a6281e1932
unify gtsam.h for matlab and cython wrapper
2017-03-18 15:33:01 -04:00
9fe804bc1a
replace matlab.h in gtsam.h for matlab wrapper by its new file nonlinear/utilities.h
2016-11-24 19:26:11 -05:00
36d3c178cb
Attempt at fixing matlab wrapper issues
2016-06-20 01:11:57 -07:00
bdbbe0203d
Derive Point2 from Vector2 and deprecate a number of methods
2016-06-05 23:52:04 -07:00
b173057e33
fix matlab compile issue, by removing abstract class PreintegrationBase from wrapper declearation
2016-06-02 21:04:52 -04:00
1233a9c9b7
Merge remote-tracking branch 'origin/develop' into feature/Feature/FixedValues
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Conflicts:
gtsam.h
python/handwritten/nonlinear/Values.cpp
2016-04-10 17:40:26 -07:00
2c0c3d1955
Added setters and getters for MATLAB wrapper
2016-04-10 10:56:36 -07:00
fad9462661
A better solution through typedef of FactorIndices -> FastVector<size_t>
2016-02-25 23:51:01 -08:00
0372a959ee
Many small improvements, bug-fixes, and tests
2016-02-24 11:01:19 -08:00
4319bece1e
Deprecated some more methods
2016-02-08 15:16:11 -08:00
59729ec2a8
Merge remote-tracking branch 'origin/develop' into feature/Feature/FixedValues
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Conflicts:
gtsam/base/Matrix.cpp
gtsam/linear/JacobianFactor.cpp
gtsam/nonlinear/Values-inl.h
gtsam/nonlinear/expressions.h
2016-02-07 20:00:38 -08:00
3819b292ec
Removed some obsolete methods
2016-01-30 16:59:28 -08:00
8a45320ae2
Fixed MATLAB wrapper
2016-01-28 09:54:47 -08:00
8333172ee6
Comment out IMU things for now to have Jenkins check everything else
2016-01-28 01:45:50 -08:00
88fad4caff
Fix small bugs with MATLAB wrapping
2016-01-27 09:24:49 -08:00
d4021859f7
Merge branch 'develop' into feature/Feature/FixedValues
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Conflicts:
gtsam_unstable/geometry/Event.cpp
2015-09-23 11:19:59 -04:00
aa2ffcd118
Merge branch 'develop' into feature/cleanup_ImuFactor
2015-09-17 17:42:38 -04:00
63ca5dcfb0
Merge remote-tracking branch 'origin/develop' into feature/Feature/FixedValues
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Conflicts:
.cproject
examples/Pose2SLAMExample_graph.cpp
examples/SFMExample_SmartFactor.cpp
examples/SFMExample_SmartFactorPCG.cpp
gtsam.h
gtsam/geometry/CameraSet.h
gtsam/geometry/StereoCamera.cpp
gtsam/geometry/StereoCamera.h
gtsam/geometry/tests/testCameraSet.cpp
gtsam/linear/RegularJacobianFactor.h
gtsam/linear/tests/testRegularJacobianFactor.cpp
gtsam/nonlinear/ExpressionFactor.h
gtsam/nonlinear/expressions.h
gtsam/slam/JacobianFactorQR.h
gtsam/slam/JacobianSchurFactor.h
gtsam/slam/RegularHessianFactor.h
gtsam/slam/RegularImplicitSchurFactor.h
gtsam/slam/SmartFactorBase.h
gtsam/slam/SmartProjectionFactor.h
gtsam/slam/SmartProjectionPoseFactor.h
gtsam/slam/tests/testRegularHessianFactor.cpp
gtsam/slam/tests/testRegularImplicitSchurFactor.cpp
gtsam/slam/tests/testSmartFactorBase.cpp
gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
gtsam_unstable/examples/SmartProjectionFactorExample.cpp
gtsam_unstable/examples/SmartStereoProjectionFactorExample.cpp
gtsam_unstable/slam/SmartStereoProjectionFactor.h
gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp
2015-08-31 21:06:37 -07:00
92e210b893
Fix examples and Matlab wrapper
2015-08-26 13:25:12 -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
a5d49a261e
Fixed MATLAB wrapper (old-style interface still)
2015-07-18 23:11:27 -07:00
b711f5f964
Fixed wrapper
2015-07-12 22:49:04 -07:00
30435da070
Moved BearingRangeFactor to SAM
2015-07-12 18:57:26 -07:00
03db69117a
Define and partially specify Range and Bearing functors
2015-07-12 15:51:49 -07:00
3bad6fea67
moved RangeFactor to SAM
2015-07-12 12:12:59 -07:00
5052eb2c64
cleaning up
2015-07-11 18:31:36 -07:00
98ba94c748
moved BearingFactor to sam
2015-07-09 12:08:28 -07:00
7ff3e11efd
removed redundancy in naming
2015-07-09 11:29:32 -07:00
377b90941b
switch to Rodrigues everywhere
2015-07-05 16:11:04 -07:00
d415cffd4b
Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3
2015-06-23 22:41:33 -07:00
0e022b3b33
Values::keys now returns KeyVector instead of list. Corresponding fixes in Matlab wrapper.
