92e210b893
Fix examples and Matlab wrapper
2015-08-26 13:25:12 -04:00
29ad9478f7
Move noise model initialization from add function into constructor. Can only have one noise model per factor anyway
2015-08-26 13:02:39 -04:00
6a5147b5b5
Merged in fix/SmartStereo (pull request #181 )
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Fix/smartstereo
2015-08-25 09:51:59 -04:00
07bd7fa2bd
fix examples and wrapper
2015-07-28 15:14:39 -04:00
3bad6fea67
moved RangeFactor to SAM
2015-07-12 12:12:59 -07:00
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
78c8160dc5
all tests pass and it compiles (yuppii!), but if I make check I get errors with isManifold and something that seems unrelated to smart factors. going to merge with develop
2015-06-19 12:06:45 -04:00
057aef90d9
Fixed some more warnings on Ubuntu
2015-05-12 15:05:34 -07:00
a375e7b5be
RADICAL2: The SmartProjectionPoseFactor (soon to be renamed SmartPinholePoseFactor, if it survives at all) now no longer stores shared calibrations. Values expect to contain PinholePoses not Pose3s now. The current state of affairs was simply a bug: one pose could be optimized for several different calibrations. It relied on the user to make sure all measurements for a specific pose to optimize were all given the same shared calibration, which was then stored *millions of times* in the pose factors. Instead, there is now *one* shared calibration per PinholePose unknown.
2015-02-26 13:55:16 +01:00
64bb6b77d7
Merged in feature/SmartCT (pull request #107 )
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Refactoring of Smart Factors
2015-02-22 06:14:19 +01:00
9b5136d35c
Moved examples
2014-12-28 17:15:14 +01:00
401ee70364
Fixed overload resoltion error in template matching by removing overloads in traits
2014-12-28 17:14:04 +01:00
c4457682bc
Fixed header file
2014-12-28 17:13:20 +01:00
e1b453b952
Fixed warning
2014-11-26 17:32:30 +01:00
7b1a9ba371
Merged in feature/TemplatedSmartFactors (pull request #39 )
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Templated Smart Factors
2014-11-25 07:36:14 -05:00
f9ca07e610
Converted Vector(2|3) << ... to Vector2(...) or Vector3(...) syntax
2014-11-23 10:22:25 -08:00
aa093a35da
Updated all comma initializer usages to use .finished()
2014-11-22 16:35:27 -08:00
d00aeb7e70
Formatting and some small problems
2014-11-22 21:48:36 +01:00
dd255eb24c
Remove landmark template parameter
2014-11-19 13:07:14 -05:00
6529b793cc
Some fixes for feedback reported in pull request #39
2014-11-19 12:51:12 -05:00
d24b799988
Merge remote-tracking branch 'origin/develop' into feature/TemplatedSmartFactors
2014-11-14 14:35:25 -05:00
563c4d214c
Renamed BADFactor -> ExpressionFactor
2014-10-09 13:00:56 +02:00
d5709facf6
Added Pose2SLAMExample
2014-10-02 20:20:00 +02:00
8f856ceaf8
Renamed
2014-10-02 20:19:49 +02:00
0800b83285
Slight efficiencies
2014-10-02 11:44:16 +02:00
bef23a2008
ExpressionExample now only uses BADFactors and yields same result as SFMExample
2014-10-02 11:21:24 +02:00
3f5aa0f23e
Expression version of SFMExample (in progress)
2014-10-01 14:10:54 +02:00
f75f26fb63
Fix for Mac
2014-07-22 22:00:33 -04:00
8bad295209
Changed initial noise generation for SmartStereoProjectionFactorExample to Y direction, changed noise generation scale
2014-07-22 12:49:09 -04:00
a297434148
Modified SmartStereoProjectionFactorExample to write optimized poses to file
2014-07-22 09:08:38 -04:00
e7c82652af
Added option to increase initial error in SmartStereoProjectionFactorExample
2014-07-16 14:45:56 -04:00
d68e6b9add
Noisemodel dimension 2->3
2014-07-15 13:09:12 -04:00
4c076fca2d
Added SmartStereoProjectionFactor example
2014-07-15 10:14:23 -04:00
67e0e71802
First script to experiment with Concurrent calibration estimation
2014-06-13 12:17:45 -04:00
9f796565d0
print optimization errors for now
2014-06-12 16:24:03 -04:00
87f5818776
Move smart projection factor
2014-05-31 15:33:19 -04:00
41de41deec
minor cleanup
2014-05-30 19:37:03 -04:00
625b7b0743
Monocular Smart Projection factor example based on stereo data
2014-05-30 11:58:07 -04:00
f283150eb4
Using macro for creating examples to remove cmake code copy/paste
2014-02-13 13:24:14 -05:00
9d2c5888b8
Made cmake slightly nicer when using Xcode - removed a couple unnecessary prints, and removed .run targets when using Xcode since they're not needed and clog up the project view.
