cedabdce81
added first order Gauss Markov model
2014-07-30 18:51:12 -04:00
c298c27793
implemented and unit tested initial version of GPS factor
2014-07-30 14:43:24 -04:00
fc58bf36fb
changed test names
2014-07-28 11:57:42 +02:00
bc2e9959fa
Added matlab wrapper for Rot3AttitudeFactor.
...
Added a couple of functions to access data from the class in Matlab
2014-07-18 16:46:58 -04:00
b721a7ce1f
Added tests in testAHRSFactor and corrected AHRSFactor so that it works.
...
added target in .cproject.
Note that not all tests work. In particular the IMUbias jacobian fails because the dimensions of expected and actual are different.
2014-07-12 23:45:46 -04:00
d8a8d459ae
Moved test and timing targets to their correct locations
2014-06-22 18:51:35 -04:00
96e8dfaf66
Simplified this example a bit
2014-06-22 18:39:11 -04:00
ea0dbf05ef
Name change from k3,k4 to p1,p2 as in OpenCV
2014-06-18 14:36:09 -04:00
a84a9a67d6
moved targets
2014-05-31 18:07:55 -04:00
8fe24183eb
Lago timing
2014-05-31 14:37:29 -04:00
4afb11a2ed
Fixed up examples
2014-05-31 12:51:47 -04:00
8dba25f532
Rationalized some cholesky-related code as I was looking at it.
2014-05-28 10:36:26 -04:00
ededc01ec1
moved target
2014-05-25 13:03:05 -04:00
8806c15b36
fixed possible connectivity issue when smart factors are degenerate
2014-05-23 17:49:42 -04:00
e0500f7b18
added and renamed unit tests
2014-05-22 21:28:00 -04:00
5b717c801f
Moved eclipse targets into tests folder
2014-05-13 21:13:16 -04:00
2649b0fd7a
print variants for KeyList, KeyVector
2014-05-06 13:21:49 -04:00
108357992c
Optimize an incomplete BayesNet
2014-05-06 02:18:52 -04:00
0a2385711b
MATLAB wrapping of TSAMFactors
2014-05-05 10:14:56 -04:00
e65ddf4d87
cleaned up LM with Richard, before merge
2014-03-12 14:24:15 -04:00
fbfa287d4b
added parameters in "print" for LM
2014-02-17 17:43:45 -05:00
e789553261
bug fix: hessianDiagonal seg-faulted with NULL factors
2014-02-15 16:48:15 -05:00
95c13d64dc
Minimal unit test, forgotten by @richardroberts :-)
2014-02-15 12:10:41 -05:00
9af77a9d93
testSymmetricBlockMatrix target
2014-02-15 11:46:58 -05:00
a272264e7d
Added unit test for hessianDiagonal
2014-02-14 01:38:08 -05:00
2ab25b3f65
hessianDiagonal now unit tested for HessianFactor
2014-02-14 01:27:03 -05:00
2a3575fcbc
added measure of fit between original and linearized model in LM
2014-01-27 22:02:02 -05:00
d7dc390130
Particle factor scaffold
2013-12-19 17:14:40 +00:00
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
51f2ba2c7e
RotateFactor can help calibrate a rig *without* SLAM. Relevant math added to math.lyx
2013-12-18 04:45:34 +00:00
8b9d6b78dc
Optimization on the Essential manifold !
2013-12-17 05:54:29 +00:00
6459053cf9
Unit test for essential matrix with prototype code, and lyx file with derivatives
2013-12-17 05:24:12 +00:00
7e8095c2ee
Revived Sphere2, the S^2 manifold that can be used for directions in 3D space
2013-12-17 01:40:48 +00:00
d95ae93f91
Found and fixed the bug in multiplyHessian ! The storage scheme is evil !
