c1ab0053eb
fixed bug with IMU bias. added option to delay start of GPS factors
2014-04-23 16:06:03 -04:00
87f9e5bb2c
completed GPS factors
2014-04-23 14:45:17 -04:00
2ab81ae997
working on GPS factors
2014-04-23 12:39:47 -04:00
13d47fcee4
added IMU type 2 with noise
2014-04-23 08:58:50 -04:00
5abf0b01ea
Added option for constant IMU bias
2014-04-17 22:21:22 -04:00
26c296603f
fixed use of 2nd order integration in matlab wrapper
2014-04-17 16:23:29 -04:00
a0a955e5a5
fixing imu simulator for non-identical rotations
2014-04-17 16:14:32 -04:00
322e3e08c8
consistent IMU factor1
2014-04-17 16:08:38 -04:00
3cae615991
amost fixed imu simulation
2014-04-17 16:00:18 -04:00
2e3dcd2ab7
code reorganization
2014-04-17 15:23:01 -04:00
9bc0ddd4a2
minor fixes
2014-04-17 14:11:18 -04:00
e1c13c87d7
Added option for type 2 IMU factors
2014-04-17 10:09:53 -04:00
b5f9862274
fixed bug with missing priors. Added IMU noise measurements to Monte Carlo runs
2014-04-16 16:20:10 -04:00
1432fb773b
minor changes
2014-04-16 15:25:05 -04:00
b85ebb501d
restructuring code to utilize functions and reduce size of primary script
2014-04-16 15:01:12 -04:00
8367d45e48
improved matlab code for consistency check
2014-04-15 12:12:39 -04:00
75b042bbcd
Working on IMU factors. made changes to noise
2014-04-15 11:05:43 -04:00
97dd2fb931
Added camera factors to ground truth creation
2014-04-14 14:38:20 -04:00
f38d8d7c83
completed test infrastructure for simulated and real consistency tests
2014-04-10 22:56:46 -04:00
46c6d41cd6
fixed test on real data (gt)
2014-04-10 22:00:07 -04:00
24157ca124
working on imu test
2014-04-10 19:26:53 -04:00
c20dd18ab7
renaming
2014-04-10 18:48:29 -04:00
a92b3b2339
Added IMU factors to ground truth factor graph.
2014-04-10 13:26:10 -04:00
a58d00c0f9
Fixed bug
2014-04-09 11:34:59 -04:00
d677d1781d
Added flag to use scenario 2 ground truth data
2014-04-07 23:12:31 -04:00
ed6788fff4
fixed bug
2014-04-07 11:56:22 -04:00
dfda7fad89
minor changes to matlab covariance test
2014-04-06 21:43:53 -04:00
d325fd1251
working covariance example
2014-04-06 21:05:13 -04:00
d394ec5574
Added ground truth factor graph creation. Added OdometryExample3D as a modified version of OdometryExample for reference (can be removed later)
2014-04-04 17:00:20 -04:00
eaf298bd18
starting covariance analysis on between factors (monte carlo runs)
2014-04-03 11:34:26 -04:00
4f59431d5d
Merge branch 'develop'
...
Conflicts:
.cproject
gtsam/navigation/.gitignore
gtsam/navigation/CombinedImuFactor.h
gtsam/navigation/ImuFactor.h
2014-03-25 16:26:27 -04:00
98712b21c9
additional info saved for monte carlo tests
2014-02-25 14:12:24 -05:00
dfcd2cb3ba
added random initial positions to monte carlo tests
2014-02-19 16:57:15 -05:00
3a7a636f0f
minor
2014-02-17 10:41:42 -05:00
8f39734580
extra lines.. to be completed
2014-02-17 10:34:02 -05:00
794a22249b
small change
2014-02-17 10:13:27 -05:00
4ef8cec118
added monte carlo runs
2014-02-14 17:41:58 -05:00
e65d075c20
added option for external initial conditions
2014-02-14 10:22:21 -05:00
a01fe12ee6
fixed velocity in rotating frame
2014-02-13 17:32:16 -05:00
b21a46c437
added velocity error figure
2014-02-13 16:16:49 -05:00
8f4c3fd02d
Fixed issue with velocity errors
2014-02-13 16:01:35 -05:00
1766b83adb
added rotation error
2014-02-13 15:47:58 -05:00
ed1bcb2761
Fixed initial velocity
2014-02-13 14:34:38 -05:00
0fabfc39c2
TODO list
2014-02-13 10:34:06 -05:00
d126fc8f24
Added velocity error plots to coriolisExample
2014-02-13 09:42:42 -05:00
7b9008933b
Added realistic values test to coriolisExample.m
2014-02-12 18:34:33 -05:00
e43ece27ee
Additional output messages and trajectory length calculations
2014-02-12 13:16:44 -05:00
38e0e411fb
Added IMU type 2 to coriolis example.