2014-02-08 11:14:43 -05:00
4b8c17ec77
Changed target name to 'gtsam' instead of 'gtsam-shared' and 'gtsam-static'. Modified CMake options to only allow building either static or shared, but not both. Enabled GTSAM_BUILD_TYPE_POSTFIXES by default on all platforms.
2014-01-30 14:41:25 -05:00
880d9a8e3c
Switched to new Eigen built-in special comma initializer
2013-12-16 21:33:12 +00:00
11edeca3e3
removed example that was moved to smartFactors_ceres
2013-10-23 19:28:39 +00:00
2a178515b3
Fix Vector_() to Vec() in gtsam_unstable/examples
2013-10-22 04:30:13 +00:00
b8ce816de2
2013-10-21 22:00:12 +00:00
d57f61e5ab
removing include which no longer exists
2013-10-21 18:23:00 +00:00
6e7302283e
moved smart factors for smartFactors_ceres
2013-10-21 15:35:23 +00:00
8b68c71614
2013-10-20 02:20:07 +00:00
5bf761a67a
minor changes to BAL example
2013-10-19 23:07:16 +00:00
a1402018ca
added computePoints functionality in smartFactorsCreator
2013-10-19 22:42:51 +00:00
796d9c7a67
added functionalities in dataset.cpp (writeBALfromValues) and BAL example
2013-10-19 20:28:20 +00:00
916d730fce
Updated BAL example with readBAL functionality (work in progress)
2013-10-19 02:05:51 +00:00
aa1f1582f5
KITTItoBALConverted checked in
2013-10-19 00:57:01 +00:00
81c183199a
cleaning and removing useless things
2013-10-18 23:14:34 +00:00
f7e90bbe86
temporary disabled -
2013-10-18 06:17:01 +00:00
1400498b72
Back to old calibration
2013-10-18 04:31:14 +00:00
7901e0d795
Switch to Cal3Bundler
2013-10-18 04:01:07 +00:00
06812ed964
intermediate changes (work in progress)
2013-10-18 01:25:18 +00:00
3a139587ee
minor changes
2013-10-17 01:18:22 +00:00
12b19b6ca9
added input arguments for BAL testing
2013-10-16 23:17:29 +00:00
b95c1c14e4
minor adds
2013-10-16 02:50:57 +00:00
45e1fe832d
fixed issues
2013-10-16 00:54:56 +00:00
01f6ee56e4
templated version for Kitti, triangulation, and factorCreators
2013-10-15 22:43:10 +00:00
aa3729b098
Running, but to test
2013-10-15 19:16:39 +00:00
575e5b1693
Cosmetic corrections
2013-10-15 19:16:35 +00:00
b77f7f77a4
created infrastructure for testing BAL datasets
2013-10-15 02:02:53 +00:00
9639660685
Added GenericProjectionFactorCreator. Both smart and generic projection factors now work (again) in batch mode. Incremental not tested yet.
2013-10-11 01:59:36 +00:00
1a8a670870
Fixed bugs in new version since creator class is used: Get number of landmarks from creator object,
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replace ensureHasOrdering with direct COLAMD call.
Current Smart Projection factor version works in batch mode
2013-10-10 20:21:40 +00:00
121e71431a
SmartFactorsCreator + initial fix in kitti example
2013-10-09 17:13:19 +00:00
444df1958a
Kitti test not working
2013-10-06 18:17:35 +00:00
d049dd38c6
Incremental mode in Smart Factors (not working yet with standard ProjectionFactors)
2013-10-06 18:17:32 +00:00
83182b05ca
Second method for landmark-first ordering: Provide a constrained ordering with landmarks in group 1 and poses in group 2
2013-10-04 14:25:19 +00:00
cc724134a6
Added ability to run both smart and projection factor version (for comparison)
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For projection factor version, we can specify a landmark-first ordering
2013-10-04 13:47:24 +00:00
bf40956592
Merged from Hmf6_unordered 970392249a8c50153f24594c9c81acb740cedd06
2013-10-03 19:51:56 +00:00
4996db5023
Fix in running incremental optimization on Kitti
2013-10-03 18:02:25 +00:00
a6dd4c0464
testing on kitti
2013-09-30 20:39:55 +00:00
7560a1f6e3
Typo fixed
2013-09-27 16:06:36 +00:00
b04d2f1512
ICRA version of Kitti dataset processing
2013-09-26 20:36:57 +00:00
73e72a98bd
Selective relinearization
2013-09-26 01:06:55 +00:00
c310bafc8a
ISAM2 option, increased num poses
2013-09-14 03:10:10 +00:00
7413b50da1
Support for running on entire kitti dataset.