2013-11-01 19:37:24 +00:00
4c47e6fcc4
targets
2013-10-31 20:15:20 +00:00
4591835223
gradientAtZero is now implemented in the fcators (Richard says, need to work on efficiency)
2013-10-29 03:42:33 +00:00
f2941ce3b5
target
2013-10-27 02:15:29 +00:00
5e29bc5b67
Return set partitions from DFSMap
2013-10-26 22:22:31 +00:00
b80859211c
Timing DSF variants: functional DSF is faster than in-place, but both way slower than DSFMap, which in turn is slower than DSFBase
2013-10-26 20:14:01 +00:00
48dd3cb769
DSF with Map, allows more general types
2013-10-26 17:57:03 +00:00
0dbd016ca9
Cleaned up DSFVector and added pairwise matches example
2013-10-26 15:02:30 +00:00
02da1a439e
Small change with map_values, target
2013-10-25 21:35:38 +00:00
7f9036386c
Targets and comments only
2013-10-25 05:58:32 +00:00
42538c0252
unit tested multiplyHessian in HessianFactor
2013-10-24 23:12:18 +00:00
6f7d4ddb50
added multiplyHessian in HessianFactor (not ready)
2013-10-24 22:22:29 +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
c6d0cb4cba
renamed Visual SLAM -> SFM, reserve SLAM for problems where we have odometry
2013-10-18 05:31:55 +00:00
175cc03f11
some targets
2013-10-18 04:29:57 +00:00
85c52668c6
added targets
2013-10-18 01:25:15 +00:00
1f293294fd
Some refactoring in Cal3Bundler
2013-10-12 15:04:26 +00:00
7d0674fe4b
Inlined derivatives in Cal3DS2, gets rid of a lot of duplicated calculations.
2013-10-12 07:07:08 +00:00
71466e8476
Added effing *unit tests* for PinholeCamera. It is pretty terrible that there were none !
2013-10-12 05:15:01 +00:00
0985758cec
Added graphviz example to show how to produce cool graphs from GTSAM
2013-09-06 20:07:40 +00:00
d0cc7fbccc
File with common simulated data.
2013-08-30 04:23:45 +00:00
f4fd43391f
make targets
2013-08-16 19:47:24 +00:00
2d413e05c6
Removed functions largely supersceded by newer bayes tree functionality
2013-08-16 16:32:19 +00:00
0cb6e97803
Added stack function that takes a vector of matrix blocks
2013-08-09 16:24:45 +00:00
2e085ace91
Changes in SmartProjectionFactor
2013-08-05 19:25:08 +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
cf5a43a6c6
WhiteNoiseFactor was defunct but now compiles and has at least one (simple) test. Shame on whomever moved this to GTSAM for not adding a test.
2013-06-18 04:37:46 +00:00
19f7da62dd
Refactored existing serialization functionality, added exposed interface for serialization
2013-06-12 19:30:20 +00:00
361682c485
Working on a test for liquefy
2013-06-11 14:36:51 +00:00
640fcd94b1
Added stream operator <<
2013-06-05 23:41:46 +00:00
f4ad135040
testVelocityConstraint3.run target
2013-06-05 23:39:42 +00:00
1d9000724d
Moved AHRS to gtsam_unstable
2013-05-20 23:16:44 +00:00
81f63bcc0e
Rearranging summarization, now with unit test in gtsam
2013-05-08 10:11:45 +00:00
26f5f93c60
Added Pose3::align() for labeled correspondences. Fixed depreciated make targets.
2013-04-29 18:06:33 +00:00
da334ed8a2
Added linear tools (including summarization) from MastSLAM
2013-03-23 20:19:36 +00:00
3c2e037b16
Moved geometry components from MastSLAM for Pose3Upright, BearingS2, SimWall2D and SimPolygon2D
2013-03-23 20:19:30 +00:00
38ee915669
Fixed targets
2013-03-19 18:05:59 +00:00
eed9cf1e5c
Fixed permutation function in BayesTree to properly update the nodes listing. Added assertion to removeClique() to fail under malformed bayes trees.
2013-02-18 18:26:36 +00:00
ca4cf782f2
New, better expmap tests (quarter turn, half turn, full turn)
2013-01-03 16:00:25 +00:00
a33bc9c909
After enabling building of timing scripts on make all, there were several tests that don't compile. Broken tests are currently disabled in cmake, in both base and linear subfolders
2012-12-29 02:23:32 +00:00
237da8b3a7
Moved LinearContainerFactor to gtsam/nonlinear and removed the now-redundant LinearizedFactor from gtsam_unstable
2012-11-21 19:41:24 +00:00
b4460850c6
Added tests for error() in linear factors for case when the VectorValues has more values than a factor does. Added subvector() to VectorValues to isolate a particular set of indices for use in HessianFactor::error().