2014-02-11 11:13:13 -05:00
6a91d7405c
covarianceEllipse now returns the matlab handle for the lines object to allow for additional formatting by the user
2014-02-09 20:34:18 -05:00
1b13c14d79
Added error plots to coriolisExample
2014-02-06 17:02:51 -05:00
3e7e4d19f6
coriolisExample: added basic IMU inference and fixed a plotting bug
2014-02-06 15:10:36 -05:00
f327a4ab46
Renamed 'testCoriolis' to 'coriolisExample' and added comments
2014-02-05 09:43:05 -05:00
5a8dab068e
Added a matlab test for earth rotation
2014-02-04 11:24:17 -05:00
29ae7226bc
Adding imuSimulator directory from old branch for new imu factors
2014-01-28 12:19:25 -05:00
8688fc85d0
MATLAB wrapping and Monocular VO example
2013-12-17 16:18:31 +00:00
511ab6334d
Added a matlab version of the EXPECT assertion that throws a warning rather than an error on failure
2013-10-30 16:12:15 +00:00
d1ff62d640
Optional std deviation scaling (developed with Frank)
2013-10-29 14:34:41 +00:00
0e5069c26c
Added toy example on SmartRangeFactors
2013-09-14 00:21:10 +00:00
8e9556d900
Fixed dataset paths
2013-08-27 17:22:33 +00:00
fedf276160
When GTSAM_BUILD_TYPE_POSTFIXES is enabled, install Matlab toolboxes for different build modes in different directories. Also now using CMake generator expressions to control wrap flags so that build type switching within the IDE works for visual studio and xcode.
2013-08-24 18:23:07 +00:00
deaabeb0bf
Committing correct dataset files for Kitti IMU example
2013-08-13 21:04:44 +00:00
efac059561
Fixed dataset search in IMUKittiExampleGPS
2013-08-13 21:04:40 +00:00
d03aae959e
Moved VO and advanced Kitti IMU matlab examples to unstable
2013-08-13 21:04:37 +00:00
a518dae06a
Fixed GPS Kitti example, VO works but bad results
2013-08-12 20:45:44 +00:00
0320baf3f7
Small updates in IMUKittiExampleVO
2013-08-11 22:57:54 +00:00
d46902ea06
Working IMUKitti example with VO only (slow!)
