76ffc45ee7
Merged 'develop'.
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Conflicts:
gtsam_unstable/geometry/Similarity3.cpp
gtsam_unstable/geometry/Similarity3.h
2015-06-11 19:54:54 -04:00
f6ac546cc3
Added comparison to brute force matrix exponential
2015-06-11 13:56:35 -04:00
5ceb7d9ddc
Fully implemented logmap/expmap, which are used for retract/localCoordinates
2015-06-10 16:36:56 -04:00
0d5f0510ab
Expmap and Logmap, still incorrect around identity
2015-06-10 11:01:34 -04:00
9d522c72f3
internal::LieGroup needed if you also want Testable traits
2015-05-25 22:04:04 -07:00
13dcc977f2
Moved Point2Vector wrapper from gtsam_unstable.h to gtsam.h
2015-05-03 17:31:08 -07:00
b52ced7a09
Merged in fix/serialization_warnings (pull request #128 )
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Fix some unused variable warnings in the serialization code.
2015-04-20 15:00:45 -04:00
a4fac2ab62
added cout style print statements for similarity
2015-04-12 15:38:40 -04:00
ebf5746987
Fix some serialization warnings.
2015-03-06 16:12:09 +01:00
74605df641
Re-ordered methods in .h and .cpp to match them
2015-03-03 07:42:31 -08:00
d8822e5b57
H1 works for rot/translation, but not scale :-(
2015-03-02 21:58:54 -08:00
728991e31f
Fixed H2
2015-03-02 21:08:57 -08:00
05198c091e
comment
2015-03-02 21:08:41 -08:00
e0e5590856
matrix() returns 4*4 matrix \in GL(4)
2015-03-02 21:08:23 -08:00
6bfda9fcba
Added prototype derivatives for transform_from
2015-03-02 20:34:56 -08:00
fcd00450d3
Formatting, use Point3/Rot3, resolved link error of operator*(Point3)
2015-03-02 20:09:44 -08:00
1e58c0b0a2
Comments and standard BORG formatting
2015-03-02 19:34:33 -08:00
6faa881de6
Make the code prettier.
2015-02-26 15:10:59 -05:00
9991ae04f3
Fixed unit tests
2015-02-25 10:59:25 -05:00
f9ccd23d4a
Refactored into class and unit test
2015-02-19 01:21:20 -05:00
42d8e1fcb2
Working Sim3 Transform
2015-02-13 09:06:08 -05:00
db73a0dd1d
Working, with stub log/expmap and identity
2015-01-28 14:55:13 -05:00
10b56a115c
Working Similarity3 transform with unit tests.
2015-01-26 13:38:32 -05:00
c6b3535dda
retract works, local coordiantes still broken
2015-01-25 01:28:16 -05:00
a87a3dd987
Rotation works, translation and scale incorrect
2015-01-24 22:42:48 -05:00
d28ef19b9a
Merge remote-tracking branch 'origin/develop' into feature/Similarity
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Partial update of Similarity to BAD
Conflicts:
.gitignore
2015-01-23 08:10:21 -05:00
bade68fa33
Simple single prior optimization
2015-01-12 12:58:17 -05:00
a88b10eacc
Working similarity3 transform with unit tests
2015-01-07 09:57:48 -05:00
89460fe931
Unit tests still fail, but believed to be correct.
2015-01-02 09:02:43 -05:00
7c455efe50
Made Event into new-style manifold
2014-12-28 18:24:00 +01:00
f9c353d4a5
Merge remote-tracking branch 'origin/develop' into feature/SoundSlam
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Conflicts:
.cproject
gtsam/base/LieMatrix.h
gtsam/base/LieVector.h
gtsam/base/OptionalJacobian.h
gtsam/base/tests/testOptionalJacobian.cpp
gtsam/geometry/Cal3_S2Stereo.h
gtsam/geometry/CalibratedCamera.h
gtsam/geometry/PinholeCamera.h
gtsam/geometry/Point2.h
gtsam/geometry/Point3.h
gtsam/geometry/Pose2.cpp
gtsam/geometry/Pose2.h
gtsam/geometry/Pose3.cpp
gtsam/geometry/Pose3.h
gtsam/geometry/Rot2.cpp
gtsam/geometry/Rot2.h
gtsam/geometry/Rot3.cpp
gtsam/geometry/Rot3.h
gtsam/geometry/Rot3M.cpp
gtsam/geometry/Rot3Q.cpp
gtsam/geometry/Unit3.cpp
gtsam/geometry/tests/testRot3.cpp
gtsam/nonlinear/AdaptAutoDiff.h
gtsam/nonlinear/Expression-inl.h
gtsam/nonlinear/Expression.h
gtsam/nonlinear/tests/testExpression.cpp
gtsam/slam/RangeFactor.h
timing/timeAdaptAutoDiff.cpp
timing/timeCameraExpression.cpp
2014-12-28 17:45:41 +01:00
e5017984a1
traits_x -> traits
2014-12-26 16:47:51 +01:00
5473550eea
Using traits in many places (forced by loss of Point2 mojo)
2014-12-22 16:02:33 +01:00
79d8514528
MASSIVE edit: made Testable its own concept, and moderinized Testable.h to use Testable traits. This required adding Testable traits in many classes.
