thduynguyen 54121ad26b add test for InfeasibleIntialValues exception 2015-02-24 22:10:07 -05:00
thduynguyen 0c025f798c fix comments 2015-02-24 22:09:31 -05:00
Paul Drews 8a88f101db Fix deprecation warnings 2015-02-24 21:58:17 -05:00
thduynguyen 95bb10d44a make QPSolver throws an exception if the provided initial values are infeasible 2015-02-24 21:49:27 -05:00
dellaert d7b5156dcc rename to reprojectionErrorAfterTriangulation 2015-02-25 01:14:36 +01:00
dellaert eb28d0ffa8 Restored reprojectionErrors -> reprojectionError 2015-02-24 14:09:35 +01:00
dellaert d6f54475c3 BIG change: SmartFactorBase and SmartProjectionFactor now templated on CAMERA 2015-02-23 12:43:43 +01:00
dellaert 64bb6b77d7 Merged in feature/SmartCT (pull request #107) 
Refactoring of Smart Factors
 2015-02-22 06:14:19 +01:00
zhaoyang 1d81572894 Capitalize static methods in ordering.h 
This commit involves the API change. Related files in gtsam have been changed. All the tests examples run without issue.
 2015-02-21 13:16:03 -05:00
Paul Drews b53c26c934 Merge remote-tracking branch 'origin/develop' into feature/Similarity 
Conflicts:
	.cproject
 2015-02-20 00:36:52 -05:00
thduynguyen ba4698bf51 add comments, fix format, make test compiled 2015-02-19 08:51:54 -05:00
Paul Drews f9ccd23d4a Refactored into class and unit test 2015-02-19 01:21:20 -05:00
thduynguyen d8e184fadd fix traits::dimension 2015-02-18 09:13:15 -05:00
krunalchande 23dbaad23e Added test to test iterative framework. DOES NOT WORK YET. 2015-02-18 07:48:40 -05:00
krunalchande f1703db4aa Added comments 2015-02-18 07:48:40 -05:00
krunalchande 37fe405872 Added warmStart flag. 2015-02-18 07:48:39 -05:00
krunalchande 6b2b96ca2a updated with current constructor whch needs number of iterations 2015-02-18 07:47:55 -05:00
krunalchande 3142f0a9a7 disabled test 2015-02-18 07:47:55 -05:00
krunalchande 2476bbe8d7 can pass debug flag as parameter. 2015-02-18 07:47:55 -05:00
krunalchande 3e352f109e Added warm start for initializing active set. 2015-02-18 07:47:54 -05:00
krunalchande f4a4ce4325 added debug print statements 2015-02-18 07:47:54 -05:00
krunalchande e74b737a66 box-constraints unit test passed with prior and between factors 2015-02-18 07:47:53 -05:00
krunalchande 3653e93338 fix bug in dual feasibility check. We want dual variables < 0. 2015-02-18 07:47:53 -05:00
krunalchande 121feb2281 disable printing 2015-02-18 07:47:53 -05:00
krunalchande bcdeddbda1 Compute the least-square values of dual variables instead of forcing them to satisfy the stationarity condition exactly. This fixes an infinite-loop bug in QPSolver when a constraint was continuously added to and removed from the active set. 2015-02-18 07:47:53 -05:00
krunalchande 276959e39a remove support for nonlinear constraints. Refactor SQPSimple to LCNLPSolver. 2015-02-18 07:47:53 -05:00
krunalchande 0fdd49ca4e Removed LinearEqualityManifoldFactorGraph. 2015-02-18 07:47:52 -05:00
krunalchande e0e5e72020 Fixed includes 2015-02-18 07:47:52 -05:00
krunalchande 79b69d4489 [unfinished] unit test with multiple betweenFactors with box constraint. 2015-02-18 07:47:52 -05:00
krunalchande 1dd23ced02 Simple unit test for NonlinearInequalityFactorGraph. 2015-02-18 07:47:52 -05:00
krunalchande de7149af63 Added licensing information. 2015-02-18 07:47:52 -05:00