2015-06-24 00:35:32 -04:00
acf4629f85
Fixed MATLAB wrapping of smart factor
2015-06-20 11:49:44 -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
569e6d90ef
remove wrapped functions which no longer exist.
2015-06-03 13:25:16 -04:00
bf026eb33d
Small fixes to make it actually work in Matlab
2015-05-20 13:30:36 -04:00
f8ab4ef144
Change SimpleCamera from typedef back to regular class to make wrapping+serialiation work. Had to change some templates because vector<PinholeCamera> can't be upcast to vector<SimpleCamera>
2015-05-18 14:33:27 -04:00
e5dce0de0d
Remove OptionalPoint3
2015-05-06 13:30:52 -04:00
cd77ec8fd4
Added triangulation wrapping, tested and works in MATLAB !
2015-05-03 18:54:17 -07:00
67cf13ad74
Fixed errors in PinholeCamera wrapping and removed SimpleCamera (made it a simple typedef)
2015-05-03 18:32:28 -07:00
3299127e6a
Optional point
2015-05-03 18:21:18 -07:00
cd077c336d
Added Pose3Vector
2015-05-03 17:32:13 -07:00
13dcc977f2
Moved Point2Vector wrapper from gtsam_unstable.h to gtsam.h
2015-05-03 17:31:08 -07:00
61e8b42249
Renamed project_to_camera to PinholeBase::Project
2015-03-06 08:46:56 -08:00
8a88f101db
Fix deprecation warnings
2015-02-24 21:58:17 -05:00
64bb6b77d7
Merged in feature/SmartCT (pull request #107 )
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Refactoring of Smart Factors
2015-02-22 06:14:19 +01:00
8a64d5bffe
Got rid of template parameters POSE (which was a fiction) and Z (which is now derived as CAMERA::Measurement).
2015-02-19 12:27:40 +01:00
bac79bee12
Merge remote-tracking branch 'origin/develop' into feature/Feature/FixedValues
2015-01-23 04:48:18 +01:00
c7298da4fc
Removed all fixed hacks - replaced it with possibly something worse (no reference returned from at)
2015-01-19 20:38:24 +01:00
d0579dff50
Wrapping Cal3Unified as a derived class of Cal3DS2_Base
2015-01-15 16:17:53 +01:00
ee4dbfec4b
Removed dim/Dim
2014-12-26 20:57:48 +01:00
a881e8d3ee
Cherry-picked imuFixed differences
2014-12-26 18:23:14 +01:00
02e4f920d0
Merged in fix/matlab_examples_wrapper (pull request #75 )
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Fixing bugs in Wrap - re-creating
2014-12-19 13:04:29 -05:00
3363edf77c
Merge branch 'fix/matlab_examples_wrapper' into develop
2014-12-19 11:27:20 -05:00
959a002693
Fixed and double versions
2014-12-19 15:40:43 +01:00
da318184ae
sync with develop branch commit c1f048d
2014-12-12 18:46:54 -05:00
e12add2739
Merged in develop (pull request #71 ). Resolve conflicts.
2014-12-12 15:34:53 -05:00
bcfcf8be8e
fix gtsam wrapper for priorFactorVector
2014-12-12 11:34:34 -05:00
22218eafc4
We will not wrap fixed Vectors and Matrices individually. Methods that take those can just as well be wrapped with Vector or Matrix. Note const and & are ignored for those. I added a small method, insertFixed, that allows one to put in small fixed size matrices for optimization. Did not do retrieval yet.
