Zsolt Kira
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a95126599f
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Fix LM behavior when GaussianFactorGraph is subclassed. Use clone method instead of assignment to local GaussianFactorGraph when creating damped system.
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2014-04-24 09:47:48 -04:00 |
Luca
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8c657f8857
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slight change in implementation of hessianBlockDiagonal
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2014-04-23 19:00:15 -04:00 |
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Luca
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d9e93f316a
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error computation now does not include noise model
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2014-04-23 18:43:14 -04:00 |
djensen3
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c1ab0053eb
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fixed bug with IMU bias. added option to delay start of GPS factors
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2014-04-23 16:06:03 -04:00 |
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Luca
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2b52bad569
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optimized point damping
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2014-04-23 15:15:48 -04:00 |
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Luca
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e56666e85c
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fixed print function
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2014-04-23 14:53:01 -04:00 |
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djensen3
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87f9e5bb2c
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completed GPS factors
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2014-04-23 14:45:17 -04:00 |
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djensen3
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2ab81ae997
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working on GPS factors
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2014-04-23 12:39:47 -04:00 |
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djensen3
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13d47fcee4
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added IMU type 2 with noise
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2014-04-23 08:58:50 -04:00 |
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Luca
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37b750411f
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added gradientAtZero with raw memory access
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2014-04-22 18:38:12 -04:00 |
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Luca
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67cfe5ea66
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moved logging at the end of the iteration
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2014-04-22 11:55:16 -04:00 |
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Luca
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e98c4c2ac2
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added output message for TRYLAMBDA verbosity level
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2014-04-21 19:18:21 -04:00 |
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Luca
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dd780e356c
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fixed computation of linearized error in implicit schur factors
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2014-04-21 18:59:33 -04:00 |
Chris Beall
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9dbabbc847
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Another Windows fix. Everything now builds, as long as METIS and GeographicLIB are off.
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2014-04-18 10:36:33 -04:00 |
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Chris Beall
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36f53f7226
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Fix errors on Windows with VS 2010
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2014-04-17 23:53:41 -04:00 |
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Chris Beall
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1ed2700515
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Fix errors on Windows with VS 2010
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2014-04-17 22:49:04 -04:00 |
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djensen3
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5abf0b01ea
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Added option for constant IMU bias
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2014-04-17 22:21:22 -04:00 |
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Chris Beall
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d3333c1c85
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Fix errors on Windows with VS 2010
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2014-04-17 22:07:55 -04:00 |
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Luca
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26c296603f
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fixed use of 2nd order integration in matlab wrapper
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2014-04-17 16:23:29 -04:00 |
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Luca
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a0a955e5a5
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fixing imu simulator for non-identical rotations
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2014-04-17 16:14:32 -04:00 |
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Luca
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322e3e08c8
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consistent IMU factor1
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2014-04-17 16:08:38 -04:00 |
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Luca
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3cae615991
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amost fixed imu simulation
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2014-04-17 16:00:18 -04:00 |
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Luca
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2e3dcd2ab7
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code reorganization
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2014-04-17 15:23:01 -04:00 |
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Luca
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9bc0ddd4a2
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minor fixes
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2014-04-17 14:11:18 -04:00 |
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djensen3
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e1c13c87d7
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Added option for type 2 IMU factors
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2014-04-17 10:09:53 -04:00 |
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Luca
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4552327e54
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added space :)
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2014-04-16 19:41:23 -04:00 |
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djensen3
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b5f9862274
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fixed bug with missing priors. Added IMU noise measurements to Monte Carlo runs
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2014-04-16 16:20:10 -04:00 |
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djensen3
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1432fb773b
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minor changes
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2014-04-16 15:25:05 -04:00 |
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djensen3
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b85ebb501d
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restructuring code to utilize functions and reduce size of primary script
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2014-04-16 15:01:12 -04:00 |
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Luca
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8367d45e48
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improved matlab code for consistency check
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2014-04-15 12:12:39 -04:00 |
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Luca
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765c5a534e
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Merge branch 'origin/feature/new_imu_factors'
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2014-04-15 11:07:12 -04:00 |
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Luca
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e232b6085b
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wrapping smart factors
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2014-04-15 11:06:38 -04:00 |
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djensen3
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75b042bbcd
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Working on IMU factors. made changes to noise
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2014-04-15 11:05:43 -04:00 |
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Luca
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bd218feada
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Merge branch 'develop'
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2014-04-15 10:57:20 -04:00 |
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Luca
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f63db8859b
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addind wrapper for smart factors
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2014-04-15 10:56:17 -04:00 |
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djensen3
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97dd2fb931
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Added camera factors to ground truth creation
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2014-04-14 14:38:20 -04:00 |
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Luca
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926b4c6443
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removed temporary variables - minor
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2014-04-14 11:41:55 -04:00 |
jing
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fe81828a2c
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add Serialization function to Unit3 and EssentialMatrix classes
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2014-04-11 15:33:35 -04:00 |
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Luca
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f38d8d7c83
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completed test infrastructure for simulated and real consistency tests
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2014-04-10 22:56:46 -04:00 |
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Luca
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46c6d41cd6
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fixed test on real data (gt)
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2014-04-10 22:00:07 -04:00 |
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Luca
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24157ca124
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working on imu test
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2014-04-10 19:26:53 -04:00 |
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Luca
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c20dd18ab7
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renaming
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2014-04-10 18:48:29 -04:00 |
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djensen3
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a92b3b2339
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Added IMU factors to ground truth factor graph.
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2014-04-10 13:26:10 -04:00 |
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Luca
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6ef11bb297
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removed debug statements
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2014-04-09 21:14:38 -04:00 |
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Luca
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4bdefc3f70
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removed debug bloks
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2014-04-09 21:04:52 -04:00 |
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Luca
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dc7b5d58c0
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implemented efficient update of Hessian matrix via Schur complement
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2014-04-09 21:01:03 -04:00 |
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Luca
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d8fafce224
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minor changes to cout when verbosity is TRYLAMBDA
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2014-04-09 21:00:38 -04:00 |
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djensen3
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a58d00c0f9
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Fixed bug
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2014-04-09 11:34:59 -04:00 |
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Luca
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4123053c81
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progress on grouping - still seg faults
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2014-04-08 18:55:42 -04:00 |
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djensen3
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d677d1781d
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Added flag to use scenario 2 ground truth data
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2014-04-07 23:12:31 -04:00 |