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8724 Commits (8e2915c4f3b958a2d7b57f9da97ea2ad93de6fc6)

Author SHA1 Message Date
Frank Dellaert 8e2915c4f3 README.md edited online with Bitbucket 2015-09-04 18:14:13 +00:00
Chris Beall c73b835848 Merged in feature/smartFactorNoiseCleanup (pull request #183) 
SmartFactor noise model in constructor
 2015-08-27 12:44:09 -04:00
cbeall3 92e210b893 Fix examples and Matlab wrapper 2015-08-26 13:25:12 -04:00
cbeall3 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
cbeall3 0503df31fa Relax tolerance to 1e-6 for MKL/quaternion test, and fix up documentation a bit. 2015-08-25 12:14:52 -04:00
Chris Beall 6a5147b5b5 Merged in fix/SmartStereo (pull request #181) 
Fix/smartstereo
 2015-08-25 09:51:59 -04:00
Frank Dellaert 9e71ad793b Merged in enriquefernandezperdomo/gtsam/add_dcs_robust_kernel (pull request #180) 
Add DCS robust kernel
 2015-08-21 13:41:31 -07:00
Enrique Fernandez b9c63ef5df Fix and optimize DCS 2015-08-20 16:03:56 -04:00
Enrique Fernandez 44ae7bfe01 Fix generalized Geman-McClure 2015-08-20 16:03:56 -04:00
Enrique Fernandez 6cdc1de268 Use fabs in Huber condition 2015-08-20 15:45:12 -04:00
cbeall3 8b4228fa56 Make smart parameters public. Now easier to set, and it's sufficient for this to be const within the smart factor itself! 2015-08-19 10:58:35 -04:00
cbeall3 c8df985e2f Relax test tolerance a bit for quaternion mode 2015-08-19 07:30:14 -04:00
cbeall3 1727b60728 Fixed and cleaned up unit test 2015-08-19 00:11:35 -04:00
Enrique Fernandez 47d787b478 Add DCS & Geman-McClure unit tests 2015-08-18 22:46:36 -04:00
Enrique Fernandez 2969d61519 Add Geman-McClure robust kernel 2015-08-18 22:46:36 -04:00
Enrique Fernandez 7d256ff2fb Add DCS robust kernel 
DCS (Dynamic Covariance Scaling) from Robust Map Optimization (Agarwal13icra)
 2015-08-18 22:46:36 -04:00
cbeall3 1279038c77 Add Stereo triangulation comparison with expression factor 2015-08-16 20:29:23 -04:00
cbeall3 d9ae402168 fix TriangulationFactor bug (for stereo camera), and add new unit tests and comparisons 2015-08-16 18:14:19 -04:00
cbeall3 321a7dbb11 call print in Base 2015-08-16 16:34:10 -04:00
Chris Beall 2146eb1b45 Merged in enriquefernandezperdomo/gtsam/fix_load2D_modelInFile (pull request #179) 
Fix use model in file, in load2D
 2015-08-11 21:17:37 -04:00
Enrique Fernandez fdacba92c5 Fix use model in file, in load2D 2015-08-11 15:25:35 -04:00
cbeall3 123c55f0d7 respect triangulation.enableEPI flag in SmartStereo factor 2015-07-29 14:05:48 -04:00
cbeall3 07bd7fa2bd fix examples and wrapper 2015-07-28 15:14:39 -04:00
cbeall3 fd1e41a9e6 remove calibration template from SmartStereoProjectionPoseFactor 2015-07-28 15:12:02 -04:00
cbeall3 748877ff7e remove calibration template from SmartStereoProjectionFactor 2015-07-28 14:56:45 -04:00
cbeall3 db64b48fda tests pass 2015-07-28 14:48:53 -04:00
cbeall3 da9078cf3b add nonlinear triangulation back. Some unit tests fail again 2015-07-27 23:27:20 -04:00
cbeall3 b5aa7fb7f0 change interface to match PinholePose. 2015-07-27 23:25:05 -04:00
Frank Dellaert ef94ef35ee Merged in feature/ImprovedLie2 (pull request #178) 
Improved Lie derivatives
 2015-07-24 17:48:39 +02:00
dellaert 05dfcf2dbf Added retract/logmap and commented more clearly 2015-07-24 15:32:27 +02:00
dellaert e296f320f5 Inlined compose and between derivatives in expmap/logmap 2015-07-24 15:10:00 +02:00
cbeall3 02c7b2b81d made more generic, and comments 2015-07-20 11:46:18 -04:00
cbeall3 5e660198b6 make more generic so it can be used with StereoCamera, too 2015-07-20 11:45:54 -04:00
cbeall3 7ae31bd8e7 delete some unused stuff 2015-07-20 11:43:57 -04:00
Frank Dellaert 6058d045ae Merged in feature/OptionalJacobianBlocks (pull request #177) 
New OptionalJacobian functionality
 2015-07-19 20:20:53 -07:00
Frank Dellaert 2deac4b88f Some fixed-size optimizations, some const. Save a quaternion->matrix conversion in transform_from. 2015-07-19 18:54:59 -07:00
Frank Dellaert c3dfa3ab10 Cleaned up Pose2 derivatives and used OptionalJacobian::cols in some places 2015-07-19 18:28:18 -07:00
cbeall3 b5a978c534 improve dynamic outlier rejection test 2015-07-19 21:01:14 -04:00
cbeall3 fcc9ac2669 remove extra cout 2015-07-19 20:39:34 -04:00
cbeall3 36c652ac40 remove monocular triangulation hack and make tests pass again 2015-07-19 20:37:16 -04:00
Frank Dellaert f2df547d86 Functioning "cols" method. Unfortunately, "rows" and "block" are not easy. 2015-07-19 17:15:26 -07:00
cbeall3 3f0e695cc9 some tests pass again 2015-07-16 11:26:07 -04:00
Frank Dellaert 07577189d9 Merged in feature/sam_sfm_directories (pull request #174) 
[CI Skip] First Push to SAM
 2015-07-15 23:03:30 -07:00
Frank Dellaert 10a653ad7f Better documentation 2015-07-15 22:59:30 -07:00
Frank Dellaert 1a8a7235c2 Merge remote-tracking branch 'origin/develop' into feature/sam_sfm_directories 2015-07-15 22:33:28 -07:00
cbeall3 93f7eafaa8 re-enable triangulation hack 2015-07-15 23:16:45 -04:00
cbeall3 bd4dd84933 huge refactor. Compiles again, but triangulation still broken, SmartStereo test fails 2015-07-15 16:53:04 -04:00
cbeall3 9c2ab0ce3b change 2 to ZDim 2015-07-15 16:52:06 -04:00
Frank Dellaert adc653c281 Merged in fix/smartParams (pull request #175) 
Fix parameter bug and improve documentation
 2015-07-15 11:44:37 -07:00
cbeall3 fb4dd81c4d refactoring: step 1 2015-07-15 12:58:03 -04:00