2014-12-10 10:45:22 +01:00
a67289b240
fix the insert simpleCamera. Now SFMexample can work
2014-12-06 23:18:15 -05:00
96016edf85
Merge remote-tracking branch 'origin/develop' into feature/fixedSizeDerivatives
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Conflicts:
.cproject
2014-12-04 21:07:34 +01:00
e49c9fa100
1. remove LieVector in IMUKittiExampleGPS.m 2. Add tests the priorFactor in matlab 3. template substition tests in testsClass.cpp
2014-12-04 13:28:20 -05:00
178e4fd61c
Cut out unsupported methods in GTSAM
2014-12-04 12:28:33 +01:00
c9ca9c82a0
GTSAM header that gets parsed correctly
2014-11-30 10:51:32 +01:00
0e9f5c7841
Added Vector and Matrix for BetweenFactor
2014-11-26 03:58:49 -05:00
7a0366684a
Added Vectors and Matrices. Does not work yet.
2014-11-26 03:54:21 -05:00
e842c9adbc
Fixed issue #172
2014-11-26 09:34:37 +01:00
867acbef6c
Fixed building wrapper.
2014-11-24 20:14:56 +01:00
5ab5e008ba
Doxygen docs and naming convention PreintMeasCov_ -> preintMeasCov_
2014-11-23 11:36:05 +01:00
50b1f78b6a
Working. Removed drone related make targets from cproject.
2014-11-22 17:50:35 -05:00
620fb4566f
Fixed matlab wrappers
2014-11-22 18:22:55 +01:00
9230f4269b
Changed return from Rot3 back to Matrix. Added imuBias in gtsam.h
2014-11-21 21:57:18 -05:00
881ecebfc9
Merge remote-tracking branch 'origin/develop' into feature/AHRSFactor
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Conflicts:
gtsam.h
gtsam/navigation/CombinedImuFactor.h
gtsam/navigation/ImuFactor.h
2014-11-19 13:10:33 -05:00
708d114b3c
Moved project specific factors into a different project.
2014-11-19 11:59:08 -05:00
d49396c1d2
Added and tested Cage Factor. Added Matlab Wrapper
2014-11-15 19:08:44 -05:00
3ba997014d
fixed the naming convention
2014-11-13 13:46:00 -05:00
3774194651
Renamed getDataName to DataName
2014-11-13 09:49:35 -05:00
341ad9f288
gtsam.h with templated Values::at now compiles !
2014-11-13 01:26:06 +01:00
14cf3da235
slight refactor
2014-11-11 13:42:13 +01:00
8638c74e35
Added specializations of insert, as well as Cal3Bundler
2014-11-10 18:06:09 +01:00
fde3805aab
Added Mike's desired code snippet
2014-11-10 16:44:48 +01:00
06eb801526
Added virtual destructor: for some reason if I remove virtual methods the unit tests fail...
2014-11-10 16:44:09 +01:00
9391decc91
This does not work; but perhaps something like this may be done?
2014-11-10 16:15:47 +01:00
e4936df80a
matlab wrappers compile, but need testing
2014-11-07 22:41:21 +01:00
0ead01af92
matlab wrapper code needs to be updated since lieXXX are not used anymore
2014-11-07 16:41:43 +01:00
32586ad175
wrap keys for GaussianFactor
2014-10-19 00:35:18 -04:00
cf4374563b
Fixed Dynamics Factor and added debug cout statements to help fix indeterminent linear system exception
2014-10-14 18:08:26 -04:00
53ac63d2f8
wrap DistanceFactor to matlab
2014-09-26 17:21:43 -04:00
3778e3c928
constructors for JacobianFactor up to 6-ary for testing in matlab
2014-08-06 11:10:36 -04:00
4037d1ec1a
wrap QPSolver
2014-08-06 11:10:35 -04:00
bc2e9959fa
Added matlab wrapper for Rot3AttitudeFactor.
...
Added a couple of functions to access data from the class in Matlab
2014-07-18 16:46:58 -04:00
bdc3036d90
Added matlab support for AHRSFactor.