2012-11-21 19:02:09 +00:00
0ef12f2f20
Moved in reference frame factor from MastSLAM
2012-09-19 02:23:43 +00:00
cdf45105c2
Fixed shortcuts after adding several more problematic testcases
2012-09-17 00:29:03 +00:00
db57f1872a
jointBayesNet function avoids conversion to factorgraph (which was converted back to a BayesNet in shortcut calculation)
2012-09-16 16:06:28 +00:00
de66a5cd4a
Added unit test targets
2012-09-16 14:35:59 +00:00
16c8cfb1cf
Better set calculations
2012-09-16 13:28:50 +00:00
e26ab012de
custom clique checks Combine and DiscreteBayesTree construction (testing 32000 configurations :-))
2012-09-15 13:21:43 +00:00
c4c5dec9a3
Fixed testIterative unit tests
2012-09-05 03:06:22 +00:00
fc1a43e585
Reverting - Fixed incorrect test case in testFactorGraph (reverse-merged from commit 34e4c87523093f77f26a5c378763a715d56452b7)
2012-08-31 15:18:36 +00:00
e5fe979ea5
Fixed incorrect test case in testFactorGraph
2012-08-31 02:19:00 +00:00
878c79f265
Reworked PoseRotationPrior with better tests and no dependence on PartialPriorFactor
2012-08-27 16:51:52 +00:00
12290dc7b2
Added linearization points to LinearContainerFactor. Fixed bug with localCoordinates() in Values
2012-08-27 01:11:37 +00:00
3794c2a7b7
Reworked PoseTranslationPrior so that it actually works now
2012-08-20 14:25:07 +00:00
d7f6a79967
Refactor in GaussianISAM to make solver easier to use/modify. Added non-const interface to nodes in Bayes Tree. Added separate eclipse make target for check (with default -j params) and "check j1" to force -j params.
2012-08-12 19:52:20 +00:00
93f995065f
Aligned example with manual, fixed example make targets
2012-08-04 21:56:21 +00:00
73d64d04a8
Removed unused make targets, changed wrap structure for PosePartialPriors
2012-08-03 19:49:26 +00:00
b211c1070d
Rearranged the inverse depth factor/camera, created a gtsam_unstable/geometry folder - run cmake to find the new/moved files
2012-08-02 20:47:16 +00:00
5becf405f8
load2D wrapped, but pair argument does not work?
2012-07-26 01:40:07 +00:00
8580d3dec5
Added clean_doc target to remove generated doxygen documentation
2012-07-15 19:57:31 +00:00
88b51d45b8
Added doxygen support via cmake using 'make doc'
2012-07-14 21:39:58 +00:00
6daa86f137
Fixed C++ versioning issue in wrap, now compiles and toolbox passes matlab tests, testWrap now compiles but does not pass
2012-07-10 14:21:56 +00:00
b33713a02e
Merge branch 'master' into new_wrap_local
...
Conflicts:
.cproject
gtsam.h
2012-06-30 20:04:12 +00:00
3c0ea754df
make targets for cleaning wrap
2012-06-29 19:05:49 +00:00
6d776812d3
new wrap! :)
2012-06-26 18:52:27 +00:00
b1dbfab1b3
All SLAM Graph classes now derive from a common base class "EasyFactorGraph", to avoid duplicating the common optimize convenience methods.
2012-06-24 21:53:05 +00:00
188478e4ed
make targets for cleaning wrap, comments in gtsam.h
2012-06-23 19:24:57 +00:00
9b473023e6
Fixed warnings
2012-06-23 18:12:15 +00:00
10b4c87c07
Fixed duplicate path warnings. Let me know if this causes problems. Don't know exactly what the problem or correct fix was/is.
2012-06-22 21:46:19 +00:00
7a48a03b25
targets, ignore
2012-06-22 18:26:05 +00:00
8789201822
Added mechanism to create a constrained ordering directly from a NonlinearFactorGraph
2012-06-20 01:35:42 +00:00
7c475d83c3
Comments and additional test regarding permutations and orderings
2012-06-20 00:01:49 +00:00
4ec1cc9e5a
ignore .mat files, more targets
2012-06-18 14:04:50 +00:00
0b04e0273e
Some targets
2012-06-13 10:50:56 +00:00
9e26b32daa
Fixed Symbol problem - related to using std::numeric_limits::max() statically on keys created outside of functions
2012-06-09 19:43:14 +00:00
f45c236585
Isolated exception case for use of Symbol.key(), removed use of Symbol in several tests. Removed "using namespace xxx" in header
2012-06-09 19:17:15 +00:00
a5f3f75d1d
Removed mex make flag
2012-06-08 17:12:08 +00:00
111ef8a0f0
Moved LinearizedFactor from MastSLAM, started on a test for LinearContainerFactor
2012-06-07 18:16:37 +00:00
74138787e8
testPoseRTV no longer fails when using quaternions - still should add full analytical derivatives, however.
