Frank Dellaert
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699ba32c9e
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Further examining a circular trajectory
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2015-12-22 10:02:12 -08:00 |
dellaert
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5f9053ae39
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Get rid of warnings w develop changes
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2015-12-21 16:07:40 -08:00 |
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dellaert
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e16d798bd4
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Deal w new Rot3 operators
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2015-12-21 15:54:52 -08:00 |
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Frank Dellaert
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846a777491
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Forward scenario
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2015-12-21 15:12:03 -08:00 |
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Frank Dellaert
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84628cd511
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Added Vector3 methods from develop
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2015-12-21 15:11:35 -08:00 |
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Frank Dellaert
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be47a2ef15
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Run Scenario and check mean
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2015-12-21 14:49:52 -08:00 |
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Frank Dellaert
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988837be6a
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Moved to header, added some methods
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2015-12-21 14:29:52 -08:00 |
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Frank Dellaert
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e5b8f982a1
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Ignore backup files
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2015-12-21 13:57:37 -08:00 |
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Frank Dellaert
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d0f911139d
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First Scenario test
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2015-12-21 13:57:26 -08:00 |
Chris Beall
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c73b835848
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Merged in feature/smartFactorNoiseCleanup (pull request #183)
SmartFactor noise model in constructor
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2015-08-27 12:44:09 -04:00 |
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cbeall3
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92e210b893
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Fix examples and Matlab wrapper
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2015-08-26 13:25:12 -04:00 |
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cbeall3
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29ad9478f7
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Move noise model initialization from add function into constructor. Can only have one noise model per factor anyway
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2015-08-26 13:02:39 -04:00 |
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cbeall3
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0503df31fa
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Relax tolerance to 1e-6 for MKL/quaternion test, and fix up documentation a bit.
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2015-08-25 12:14:52 -04:00 |
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Chris Beall
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6a5147b5b5
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Merged in fix/SmartStereo (pull request #181)
Fix/smartstereo
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2015-08-25 09:51:59 -04:00 |
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Frank Dellaert
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9e71ad793b
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Merged in enriquefernandezperdomo/gtsam/add_dcs_robust_kernel (pull request #180)
Add DCS robust kernel
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2015-08-21 13:41:31 -07:00 |
Enrique Fernandez
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b9c63ef5df
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Fix and optimize DCS
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2015-08-20 16:03:56 -04:00 |
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Enrique Fernandez
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44ae7bfe01
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Fix generalized Geman-McClure
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2015-08-20 16:03:56 -04:00 |
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Enrique Fernandez
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6cdc1de268
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Use fabs in Huber condition
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2015-08-20 15:45:12 -04:00 |
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cbeall3
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8b4228fa56
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Make smart parameters public. Now easier to set, and it's sufficient for this to be const within the smart factor itself!
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2015-08-19 10:58:35 -04:00 |
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cbeall3
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c8df985e2f
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Relax test tolerance a bit for quaternion mode
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2015-08-19 07:30:14 -04:00 |
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cbeall3
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1727b60728
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Fixed and cleaned up unit test
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2015-08-19 00:11:35 -04:00 |
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Enrique Fernandez
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47d787b478
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Add DCS & Geman-McClure unit tests
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2015-08-18 22:46:36 -04:00 |
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Enrique Fernandez
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2969d61519
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Add Geman-McClure robust kernel
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2015-08-18 22:46:36 -04:00 |
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Enrique Fernandez
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7d256ff2fb
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Add DCS robust kernel
DCS (Dynamic Covariance Scaling) from Robust Map Optimization (Agarwal13icra)
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2015-08-18 22:46:36 -04:00 |
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cbeall3
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1279038c77
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Add Stereo triangulation comparison with expression factor
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2015-08-16 20:29:23 -04:00 |
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cbeall3
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d9ae402168
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fix TriangulationFactor bug (for stereo camera), and add new unit tests and comparisons
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2015-08-16 18:14:19 -04:00 |
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cbeall3
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321a7dbb11
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call print in Base
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2015-08-16 16:34:10 -04:00 |
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Chris Beall
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2146eb1b45
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Merged in enriquefernandezperdomo/gtsam/fix_load2D_modelInFile (pull request #179)
Fix use model in file, in load2D
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2015-08-11 21:17:37 -04:00 |
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Enrique Fernandez
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fdacba92c5
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Fix use model in file, in load2D
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2015-08-11 15:25:35 -04:00 |
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cbeall3
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123c55f0d7
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respect triangulation.enableEPI flag in SmartStereo factor
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2015-07-29 14:05:48 -04:00 |
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cbeall3
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07bd7fa2bd
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fix examples and wrapper
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2015-07-28 15:14:39 -04:00 |
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cbeall3
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fd1e41a9e6
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remove calibration template from SmartStereoProjectionPoseFactor
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2015-07-28 15:12:02 -04:00 |
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cbeall3
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748877ff7e
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remove calibration template from SmartStereoProjectionFactor
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2015-07-28 14:56:45 -04:00 |
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cbeall3
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db64b48fda
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tests pass
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2015-07-28 14:48:53 -04:00 |
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cbeall3
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da9078cf3b
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add nonlinear triangulation back. Some unit tests fail again
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2015-07-27 23:27:20 -04:00 |
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cbeall3
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b5aa7fb7f0
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change interface to match PinholePose.
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2015-07-27 23:25:05 -04:00 |
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Frank Dellaert
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ef94ef35ee
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Merged in feature/ImprovedLie2 (pull request #178)
Improved Lie derivatives
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2015-07-24 17:48:39 +02:00 |
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dellaert
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05dfcf2dbf
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Added retract/logmap and commented more clearly
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2015-07-24 15:32:27 +02:00 |
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dellaert
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e296f320f5
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Inlined compose and between derivatives in expmap/logmap
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2015-07-24 15:10:00 +02:00 |
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cbeall3
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02c7b2b81d
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made more generic, and comments
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2015-07-20 11:46:18 -04:00 |
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cbeall3
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5e660198b6
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make more generic so it can be used with StereoCamera, too
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2015-07-20 11:45:54 -04:00 |
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cbeall3
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7ae31bd8e7
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delete some unused stuff
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2015-07-20 11:43:57 -04:00 |
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Frank Dellaert
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6058d045ae
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Merged in feature/OptionalJacobianBlocks (pull request #177)
New OptionalJacobian functionality
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2015-07-19 20:20:53 -07:00 |
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Frank Dellaert
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2deac4b88f
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Some fixed-size optimizations, some const. Save a quaternion->matrix conversion in transform_from.
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2015-07-19 18:54:59 -07:00 |
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Frank Dellaert
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c3dfa3ab10
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Cleaned up Pose2 derivatives and used OptionalJacobian::cols in some places
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2015-07-19 18:28:18 -07:00 |
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cbeall3
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b5a978c534
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improve dynamic outlier rejection test
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2015-07-19 21:01:14 -04:00 |
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cbeall3
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fcc9ac2669
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remove extra cout
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2015-07-19 20:39:34 -04:00 |
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cbeall3
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36c652ac40
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remove monocular triangulation hack and make tests pass again
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2015-07-19 20:37:16 -04:00 |
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Frank Dellaert
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f2df547d86
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Functioning "cols" method. Unfortunately, "rows" and "block" are not easy.
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2015-07-19 17:15:26 -07:00 |
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cbeall3
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3f0e695cc9
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some tests pass again
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2015-07-16 11:26:07 -04:00 |