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Cleaned up prints, added gathering of statistics (# variables, triangulation failures, etc.)
2013-09-13 13:22:43 +00:00
35327d0d56
Added incremental version using the normal Projection Factor.
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Supports initialization both using read-in landmark poses or triangulation.
2013-09-11 14:02:41 +00:00
633220a9dd
degenerate case in SmartProjectionFactor
2013-08-28 16:07:56 +00:00
bf8621aa3a
Added some state that is returned/passed in to smart projection factor to support smart re-linearization
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Fixed bug in batch example that did not add last set of measurements in file
Created incremental version that reads measurements as they come, associates with a smart factor (or creates new one), and optimizes.
Last example achieves same results on 200-pose example as batch example.
2013-08-28 12:31:56 +00:00
4b12d6f794
Moved Symbol and LabeledSymbol to inference as they are no longer specific to nonlinear optimization
2013-08-19 15:32:16 +00:00
f9dcf31c2b
Fixing examples and some tests for gtsam_unstable/nonlinear. testConcurrentIncrementalFilter doesn't compile and is disabled, testIncrementalFixedLagSmoother is enabled and builds, but fails.
2013-08-19 15:32:08 +00:00
0514ad39c6
Smart projection factor working on Kitti
2013-08-14 19:12:23 +00:00
175965a6bf
Merged from branch 'branches/unordered'
2013-08-12 21:52:43 +00:00
6cba528671
Fixed include path
2013-08-12 18:21:27 +00:00
4585fd1caa
Merge branch 'svn/trunk'
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Conflicts:
gtsam/navigation/tests/testInertialNavFactor_GlobalVelocity.cpp
gtsam/nonlinear/ISAM2.cpp
gtsam/nonlinear/ISAM2.h
gtsam/slam/tests/testBetweenFactor.cpp
gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp
gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp
gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp
gtsam_unstable/slam/SmartProjectionFactor.h
2013-08-11 18:16:56 +00:00
c03172aca3
add prior on second camera
2013-08-09 15:31:15 +00:00
8d9dcfbfc2
Fixed problem with pixel_sigma (2-dimensional only)
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Added switch to determine if normal GenericProjectionFactor or SmartProjectionFactor is used
2013-08-09 14:52:26 +00:00
5af82c4042
SmartProjectionFactor example: Cleaned up some code, added comments,
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changed some of the LM parameters. Switched to use smaller kitti
dataset for now.
2013-08-08 17:16:23 +00:00
6dd67a13fd
Changed to optimize entire graph instead of sub-graphs
2013-08-08 14:20:08 +00:00
159f9eee1e
Added SmartProjectionFactorExample_kitti.cpp.
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Currently loads kitti dataset after processing by VO code (stereo_factors.txt and camera_poses.txt)
Creates graph after N landmarks have been seen, runs it through SmartProjectionFactor
Verification of output is still needed; LM seems to optimize but poses don't seem to change.
2013-08-08 03:11:42 +00:00
d7767188b3
Merged from branch 'trunk'
2013-07-01 13:11:15 +00:00
0837eab8f5
Scripts to test (still not working so-well) smart range factor
2013-06-25 17:13:02 +00:00
123657e3d0
Merged from branch 'trunk'
2013-06-24 15:28:16 +00:00
40bc7070ff
Example in unstable, to use SmartRangeFactor
2013-06-24 12:06:47 +00:00
8e26da7396
Added matlab version of the Concurrent Filtering and Smoothing example
2013-05-21 21:07:45 +00:00
cbeall3
Frank Dellaert
Luca
dellaert
Richard Roberts
Stephen Camp
Luca Carlone
Jing Dong
Pablo Fernandez Alcantarilla
Chris Beall
Frank Dellaert
Zsolt Kira
Alex Cunningham
Stephen Williams