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
krunalchande
dellaert
Luca
Frank Dellaert
Andrew Melim
Luca Carlone
Alex Cunningham
Richard Roberts