2012-06-06 12:44:06 +00:00
3a9b647b8f
Updated expected wrap values
2012-06-06 12:03:49 +00:00
d9e1c7b959
new target
2012-06-04 22:27:10 +00:00
9efcf8e17c
Added option to include path to mex executable in CMake
2012-06-04 21:01:25 +00:00
e1725fb8e3
Fleshed out support for building MEX binaries during gtsam build
2012-06-04 15:33:16 +00:00
0baa83cf45
Another rename
2012-06-03 20:11:40 +00:00
bd7724781d
Manhattan world example with covariances, in C++ and MATLAB
2012-06-03 18:20:48 +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
efd94014b7
Added check.unstable target - currently runs each unstable group separately, however
2012-05-25 16:12:55 +00:00
69e91e32b6
Fixed some test targets
2012-05-22 17:57:30 +00:00
5145018053
Fixed some test targets
2012-05-22 12:28:17 +00:00
54f6f3629c
Added clone() functionality to nonlinear factors
2012-05-21 20:54:40 +00:00
f7349704f8
Moved constraint satisfaction stuff to gtsam_unstable (in progress!).
2012-05-15 00:47:19 +00:00
f2c7e891c4
Added 'unsigned char' as argument option to wrap, added make targets
2012-05-04 18:50:36 +00:00
a095b156c1
Added wrap support for gtsam_unstable
2012-05-03 17:03:27 +00:00
29ea1450eb
Removed some obsolete code in discrete
2012-05-03 12:23:34 +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
59a2c01c75
Fixed linking problem on gcc: lists of libraries to link against are order dependent
2012-04-16 17:02:48 +00:00
c4f31ea273
Added function to set random seed for static RNGf
2012-04-13 15:42:12 +00:00
08bacd544f
Added make targets for creating binary/source packages for gtsam
2012-04-10 17:13:59 +00:00
204b36fc05
Changes to make ROS hooks work with cmake
2012-04-01 22:21:07 +00:00
8a65b270ae
Rearranged build targets
2012-03-22 18:53:49 +00:00
e6d1c37ded
Adjusting warning flags, added "verbose" make targets
2012-03-04 17:46:29 +00:00
a0e3fe4730
Added invert() to Ordering to enable decoding of linearized factors, changed all target back to use workspace build settings (such as not -j5)
2012-02-29 16:05:43 +00:00
58b64da525
Added better printout of configurable cmake options at the end of configuration
2012-02-29 04:11:48 +00:00
b5bb607a44
Added constructors to Values from filtered views
2012-02-27 21:05:05 +00:00
64ca0df5df
Rerranged make targets, added back missing cmake option
2012-02-24 21:35:36 +00:00
84f5d87b52
Reworked Values filtering to use boost range, so much less code and simpler syntax
2012-02-24 16:45:48 +00:00
565185da02
Added cmake targets, expanded on the Values filtering test
2012-02-22 15:58:06 +00:00
b9dd42d7af
Project file
2012-02-21 22:18:40 +00:00
3bd1aa13fc
Started print formatter
2012-02-20 17:02:59 +00:00
4e008377bd
Updated project (testing)
2012-02-15 15:31:28 +00:00
0409c1c7ee
Adding faster compilation options for distribution in CMake
2012-02-14 18:03:29 +00:00
9856a7c7aa
Removing extraneous make targets
2012-02-13 21:37:10 +00:00
0d2a9018e3
Merged sub-branch into 2.0_prep branch
2012-02-08 22:05:24 +00:00
7e72051814
Trying to debug serialization error
2012-02-03 17:27:31 +00:00
c901ceee27
wrap: forward declarations now allow for namespaces
2012-02-01 15:19:34 +00:00
Luca
dellaert
krunalchande
Frank Dellaert
Andrew Melim
Luca Carlone
Alex Cunningham
Richard Roberts