2014-12-21 22:02:57 +01:00
da4c44e12d
More progress
2014-12-14 15:26:43 +01:00
a7b8e60272
Unit test failure, either retraction or localCoordinates is wrong for rotation
2014-12-12 10:38:59 -05:00
c6e4cd5e03
Operational Sim3 with basic unit tests
2014-12-12 10:12:58 -05:00
69f27b9488
Additional unit test
2014-12-12 08:43:57 -05:00
8c4468185a
Take a stab at localCoordinates
2014-12-11 22:54:02 -05:00
a9121fc3fc
Now it's super-easy to create priors on pieces of state.
2014-12-11 13:45:15 +01:00
bb00e375da
Print for MATLAB
2014-12-10 21:44:56 +01:00
d17caa5487
Event header and test file
2014-12-10 19:14:18 +01:00
f71513b3bf
Compiles and test runs
2014-12-05 15:50:09 +01:00
51c4a50c23
Initial broken commit of Similarity Transform
2014-12-05 09:28:10 -05:00
aa093a35da
Updated all comma initializer usages to use .finished()
2014-11-22 16:35:27 -08:00
3824fe5f90
Fixed assert_equal and warnings
2014-11-04 15:48:30 +01:00
4afe132b1a
Fixed dimensions of Vectors
2014-11-04 15:41:14 +01:00
2a745b6c26
No more LieVector/LieScalar
2014-11-03 13:32:58 +01:00
b5327673fb
Get rid of LieVector
2014-11-03 11:02:15 +01:00
2788ec7f33
removed std::type_traits which is c++11
2014-10-29 10:23:13 +01:00
1fadda83e0
removed DerivedValue<> inheritence from classes
2014-10-24 18:34:06 +02:00
113b9d2e74
Got rid of unnecessary LieVector usage that broke fixed-code
2014-10-22 01:32:59 +02:00
1eb5e185e5
New numericalDerivatives with traits an Charts - still some segfaults, *and* there should be no need for (a) multiple prototypes to match against c++ pointers, (b) the use of explicit template arguments. A task for someone...
2014-10-21 18:50:52 +02:00
0a6fe0f0a8
No more default argument
2014-10-07 00:44:40 +02:00
87f5818776
Move smart projection factor
2014-05-31 15:33:19 -04:00
6f692b1547
Merge branch 'develop'
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Conflicts:
gtsam/base/SymmetricBlockMatrix.cpp
gtsam/linear/JacobianFactor-inl.h
gtsam_unstable/geometry/tests/testTriangulation.cpp
2014-03-12 12:57:59 -04:00
f5ce1d865e
A custom linearize for speed
2014-03-04 02:50:28 -05:00
b1013163e7
Switched to TriangulationFactors: huge improvement
2014-03-02 15:51:02 -05:00
5c466a7914
Moved to header file
2014-03-02 15:36:29 -05:00
a7f98a8316
Drastically simplified by passing cameras
2014-03-02 15:33:56 -05:00
f3ee25f1a8
TriangulationFactor, first version
2014-03-02 14:56:50 -05:00
dfee108e53
Some more refactoring
2014-03-02 13:49:42 -05:00
bf779af3d1
added twoPoses test
2014-03-02 13:44:18 -05:00
7b93cd207c
fixed header bloat
2014-03-02 13:34:43 -05:00
68401cf216
removed Cheirality testing in that GTSAM mode
2014-03-02 13:16:36 -05:00
ba6f857663
Removed some copy/paste
2014-03-02 13:02:21 -05:00
485b3b475a
Fixed a typo that disabled the testTriangulation tests.
2014-02-23 18:50:58 -05:00
661a157553
Working on standardizing/simplifying building unit tests and examples. Much simpler cmake function to add a glob of tests, doing away with convenience libraries, and removing other options that we never change from their defaults.