2013-08-11 22:45:58 +00:00
2f84788c2a
Adjusted sigma
2013-08-09 19:03:38 +00:00
7f5de1c3bc
Added simple Kitti example
2013-08-09 18:50:20 +00:00
334d71ce51
IMUKittiExample: added infrastructure for reading and processing data - work in progress
2013-08-02 20:07:52 +00:00
fc79a13932
Working on IMUKittiExample script
2013-07-31 15:25:06 +00:00
7f2a903bea
Added IMUKittExample
2013-07-30 22:55:56 +00:00
e9a8782a51
Switched datasets
2013-06-25 17:12:01 +00:00
05f883f953
C++ cleanup and dataset switch
2013-06-22 00:49:00 +00:00
49338228a5
Ability to switch between plaza1 and plaza2
2013-06-21 14:17:58 +00:00
169eb4af3e
Range SLAM examples in MATLAB, one SAM, one iSAM
2013-06-20 19:45:51 +00:00
955c13a8bb
Multifrontal solver in toc
2013-06-20 19:45:15 +00:00
6c2a20cee4
Added range ISAM example from Djugash08iser and Boots13icml
2013-06-20 06:51:00 +00:00
6f2cbbb709
Added two new datafiles
2013-06-20 06:50:50 +00:00
278c116785
Cleaned up spurious import statements
2013-06-20 06:49:56 +00:00
456d1b5cf7
Cleanup: moving old serialization function to gtsam_unstable, renaming matlab serializaion test
2013-06-19 17:50:09 +00:00
45b5389f8a
Serialized more classes in gtsam and gtsam_unstable
2013-06-19 17:50:07 +00:00
23de91d44d
serialization works for graph and PriorFactor. Added second flag for serialization: can add "void serializable()" or "void serialize()" to allow for either just exporting (necessary if no default constructor), or implementing the full serialization functions
2013-06-19 17:50:05 +00:00
b5b1eac597
Rearranged serialization test to use new interface, added serialize() flags to Point2 and Values. Serialzing values fails - now to add export commands
2013-06-19 17:50:01 +00:00
46ea1d229d
Added test for serializing to file in matlab, graph still fails
2013-06-13 14:53:18 +00:00
527ea5e511
Moved serialization tests over to a single test scenario - factors don't appear to work at the moment
2013-06-12 20:01:59 +00:00
e69af84c36
Added wrapping for graph/values serialization with tests in Matlab. Values serializes correctly, but graphs do not in either case.
2013-06-12 19:30:22 +00:00
edffa347a8
added documentation for noisemodel
2013-06-06 02:23:20 +00:00
75803f0229
smart indent, and change push_back to add
2013-05-21 21:22:55 +00:00
8e26da7396
Added matlab version of the Concurrent Filtering and Smoothing example
2013-05-21 21:07:45 +00:00
e8cb5491f0
Added function to convert from a Rot3 to a vector quaternion that works in matlab. Fixed plot2DTrajectory to actually plot poses when there are no marginals
2013-03-25 17:58:11 +00:00
06be7b4926
Added actual plotting of Pose2s when there aren't covariance ellipses
2013-03-25 16:01:49 +00:00
499a58359c
Corrected order in sigma vector for Pose3SLAM matlab examples
2013-03-06 22:07:13 +00:00
cdf5e83dee
Updated gtsam CMake files from changes to wrap CMake files
2013-01-28 17:03:19 +00:00
dec1774923
Fixed rather embarassing bug in EQUALITY, with Natesh
2012-11-12 21:40:13 +00:00
c6f7fa8fb7
Check that P is non-empty before drawing covariance ellipses
2012-09-18 17:48:20 +00:00
b95210a5f0
Plot Bayes tree within matlab ! (dot -> png -> imread -> imshow).
2012-09-15 03:05:22 +00:00
107d293ed7
Removed debug printing
2012-09-15 02:56:19 +00:00
ea6655beba
Fixed thin tree indexing, and conditionals
2012-09-15 02:54:42 +00:00
a9cae46b10
Plot Bayes net within matlab ! (dot -> png -> imread -> imshow).
2012-09-15 02:53:54 +00:00
8d85d679cd
Debugged the thinTree. Now works with tree indexing starting at 1 at the root. TODO : make it work with index 0 on a leaf.
2012-09-14 23:46:21 +00:00
0357559827
Files and test files for the thinTree. To be debugged.
2012-09-14 22:14:37 +00:00
090133f944
Fixed Contents to include new classes and used better ordering.
2012-09-14 20:52:58 +00:00
d8a6b6a5e4
Vastly improved "help gtsam" and "doc gtsam" output
2012-09-08 05:44:26 +00:00
e663d54c3c
Fixed some comments
2012-09-08 05:28:25 +00:00
a553d2f845
fix point prior bug in VisualISAM matlab example.
2012-09-04 19:10:03 +00:00
0d5cb9a7e0
fix figure update bug in VisualISAMPlot when run with "Save Figures" enabled.