2014-07-15 00:14:13 -04:00
3bacdbbec5
Move Smart Projection Factor wrapper to stable
2014-06-20 13:41:51 -04:00
a34dff1397
Merge remote-tracking branch 'origin/feature/new_imu_factors' into develop
2014-06-20 13:32:34 -04:00
0a7fd40b6c
fix matlab toolbox compilation error
2014-06-17 13:47:43 -04:00
a0c77dcc1c
remove unused variables in iterative solvers and rename accordingly.
2014-06-03 23:52:35 -04:00
7119d0c3c2
Sanitized G2o I/O interface to conform to what we had before. No sense in having many different styles, and this works better for MATLAB (now wrapped, as well).
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BAL reading/writing should be similarly cleaned up.
2014-06-01 11:46:23 -04:00
3b10f61e5c
utilities.localToWorld
2014-05-27 00:42:03 -04:00
ddcf9c0efb
New routines to create Key collections
2014-05-25 11:15:17 -04:00
87c386d77f
Fast creation of large key sets from within MATLAB
2014-05-25 02:03:33 -04:00
2649b0fd7a
print variants for KeyList, KeyVector
2014-05-06 13:21:49 -04:00
a3b16dfa2b
Merged in feature/BNincompleteSolve (pull request #13 )
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Optimize an incomplete BayesNet
2014-05-06 11:09:32 -04:00
3f125b46df
New method merge (mainly for MATLAB)
2014-05-06 11:08:33 -04:00
108357992c
Optimize an incomplete BayesNet
2014-05-06 02:18:52 -04:00
cea4aef9f2
New perturbPose2 utility
2014-05-06 00:23:20 -04:00
2b20d61221
Wrapped measured() for BearingRangeFactor.
2014-04-30 22:32:59 -04:00
4ad4f9d68e
removed unnecessary parameter from constructor
2014-04-29 15:13:28 -04:00
a077dadc99
added new constructor to CombinedImuFactor in matlab wrapper
2014-04-24 15:52:11 -04:00
26c296603f
fixed use of 2nd order integration in matlab wrapper
2014-04-17 16:23:29 -04:00
6a0f2e9b88
Merge branch 'origin/release/2.4.0'
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Conflicts:
.cproject
gtsam/geometry/Rot3.cpp
gtsam/geometry/Unit3.cpp
gtsam/geometry/Unit3.h
gtsam/geometry/tests/testEssentialMatrix.cpp
gtsam/geometry/tests/testSphere2.cpp
gtsam/navigation/CMakeLists.txt
2014-02-23 15:52:28 -05:00
926c27c732
Rename Sphere2 -> Unit3
2014-02-22 16:20:28 -05:00
a606d0eab9
EssentialMatrixFactor
2014-01-25 11:09:20 -05:00
05625ff25e
Sphere2 and EssentialMatrix
2014-01-25 10:21:58 -05:00
e69fbbb925
new constructor, getBasis->basis, rotate and distance
2013-12-18 03:11:58 +00:00
8688fc85d0
MATLAB wrapping and Monocular VO example
2013-12-17 16:18:31 +00:00
eb1ce0302c
Added wrapped version of load2D that doesn't override noisemodel
2013-12-05 19:56:46 +00:00
72a1feca2c
add KeyGroupMap to wrap ISAM2 update with group ordering to matlab. Wrap at() in SymbolicBayesNet, and GaussianConditional constructors with no noise model.
2013-12-04 14:36:13 +00:00
5b90fefddc
Added small test and additional interface wrapping for LabeledSymbol
2013-11-23 19:11:43 +00:00
5098003691
Fixed several warnings
2013-11-19 14:04:52 +00:00
9a1d1f01bc
Added serialization to KeyVector, KeyList and KeySet
2013-11-12 14:04:48 +00:00
e3208a1f8e
Added negate() and clone() to GaussianFactorGraph
2013-11-07 15:29:38 +00:00
e7ee411d39
Exposed more interfaces for working with linear graphs and bayes nets
2013-10-30 21:34:52 +00:00
c5f8f5b5da
Added matlab interfaces to GaussianFactorGraph to use ordered dense hessians/jacobians
2013-10-30 15:54:03 +00:00
21ebe5102f
Removed unnecessary comments
2013-10-25 21:20:28 +00:00
4950d6020a
Merged NonlinearSolverParams in gtsam.h into NonlinearOptimizerParams, removed references to NonlinearSolverParams elsewhere in comments
2013-10-25 19:47:22 +00:00
def9b84e45
Added virtual solve method to NonlinearOptimizer that you can override, e.g., with Ceres
...