krunalchande 2523fa2fe5 removed comment 2015-02-18 07:47:51 -05:00
krunalchande b6d85e83ae Fixed includes. 2015-02-18 07:47:51 -05:00
krunalchande c99a848148 Refactoring. 2015-02-18 07:47:51 -05:00
krunalchande d435fa72df removed all printing 2015-02-18 07:47:51 -05:00
krunalchande cc0e5cd3ca Working nonlinear inequality constraints with unit tests. 2015-02-18 07:47:51 -05:00
krunalchande fd461a1c15 [unfinished] prototyping inequality SQP with Luca. 2015-02-18 07:47:50 -05:00
krunalchande ecc87bdb2b Added test with pose and a line equality constraint. Works but hessian is incorrect. So basically using nonlinearequality vs linearequality makes no difference. 2015-02-18 07:47:50 -05:00
krunalchande 29e6e67de7 added debug info, fixed unit test, added nonlinear constraint (circle) test. Doesn't work because of negative definite hessian obtained from multiplying the dual with the constraint hessian. 2015-02-18 07:47:50 -05:00
krunalchande ccc243d37a Obtain dim by using traits. 2015-02-18 07:47:50 -05:00
krunalchande 147d174a66 test files deprecated, might be removed later 2015-02-18 07:47:49 -05:00
krunalchande 6d76b5910c added comments 2015-02-18 07:47:49 -05:00
krunalchande 2b1cc7bf22 Added Simple QP solver and test. Unit test doesn't work yet 2015-02-18 07:47:49 -05:00
krunalchande 3af06ef029 Added nonlinearconstraint and tests 2015-02-18 07:47:49 -05:00
krunalchande 7d2f69335d Added constructor 2015-02-18 07:47:48 -05:00
krunalchande b4c5237925 Added structure of test and class. Left with implementation. 2015-02-18 07:47:48 -05:00
Paul Drews 42d8e1fcb2 Working Sim3 Transform 2015-02-13 09:06:08 -05:00
cbeall3 5afc3c4cea again: overlooked Dim -> dimension because this factor has no unit test! 2015-01-28 16:48:12 -05:00
Paul Drews db73a0dd1d Working, with stub log/expmap and identity 2015-01-28 14:55:13 -05:00
Paul Drews 10b56a115c Working Similarity3 transform with unit tests. 2015-01-26 13:38:32 -05:00
Paul Drews c6b3535dda retract works, local coordiantes still broken 2015-01-25 01:28:16 -05:00
Paul Drews a87a3dd987 Rotation works, translation and scale incorrect 2015-01-24 22:42:48 -05:00
cbeall3 b1cea2bee7 overlooked Dim -> dimension because this factor has no unit test! 2015-01-23 14:29:25 -05:00
Paul Drews d28ef19b9a Merge remote-tracking branch 'origin/develop' into feature/Similarity 
Partial update of Similarity to BAD

Conflicts:
	.gitignore
 2015-01-23 08:10:21 -05:00
Paul Drews bade68fa33 Simple single prior optimization 2015-01-12 12:58:17 -05:00
Paul Drews a88b10eacc Working similarity3 transform with unit tests 2015-01-07 09:57:48 -05:00
Paul Drews 89460fe931 Unit tests still fail, but believed to be correct. 2015-01-02 09:02:43 -05:00
dellaert e119846280 Updated examples and test 2014-12-28 19:10:41 +01:00
dellaert c58f2c15dc Moved to gtsam 2014-12-28 19:09:12 +01:00
dellaert 3587ad4e2c Merge remote-tracking branch 'origin/develop' into feature/SoundSlam 
Conflicts:
	examples/SFMExampleExpressions.cpp
 2014-12-28 18:53:09 +01:00
dellaert 7c455efe50 Made Event into new-style manifold 2014-12-28 18:24:00 +01:00
dellaert 2ee192e950 Fix header 2014-12-28 18:23:22 +01:00
dellaert f9c353d4a5 Merge remote-tracking branch 'origin/develop' into feature/SoundSlam 