2012-09-04 05:13:35 +00:00
0f6ffcd4b2
add tooltips for VisualISAM_gui in matlab. Known bug: Figure won't update when run with "Save Figures" enabled.
2012-09-04 04:19:47 +00:00
e9eb96a408
wrap iterative solver, subgraph solver, etc.
...
fix the matlab spcg example
2012-09-03 21:50:22 +00:00
c662cdca11
Fixed installing .svn directories in matlab toolbox
2012-09-03 18:30:34 +00:00
3d52201402
Adjusted spacing for the buttons in example gui
2012-09-03 18:22:13 +00:00
edef9851dc
Fixed case issue for PlanarSLAMExample_graph
2012-09-03 18:17:16 +00:00
61b6c72363
Added PlanarSLAMExample_Graph to the gui
2012-09-03 17:56:22 +00:00
832072c940
Fixed path
2012-09-03 00:13:35 +00:00
49a704c565
Install MATLAB toolbox README along with toolbox
2012-08-30 20:17:27 +00:00
f0d49f21f8
Added toolbox readme from release branch
2012-08-30 18:10:07 +00:00
4106afdaa0
Better graphics, with points
2012-08-25 14:26:02 +00:00
9230458e06
Planar SLAM example from factor graph talk
2012-08-24 22:03:24 +00:00
ee87b51a9f
small changes
2012-08-06 13:12:03 +00:00
695523a497
Fixed "import gtsam.*" gluttony
2012-08-05 19:31:27 +00:00
abdf46d494
Synchronizing C++ and MATLAB example again. Please coordinate with me before changing the values in the examples: changing them generates work in the manual and in the MATLAB examples.
2012-08-05 18:44:36 +00:00
061b6ddc08
Moved all in gtsam_utils to gtsam namespace
2012-08-03 21:02:45 +00:00
da1a732eff
Merged duplicate Pose2SLAMExample_graph.m examples in different directories
2012-07-30 18:34:50 +00:00
9d2a3bf14e
Finished denamespacing and reorganizing matlab code
2012-07-27 19:02:11 +00:00
c2935c5dd1
Replaced calls to the namespace Circle functions with the newly added matlab function
2012-07-26 13:33:40 +00:00
078eb1bb4f
Added matlab functions for generating poses in a circle. This replaces the need for the SLAM namespace functions of the same purpose. I mean it this time. Edited the wrong copy before committing.
2012-07-26 13:23:04 +00:00
f93760327e
Added matlab functions for generating poses in a circle. This replaces the need for the SLAM namespace functions of the same purpose.
2012-07-26 13:08:54 +00:00
1724267c85
Updating matlab unit tests
2012-07-24 15:48:39 +00:00
b63201b20d
Updated remaining matlab examples
2012-07-24 14:23:39 +00:00
cceebbf41c
Moved utility functions that are example-specific to a 'support' namespace inside the examples folder
2012-07-24 13:35:11 +00:00
1b935dbdc5
Added matlab utility functions for plotting 3D points
2012-07-24 13:35:04 +00:00
da598b428d
Updated matlab SFMExample
2012-07-23 22:15:08 +00:00
a99595dda8
Updated some MATLAB utility plotting functions
2012-07-23 22:15:05 +00:00
1db1663800
Updated MATLAB SBAExample
2012-07-23 21:27:44 +00:00
62f28bb798
Updated more matlab examples
2012-07-23 19:21:05 +00:00
080dd7d57c
Updated some of the matlab utility functions
2012-07-23 19:21:00 +00:00
9e278b394a
Converted first 2 matlab examples to not use slam namespaces
2012-07-22 00:57:54 +00:00
f97869cf20
Added plot2DTrajectory matlab function to find all Pose2s in a Values and plot them as a trajectory with optional covariance ellipses
2012-07-22 00:57:39 +00:00
8dbffd4629
Wrap generates Matlab namespaces, so now 'import gtsam.*' allows class names like Values, NonlinearFactor, to be used. Without import, syntax is gtsam.Values, etc.
