575e5b1693
Cosmetic corrections
2013-10-15 19:16:35 +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
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
Luca Carlone
Zsolt Kira