See example in testNonlinearOptimizer
As part of this, I also merged SuccessiveLinearizationParams into NonlinearOptimizerParams, which is now in its own separate file NonlinearOptimizerParams.h
2013-10-25 18:27:43 +00:00
876edb4197
Added cmake flag to disable serialization for wrapped objects directly, rather than outright disabling serialization. By default GTSAM_WRAP_SERIALIZATION is on, turn it off to ignore serialization flags in gtsam.h
2013-10-24 14:38:04 +00:00
b67e17e43d
disable serialize() in gtsam.h to avoid bus error 10 in clang LLVM's ld version >=3.1
2013-10-23 21:28:05 +00:00
e799c9ffa9
tabs converted to two spaces
2013-10-10 17:52:57 +00:00
a7e7da49a5
Wrapped combine constructors for JacobianFactor and HessianFactor
2013-10-08 21:43:14 +00:00
f5bb8c6507
Added missing MATLAB wrapping of GaussianFactorGraph elimination functions
2013-09-18 17:23:33 +00:00
0fc7c068e5
Added back factor graph .add functions to maintain compatibility
2013-08-27 15:30:02 +00:00
5fe46f9bad
Added exists() as a utility for matlab to check whether a pointer is live
2013-08-23 20:06:08 +00:00
4a8fda3eab
comment out summarization in gtsam.h, since summarization.h disappeared.
2013-08-19 17:06:28 +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
84e9c1655d
wrap check converge
2013-08-16 16:25:59 +00:00
16b4f0fe8b
Moved ImuFactor and CombinedImuFactor into main gtsam, and moved InertialNavFactor family into gtsam_unstable.
2013-08-13 21:04:31 +00:00
4b3021b818
Moved ImuFactor and CombinedImuFactor into main gtsam, and moved InertialNavFactor family into gtsam_unstable.
2013-08-13 21:03:48 +00:00
e8d733364a
Updated gtsam.h for unordered changes
2013-08-12 18:21:30 +00:00
7c07c70802
Changed Between and Prior Factors and NonLinearEquality back to NoiseModelFactor.
2013-08-08 16:08:35 +00:00
34dc67c1af
Brought some relevant changes from aspn-imu-factor branch (is correct this time)
2013-08-02 16:04:17 +00:00
321a286f02
Revert "Brought some relevant changes from aspn-imu-factor branch"
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This reverts commit b08a11ffb27d14487115f20745f1cea17fcc55ee.
2013-07-31 15:26:48 +00:00
7345b40feb
Brought some relevant changes from aspn-imu-factor branch
2013-07-31 15:25:03 +00:00
f03983548f
add accessors to StereoPoint2
2013-07-25 17:01:33 +00:00
c27a551634
wrapped StereoCamera
2013-07-23 15:32:38 +00:00
0278b0a3b7
Constructor from vector
2013-07-22 20:26:20 +00:00
4af8d3156d
Fixed indexing problem in KalmanFilter in a different way - now just modify the indices before solving and put them back afterwards, so that the timestep is still available
2013-07-05 15:46:07 +00:00
59d549dae2
Fixed indexing problem in KalmanFilter - linear variable index was incremented, resulting in allocating larger and larger data structures with each step. Now shifting indices back to 0 each step.
2013-07-03 21:55:30 +00:00
86cf063a5e
Added ISAM2::marginalCovariance to wrapper
2013-07-01 13:09:17 +00:00
5f500bd510
Wrapped copy constructor for Pose2, lots of routines for GaussianBayesTree, and made all NL factors descend from noiseModelFactor, so we get unwhitenedError etc by inheritance...
2013-06-20 19:44:50 +00:00
Duy-Nguyen Ta
dellaert
Jing Dong
Frank
Duy-Nguyen Ta
cbeall3
Luca
Paul Drews
Zhaoyang Lv
krunalchande
Mike Bosse
Yong-Dian Jian
Frank Dellaert
Vadim Indelman
djensen3
Richard Roberts
Frank Dellaert
Alex Cunningham
Chris Beall
Vadim Indelman