2012-07-18 15:47:06 +00:00
191d73df0b
Simplified matlab wrapper cmake options
2012-07-13 21:54:52 +00:00
ee51dfd68b
Fixing usage of globals in matlab examples/tests. Currently, tests fail due to handling of noisemodel
2012-07-09 20:04:06 +00:00
18fe7b17d8
wrap sparseBA namespace for matlab and add an example
2012-07-06 17:38:32 +00:00
e437084349
remove a custom constructor for LMParams, update matlab interface and tests accordingly
2012-07-05 15:08:07 +00:00
133fc4ae5c
got rid of pause
2012-06-30 08:34:44 +00:00
f68ba93f3d
Dep checking for cmake
2012-06-30 01:34:04 +00:00
6d776812d3
new wrap! :)
2012-06-26 18:52:27 +00:00
2d0ce1c3ca
Streamlining of SLAM namespaces:
...
planarSLAM Values and Graph now derive from Pose3SLAM.
visualSLAM Values and Graph now derive from pose3SLAM.
Several methods have been renamed to make them consistent through these 4 namespaces:
addPrior -> addPosePrior
addHardConstraint -> addPoseConstraint
addOdometry/addConstraint -> addRelativePose
All gtsam and matlab examples/tests run.
PS: please don't use the deprecated typedefs in these namespaces.
2012-06-24 02:48:12 +00:00
5acc52bbae
add set/get interface for LMParameters in c++ and matlab
2012-06-23 20:07:03 +00:00
eecafcebe7
Fixing Pose2SLAMwSPCG and make a unittest in testPose2SLAM for optimizeSPCG(). Why does SPCG need a constraint between
...
2 poses to work? GaussNewton still works fine without the constraint!
2012-06-22 23:40:04 +00:00
6f1ea87a00
clean up noise model: Remove Shared[NoiseModel] classes and headers, typedef for backward compatibility in NoiseModel.h. Fix all tests and examples to create shared noise models through static functions in noise model classes. Fix MATLAB wrapper and examples as well. Add tests for MATLAB examples
2012-06-22 19:36:49 +00:00
2db389b8cb
Fixed EQUALITY to deal with incorrect size
2012-06-21 15:56:22 +00:00
2c1e30db51
Fix of the StereoVOExample.m in the matlab examples folder
...
The optimize method at line 65 was missing the second argument
2012-06-21 15:14:13 +00:00
3366c673d7
(With Duy) add a matlab wrapper for the LM optimizer and parameters in visualSLAM, have an example in SFMExample.m
2012-06-21 14:28:08 +00:00
615cfee44c
Added verbosity flag in optimize. Really, we should have more sophisticated optimize.
2012-06-19 15:00:41 +00:00
8cf867bdbd
Better EQUALITY
2012-06-16 03:59:12 +00:00
1e190f7c90
Moved CHECK and EQUALITY to top of gtsam
2012-06-16 00:05:30 +00:00
06ed537091
Made display better
2012-06-15 01:01:39 +00:00
13057e7548
added StereoVOExample to GUI
2012-06-14 18:49:53 +00:00
562ec1b630
simplified basic StereoVOExample to use only 3 artificial landmarks and 2 poses
2012-06-14 17:33:58 +00:00
a6ea70da7b
small three pose VO example
2012-06-14 05:10:12 +00:00
2524c632df
Use p instead of l for points
2012-06-14 05:05:41 +00:00
642e180ff7
renamed StereoVO data files
2012-06-14 04:51:42 +00:00
984032e29e
Put back Alex's change that I foolishly undid.
2012-06-14 03:55:01 +00:00
7d3db1c962
Got rid of "Plot" button (as every time you step, you plot)
2012-06-14 03:20:28 +00:00
436afafa03
Fixed Remaining problems with GUI
2012-06-14 03:14:53 +00:00
dd0574ebeb
Fixed broken GUI interface - still uses truth for initialization
2012-06-13 20:41:54 +00:00
87fe727838
Fixed logic error, added odometry
2012-06-13 17:42:06 +00:00
9d0c88c1dd
Exposed truth
2012-06-13 17:40:20 +00:00
63b3b4ecea
Added matlab interface to get indices out of Values structures. Added more matlab symbol functions.