Conflicts:
	.cproject
	gtsam/base/LieMatrix.h
	gtsam/base/LieVector.h
	gtsam/base/OptionalJacobian.h
	gtsam/base/tests/testOptionalJacobian.cpp
	gtsam/geometry/Cal3_S2Stereo.h
	gtsam/geometry/CalibratedCamera.h
	gtsam/geometry/PinholeCamera.h
	gtsam/geometry/Point2.h
	gtsam/geometry/Point3.h
	gtsam/geometry/Pose2.cpp
	gtsam/geometry/Pose2.h
	gtsam/geometry/Pose3.cpp
	gtsam/geometry/Pose3.h
	gtsam/geometry/Rot2.cpp
	gtsam/geometry/Rot2.h
	gtsam/geometry/Rot3.cpp
	gtsam/geometry/Rot3.h
	gtsam/geometry/Rot3M.cpp
	gtsam/geometry/Rot3Q.cpp
	gtsam/geometry/Unit3.cpp
	gtsam/geometry/tests/testRot3.cpp
	gtsam/nonlinear/AdaptAutoDiff.h
	gtsam/nonlinear/Expression-inl.h
	gtsam/nonlinear/Expression.h
	gtsam/nonlinear/tests/testExpression.cpp
	gtsam/slam/RangeFactor.h
	timing/timeAdaptAutoDiff.cpp
	timing/timeCameraExpression.cpp
 2014-12-28 17:45:41 +01:00
dellaert 9b5136d35c Moved examples 2014-12-28 17:15:14 +01:00
dellaert 401ee70364 Fixed overload resoltion error in template matching by removing overloads in traits 2014-12-28 17:14:04 +01:00
dellaert c4457682bc Fixed header file 2014-12-28 17:13:20 +01:00
dellaert a454327e7b Moved include file 2014-12-28 16:44:32 +01:00
dellaert 111b9511ac Moved timing files 2014-12-28 16:40:40 +01:00
dellaert 3ebcfc5ce0 make timing compiles 2014-12-28 16:37:54 +01:00
dellaert 097f0fb80d Fix paths 2014-12-28 14:51:19 +01:00
dellaert c8faa102e3 Moved EexpressionFactor related files to gtsam 2014-12-28 13:48:13 +01:00
dellaert e5017984a1 traits_x -> traits 2014-12-26 16:47:51 +01:00
dellaert aaf4588f20 Improved simple helicopter 2014-12-26 00:53:36 +01:00
dellaert 902e7e57e5 Fixing helicopter 2014-12-26 00:21:33 +01:00
thduynguyen 11858da42b fix testSimpleHelicopter 2014-12-25 17:25:42 -05:00
dellaert afe20d83bd Dealing with Pose3 mojo loss 2014-12-25 20:04:28 +01:00
dellaert 47ff09f6c8 Pose3 lost its mojo! But there are errors in Expmap/Logmap derivatives around identity... 2014-12-25 19:43:32 +01:00
dellaert 5c0db68152 Fixed compile error from develop 2014-12-25 18:16:47 +01:00
dellaert 78386ad144 Merge ExmapeDerivative/LogmapDerivative changes from 'origin/develop' into feature/tighteningTraits 
Conflicts:
	gtsam/base/LieScalar.h
	gtsam/geometry/Point2.h
	gtsam/geometry/Point3.h
	gtsam/geometry/Rot3.h
	gtsam/geometry/Rot3M.cpp
	gtsam/geometry/Rot3Q.cpp
	gtsam/geometry/tests/testRot3.cpp
 2014-12-24 13:55:15 +01:00
dellaert d9f5681dc2 Fixed warning 2014-12-24 11:34:53 +01:00
dellaert 3d15868ece Renamed internal::LieGroup -> internal::LieGroupTraits 2014-12-24 01:34:33 +01:00
dellaert ea3b4624d8 Testable concept prereqs check 2014-12-23 14:56:48 +01:00
Mike Bosse 52ec4f0784 fixed serialization tests 2014-12-23 12:35:49 +01:00
dellaert c6ae119414 Tightened what is needed for Lie, i.e., fewer versions of retract/localCoordinates 2014-12-22 23:42:52 +01:00
dellaert f5c9c24330 Corrected sillyness 2014-12-22 23:41:42 +01:00
dellaert 355b938f3a Point3 loses its mojo (superfluous Lie/Manifold stuff) 2014-12-22 17:22:45 +01:00
dellaert 5473550eea Using traits in many places (forced by loss of Point2 mojo) 2014-12-22 16:02:33 +01:00
Mike Bosse 4a708c855f fixed testExpressionFactor.cpp 2014-12-22 11:33:52 +01:00
Mike Bosse a6f612844f fixed testTSAMFactors.cpp 2014-12-22 09:39:51 +01:00