d58d277160
Recover camera from 3*4 camera matrix
2012-06-30 14:30:24 +00:00
9f99f0f7c5
Removed remaining Permuted (in release mode)
2012-06-30 12:48:43 +00:00
8851179d3c
Formatter in discrete, as well
2012-06-30 10:30:06 +00:00
badb22c304
Got rid of unused warning
2012-06-30 07:08:29 +00:00
61cc8026b9
Small change - vector instead of FastVector
2012-06-30 01:45:29 +00:00
57ca7d77db
Removed Permuted views to simplify a lot of code - all objects that need to be permuted now have their data rearranged instead of using the "Permuted" indirection class.
2012-06-30 01:45:21 +00:00
5431d74573
Fixed incorrect iterator type
2012-06-30 01:45:06 +00:00
f91ec894b3
Using boost::make_shared
2012-06-30 01:44:58 +00:00
7e83844715
Added missing serialization headers
2012-06-30 01:44:16 +00:00
ed6bc55eca
Use new instead of deprecated noisemodel name in JacobianFactor
2012-06-30 01:44:08 +00:00
c443ccbedd
More adding of static to avoid naming conflicts in unit tests
2012-06-30 01:44:00 +00:00
5ec2336f23
Fixed bug in new iSAM2 partial relinearization check that occurs when the Bayes Tree is empty
2012-06-29 15:09:03 +00:00
0a66326891
Added label printing to timing-related errors.
2012-06-29 15:04:39 +00:00
c7ff913f64
Added yet another configuration parameter to iSAM2. 'enablePartialRelinearizationCheck' checks variables for relinearization by descending the Bayes tree. Once a variable does not need to be relinearized, we stop checking that branch. A full check is still the default.
2012-06-28 20:46:53 +00:00
b2e15eea4e
Added negate() to GaussianFactor, which computes the Anti-factor eqiuvalent, using implementation from the nonlinear Anti-factor
2012-06-28 19:43:00 +00:00
947e5fe5ee
Made typedefs / constants for IndexFormatter to simplify code
2012-06-28 01:52:48 +00:00
b98f60ddb5
Added more flexible print interface with optional key formatter
2012-06-27 19:16:18 +00:00
b8c346b60d
2012-06-27 16:49:14 +00:00
55655d0708
rearrange newline
2012-06-27 16:37:55 +00:00
3f78448c8c
fix typo
2012-06-27 16:36:23 +00:00
ef538f459e
remove a redundant print
2012-06-27 16:35:15 +00:00
7a9dd715e7
print statistics for bayesnet and bayestree
2012-06-27 16:33:19 +00:00
4e2aae0121
formatting of comments, added parent() interface for Bayes Tree cliques
2012-06-26 18:49:30 +00:00
c7734db4fa
Added formatting objects to linear and inference objects to allow for printing meaningful keys
2012-06-25 21:19:38 +00:00
8d422e72e7
Adding in Eigen 3.1
2012-06-25 16:47:39 +00:00
aae88032ea
fixed compiler error for gcc 4.2 on Mac OS
2012-06-25 16:12:32 +00:00
26dcb4a992
Returning Values reference from EasyFactorGraph::optimize caused segfault
2012-06-25 14:58:04 +00:00
c67cd8098d
add a ternary sfm projection factor for (pose,point,calibration)
2012-06-25 14:08:41 +00:00
2c088b6a72
Could not use local class for KeyFormatter when passing to boost function on some compilers
2012-06-25 12:09:42 +00:00
b16fe4f7fc
Added key formatting in saveGraph, which uses inverse ordering to find Key and formats the Key
2012-06-25 03:47:07 +00:00
3dd2eec937
Added IndexFormatter for printing Indices
2012-06-25 03:46:58 +00:00
e81a442c96
Fix for timing assertion failure when in debug mode
2012-06-25 03:46:51 +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
7c5e60edca
optimizeSafely catches all exceptions and returns an empty Values object if one was caught.
2012-06-24 21:52:42 +00:00
99fd9903fd
Some refactoring of the shortcut caching code
2012-06-24 19:45:34 +00:00
2be56fa84e
Fixed testVisualSLAM so that it now passes
2012-06-24 18:55:09 +00:00
151743a96b
Sanitized view methods
2012-06-24 14:33:02 +00:00
bfc033d3f7
Minor change to shortcut
2012-06-24 04:13:49 +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
9b473023e6
Fixed warnings
2012-06-23 18:12:15 +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
b7a13c7061
Added >> stream operator to Matrix to easily read from input streams
2012-06-22 22:51:35 +00:00
5fa1b4b00e
Removed spurious print statement
2012-06-22 22:51:34 +00:00
0e46b02374
Added >> stream operator to Matrix to easily read from input streams
2012-06-22 22:51:32 +00:00
0fe2d527f9
Fixed warnings due to discrete. GTSAM now Wall-safe?
2012-06-22 21:45:36 +00:00
617bf071cb
Fixed warning by making "what" const. Please investigate warnings!
2012-06-22 21:44:29 +00:00
e42dc5cdc9
Minor updates: cachedShortcut is now protected. DeleteCachedShortcuts() are now called on the resulting orphans in the removeTop() instead of the whole tree.
2012-06-22 19:51:08 +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
4de506a446
Added constructor from base model type
2012-06-22 17:50:36 +00:00
Frank Dellaert
Richard Roberts
Stephen Williams
Vadim Indelman
Alex Cunningham
Yong-Dian Jian
Chris Beall
Abhijit Kundu
Duy-Nguyen Ta