2014-02-13 01:34:31 -05:00
4b8c17ec77
Changed target name to 'gtsam' instead of 'gtsam-shared' and 'gtsam-static'. Modified CMake options to only allow building either static or shared, but not both. Enabled GTSAM_BUILD_TYPE_POSTFIXES by default on all platforms.
2014-01-30 14:41:25 -05:00
96296333ae
remove all LieVector(size_t m, ...), which doesn't check parameter's type and it's also dangerous
2014-01-23 18:35:29 -05:00
8641816b21
fix Vector_() in gtsam_unstable and tests
2014-01-23 02:03:12 -05:00
dd447f2c6c
Moved all common methods in new file Rot3.cpp
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git-svn-id: https://svn.cc.gatech.edu/borg/gtsam/trunk@20416 898a188c-9671-0410-8e00-e3fd810bbb7f
2013-12-21 18:30:46 -05:00
880d9a8e3c
Switched to new Eigen built-in special comma initializer
2013-12-16 21:33:12 +00:00
abbbd02979
reintroduced triangulation.cpp with non-templated functions
2013-12-09 21:28:43 +00:00
2896a45d1f
Fix Matrix_(...) to Mat() <<...
2013-11-13 06:08:59 +00:00
0b3aac7048
Fix Matrix_(...) to Mat() <<... in gtsam_unstable
2013-11-13 05:51:03 +00:00
199505db5f
Changed API for triangulation to use vectors of pinhole cameras, or a vector of poses and a single calibration
2013-11-06 06:31:46 +00:00
5defdbe73f
Fixed compile problems on windows
2013-11-05 16:06:10 +00:00
a28e04988d
Some documentation, and extra optimize test. In debug mode the unit test fails because it does not throw the right exception, but everything else seems fine.
2013-11-01 01:04:34 +00:00
efeb7b4f8a
fixed warning on cheirality exception
2013-10-31 01:32:48 +00:00
73b82a00eb
added possibility to disable Cheirality in triangulation.h using cmake flag
2013-10-29 23:38:31 +00:00
3c33e44c46
Fixed compile errors on windows
2013-10-29 04:24:14 +00:00
def9b84e45
Added virtual solve method to NonlinearOptimizer that you can override, e.g., with Ceres
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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
6d288a193d
another unit test for distinct calibrations, more documentation
2013-10-22 15:52:10 +00:00
e98c80aad0
removed nontemplated triangulation functions. Improved unit tests and documentation
2013-10-22 15:31:46 +00:00
de5f8ee354
templated calibration object in triangulateDLT
2013-10-19 02:05:49 +00:00
9997e0b8ea
EPI: Optimize landmark position using LM using SVD triangulation as initialization.
...
Works for both single camera and multi-camera (with different calibration) cases.
2013-10-18 02:56:10 +00:00
45e1fe832d
fixed issues
2013-10-16 00:54:56 +00:00
01f6ee56e4
templated version for Kitti, triangulation, and factorCreators
2013-10-15 22:43:10 +00:00
9bff152dbe
add template on triangulation
2013-10-15 18:01:06 +00:00
9ad72e9523
included rank tolerance in Smart factor constructor
2013-09-28 18:49:26 +00:00
d10ffee4d4
management of degeneracy
2013-09-28 00:49:37 +00:00
14e65ce607
Matrix initialization bug fix
2013-09-13 18:26:39 +00:00
e42f8e5a35
fix documentation
2013-08-19 20:25:04 +00:00
ab51b50a9a
landmark triangulation now throws two different exceptions instead of returning boost::none. TriangulationCheiralityException and TriangulationUnderconstrainedException
2013-08-19 20:10:36 +00:00
c6cf4d2dab
Removed use of convenience libraries for tests - wasn't really supported in current version
2013-08-19 15:32:21 +00:00
34998b3435
Added missing export tag
2013-07-31 15:36:39 +00:00
201a7bfda5
adding triangulation function needed by new Schur complement factor
2013-07-30 18:52:06 +00:00
ebcc638ef5
renamed dist to distance (dist still works but now deprecated)
2013-06-05 16:11:36 +00:00
67e36febf2
Added DLL export annotations on new code
2013-04-01 19:29:53 +00:00
Paul Drews
dellaert
Chris Beall
nsrinivasan7
Thomas Schneider
Paul Furgale
Richard Roberts
gawela
Mike Bosse
Luca
jing
Frank Dellaert
Luca Carlone
Jing Dong
Chris Beall
Zsolt Kira
Alex Cunningham