44ec8ba8c0
make covariance() use fast triangular inverse and use that for sigmas
2020-03-27 23:22:42 -04:00
a59786c809
undo sigma checks, and use explicit triangular view to perform inverse of R matrix
2020-03-27 07:54:50 -04:00
1cb7b223ae
faster computation of sigmas in NoiseModel
2020-03-17 16:46:01 -04:00
b0f7d3498b
simpler checks for infinity in NoiseModel
2020-03-17 16:46:01 -04:00
7d86b073e6
Removed boost/random usage from linear and discrete directories
2020-02-28 07:21:54 -08:00
73542d980a
Move mEstimator into separate file
2019-11-12 14:33:56 -08:00
1240339dc2
formatting; removed virtual from derived classes; added default values for L2WithDeadZone constructor to allow serialization
2019-10-09 15:33:53 -04:00
431c37090a
removed const declarator from and functions, implemented DCS residual
2019-10-08 21:25:41 -04:00
4be8d8a758
Robust Estimator Updates
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- Moved implementations of residual and weight to NoiseModel.cpp.
- Added `const` to function arguments and variables in `residual` and `weight`.
- Aliased Welsh to Welsch.
- Formatting.
2019-10-08 20:30:12 -04:00
8280a082bd
implemented residual functions for common M-estimators and added corresponding tests
2019-10-02 04:04:34 -04:00
a614e5efa1
Merge pull request #115 from borglab/fix/absolute-value
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C++11 Absolute Value
2019-09-19 07:45:40 -04:00
ff1f37c26f
replaced fabs with c++11 std::abs
2019-09-18 18:30:26 -04:00
f72322c4a4
Added old code back wrapped in deprecated flag
2019-09-02 14:11:56 -07:00
2f8238a956
Fixed spelling for Welsch and added to gtsam.h
2019-08-28 17:28:10 -07:00
fbe9aac41c
squash local changes on top of gtsam upstream pull from 6/14/2016
2016-06-18 23:13:59 -07:00
a0661b3813
Almost done. Still need to figure out how to remove the remaining 3 occurrences.
2016-05-21 12:44:46 -04:00
b6728ef620
Deprecated Vector ones(size_t n). All unit tests pass.
2016-04-15 17:30:54 -04:00
026a0f59fe
Deprecated repeat() in Vector.h.
2016-03-11 23:10:18 -05:00
2f146e85ef
Deprecated esqrt() from Vector.h.
2016-03-11 14:34:19 -05:00
0372a959ee
Many small improvements, bug-fixes, and tests
2016-02-24 11:01:19 -08:00
5afdc24ca7
Merged in feature/typedefPoint3 (pull request #225 )
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Point3 -> Vector3
2016-02-18 11:13:33 -08:00
a10f462fef
Fixed warning
2016-02-17 12:36:57 -08:00
b96aa63370
Add Gaussian::Covariance NOTE about inverse
2016-02-12 15:39:28 -05:00
b9c63ef5df
Fix and optimize DCS
2015-08-20 16:03:56 -04:00
44ae7bfe01
Fix generalized Geman-McClure
2015-08-20 16:03:56 -04:00
6cdc1de268
Use fabs in Huber condition
2015-08-20 15:45:12 -04:00
2969d61519
Add Geman-McClure robust kernel
2015-08-18 22:46:36 -04:00
7d256ff2fb
Add DCS robust kernel
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DCS (Dynamic Covariance Scaling) from Robust Map Optimization (Agarwal13icra)
2015-08-18 22:46:36 -04:00
f8205bfe02
Merge branch 'develop' into feature/SmartFactors3
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Conflicts:
gtsam/geometry/CalibratedCamera.h
gtsam/geometry/tests/testCalibratedCamera.cpp
gtsam/geometry/triangulation.h
gtsam/nonlinear/ExpressionFactor.h
gtsam/slam/SmartProjectionFactor.h
gtsam_unstable/slam/SmartStereoProjectionFactor.h
tests/testExpressionFactor.cpp
2015-06-19 16:55:30 -04:00
7ec26ff323
Added Whiten
2015-06-10 18:27:10 -04:00
d8b531aaba
attempt to fix strange MKL-related error
2015-05-15 00:19:39 -04:00
13a4da21b2
misc bugfixes and cleanup from skydio
2015-05-13 22:26:24 -07:00
4ba329c23b
Fixed many warnings on Ubuntu
2015-05-12 13:46:24 -07:00
c5394da29e
Better print of isotropic
2015-02-25 19:29:12 +01:00
c2feb239fb
whitenInPlace
2015-02-22 21:50:58 +01:00
64000bb747
Cleaned up handling of constraints, removed Constrained smart option as was not used, and discovered there was already an "isConstrained" method.
2014-11-25 13:45:59 +01:00
a61b49dafa
remove augmented parts in constraint noise model hack
2014-10-17 15:25:40 -04:00
8f493d6ee5
Formatting only
2014-05-31 22:10:51 -04:00
89e6e27301
Additional unit test
2014-05-31 20:29:00 -04:00
e48fa756c0
Fixed bug in the n==0 case
2014-05-28 22:31:20 -04:00
0c95959510
Changed to size_t, still fails some assertion
2014-05-28 22:31:20 -04:00
e730da95c4
Smarter noise models: Diagonal::Sigmas is now actually smart, and Gaussian::SqrtInformation now has a smart flag (default is true)
2014-05-28 09:17:31 -04:00
a2c3b8e083
remove changes in gtsam/linear/NoiseModel.cpp to fix unit test failures
2014-01-27 15:13:37 -05:00
837085e5d4
Merge branch 'origin/release/2.4.0'
2014-01-25 11:45:59 -05:00
b08e889222
removed assertion that apparently fails in a bunch of places
2014-01-04 20:13:00 -05:00
dfb3e60171
Fixed issue with serialization by actively changing inf/nan values to zero in constrained noisemodel. Updated WhitenInPlace() and distance(). Apparently this caused a bunch of other unit tests to fail, though.
2014-01-04 20:01:05 -05:00
f8fbfaea50
Use precisions_ where possible
2014-01-04 10:14:59 -05:00
a3003a0736
Merge branch 'origin/release/2.4.0'
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Mainly improvements in EssentialMatrix stuff, but also has the new precisions in the diagonal noise model.
2014-01-04 00:29:32 -05:00
6f64b20a5b
The precisions are used many many times in HessianFactor::updatATA, so I added them to the NoiseModel. The invsigmas are no longer optional and hence do not cause extra allocation at every invocation. Same with precision: returns const &
2014-01-02 18:05:44 -05:00
d5271dfff7
fixed warning
2013-10-30 12:08:58 +00:00
Varun Agrawal
Frank Dellaert
Francesco Papi
Frank Dellaert
Alice Anderson
Abe
yao
Alex Hagiopol
Frank
Frank Dellaert
Enrique Fernandez
Luca
cbeall3
thduynguyen
jing
Alex Cunningham