2012-06-13 16:38:51 +00:00
1cbc827512
Changed the data interface for the VisualISAM demos
2012-06-13 14:58:15 +00:00
2678be0646
Fixed up display options in gtsamExamples
2012-06-13 12:22:31 +00:00
89d5f2c4ec
Renamed VisualSLAM to SFM example (as no dometry, and to sync with manual)
2012-06-13 12:14:50 +00:00
0724bd73f3
Use GenerateData
2012-06-13 12:07:02 +00:00
25b4a15e94
Got rid of redundant examples (clutter!)
2012-06-13 12:06:02 +00:00
991d8f3c5f
No more need to convert to double after wrap fix
2012-06-13 12:05:39 +00:00
5b47ab512c
Added checking in VisualISAM to only add measurements/priors/initializations for observed landmarks
2012-06-13 02:31:32 +00:00
b8ca742d3d
Moved demo code back to examples
2012-06-12 18:21:50 +00:00
eb40447a5b
Moved VisualISAM gui components out to core matlab utilities - now usable for building other examples
2012-06-12 16:04:23 +00:00
03a6317a0c
Added LocalizationExample
2012-06-12 05:29:25 +00:00
990eca29db
Added an example selector. Try it using gtsamExamples :-)
2012-06-12 04:46:51 +00:00
f1c5b9f5dc
Renamed some examples
2012-06-12 04:38:05 +00:00
f90ae6feca
Made generateData create ground truth and measurements, and now step only uses the latter.
2012-06-10 22:32:24 +00:00
653d4ef131
No more globals (except in gui and demo)
2012-06-10 18:46:56 +00:00
6b23258b97
options structure all the way
2012-06-10 15:26:59 +00:00
c784a9c7df
Initialize now initailizes first two cameras, makes so much more sense!
2012-06-10 05:00:42 +00:00
7eb449c205
GenerateData is now a function, no globals
2012-06-10 04:25:05 +00:00
44530b2291
I got rid of GlobalVars, added comments, and made "step" plot every time
2012-06-10 03:31:09 +00:00
38ff9a466d
fix some small bugs in VisualISAM_gui. Arrange callback functions.
2012-06-09 05:29:34 +00:00
141d0dbaec
Removed all those comments
2012-06-09 04:58:20 +00:00
6c18af309e
VisualISAMExample in MATLAB with all options enabled.
2012-06-09 04:01:37 +00:00
f3b9bccfd5
-VisualISAMExample now uses only 5 scripts.
...
-Generate data in Initialize callback
-Plot points and first camera without covariance when initialize
-Add VisualISAMDemo script, which calls global, and the gui
2012-06-08 22:36:34 +00:00
3bad1346d6
matlab plotPose3: don't draw covariance if it's empty
2012-06-08 22:34:03 +00:00
017b591f2c
remove visualISAM_gui folders
2012-06-08 20:09:30 +00:00
9b71080625
Visual ISAM gui with global vars
2012-06-08 20:08:53 +00:00
c2c27b08d8
VisualISAM_gui2: add 2 options and take plot out of step
2012-06-08 18:05:58 +00:00
2f2f1875d9
new prototype for VisualISAM_gui from Frank's example with many options
2012-06-08 16:40:30 +00:00
8740da8fb7
Small gui change
2012-06-08 11:02:15 +00:00
cafac0b7a1
VisualISAMgui with figure for 2 datasets.
2012-06-08 08:32:07 +00:00
050cab36d4
remove obsolete iSAMgui
2012-06-08 08:30:55 +00:00
2ebd7a8974
early prototype for visualISAM_gui. No drawing yet.
2012-06-08 03:54:27 +00:00
922822d0b9
updated paths
2012-06-07 21:52:15 +00:00
djensen3
Luca
Alex Cunningham
Richard Roberts
Frank Dellaert
Alex Cunningham
Luca Carlone
Natesh Srinivasan
Stephen Williams
jdurand7
Duy-Nguyen Ta
Yong-Dian Jian
Andrew Melim
Florian Hauer
Chris Beall