05e42ba452
Test Separator unit test passes. Partially
2014-02-21 11:21:08 -05:00
1ff9309533
Parition builds partially. Computing edge separate is no longer a separate function in METIS. testFindSep fails
2014-02-20 14:36:14 -05:00
f48b8e593c
Move tests to folder
2014-02-20 12:27:58 -05:00
4c86ea1ab5
Merge branch 'develop' of bitbucket.org:gtborg/gtsam into feature/partition
2014-02-20 10:10:04 -05:00
89e6d2f1e8
Removed some commented-out includes
2014-02-18 13:44:25 -05:00
ed4e1a8e57
Merge branch 'develop' of bitbucket.org:gtborg/gtsam into feature/partition
2014-02-17 12:41:09 -05:00
3293df1529
Removed duplicate link libraries during wrap
2014-02-17 00:43:14 -05:00
f283150eb4
Using macro for creating examples to remove cmake code copy/paste
2014-02-13 13:24:14 -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
2e1e4951e1
Merge branch 'develop' of bitbucket.org:gtborg/gtsam into feature/partition
2014-02-09 13:45:41 -05:00
9d2c5888b8
Made cmake slightly nicer when using Xcode - removed a couple unnecessary prints, and removed .run targets when using Xcode since they're not needed and clog up the project view.
2014-02-08 11:14:43 -05:00
5ef681bc4a
Changed Vec() to Vector().
2014-02-05 13:59:21 -05:00
381899640e
Moved TransformBtwRobotsUnaryFactor to gtsam_unstable from svn version.
2014-02-04 14:13:25 -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
1d9aa38a62
Move partition over
2014-01-28 19:38:28 -05:00
fe55148dd7
deleted redundant files for imu factors
2014-01-27 17:38:01 -05:00
38846aaac6
remove FixVector(size_t m, ...)
2014-01-23 19:08:20 -05:00
376892f67f
fix FixVector(size_t m, ...), which also has dangerous behavior
2014-01-23 19:02:24 -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
c4eec5d549
fix Vector_() remained
2014-01-23 02:16:04 -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
848f992b98
fixed two tests that did not pass with Quaternions
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git-svn-id: https://svn.cc.gatech.edu/borg/gtsam/trunk@20414 898a188c-9671-0410-8e00-e3fd810bbb7f
2013-12-21 18:30:46 -05:00
d7dc390130
Particle factor scaffold
2013-12-19 17:14:40 +00:00
880d9a8e3c
Switched to new Eigen built-in special comma initializer
2013-12-16 21:33:12 +00:00
f664df729c
Updated to new wrap functions in gtsam cmake
2013-12-16 21:32:55 +00:00
abbbd02979
reintroduced triangulation.cpp with non-templated functions
2013-12-09 21:28:43 +00:00
5f87cbea7f
New SymmetricBlockMatrix interface - should be safer as all exposed functions use symmetric matrix expressions and the internal uninitialized values below the diagonal are never exposed.
2013-11-26 23:49:53 +00:00
4e2b658588
some excel file I forgot to check in
2013-11-23 19:04:43 +00:00
a27f97dec4
Fix in ConcurrentFilteringAndSmoothing - one elimination call was using the default elimination function instead of the one from the parameters.
2013-11-21 15:42:17 +00:00
0608e9a05b
Added support for MKL in Eigen and fixed several errors and warnings within Eigen when using MKL
2013-11-18 19:23:23 +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
ec78d54f37
Removed old Index typedef and IndexFormatter
2013-11-08 16:35:28 +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
5a71336ddd
Fixed a compile error with Clang 5.0 on OS Mavericks
2013-10-30 12:15:43 +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
788f69c00e
Add header for size_t since gcc requires
2013-10-28 18:07:19 +00:00
b88e15e694
Faster variant of DSFMap, if not as elegant.
2013-10-27 03:45:12 +00:00
d1a62b0cc1
Killed other variants
2013-10-27 02:50:47 +00:00
f4b7ab54b0
Several DSFMap variants
2013-10-27 02:18:42 +00:00
5e29bc5b67
Return set partitions from DFSMap
2013-10-26 22:22:31 +00:00
14ab4f6355
Quadratic growth in nr images to be expected.
2013-10-26 20:21:10 +00:00
b80859211c
Timing DSF variants: functional DSF is faster than in-place, but both way slower than DSFMap, which in turn is slower than DSFBase
2013-10-26 20:14:01 +00:00
4e68feff37
Small improvements
2013-10-26 20:12:49 +00:00
48dd3cb769
DSF with Map, allows more general types
2013-10-26 17:57:03 +00:00
19966fe112
Added pairwise matching example
2013-10-26 16:08:18 +00:00
fccdc46180
Fixed some compile errors related to rename
2013-10-25 19:16:15 +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
11edeca3e3
removed example that was moved to smartFactors_ceres
2013-10-23 19:28:39 +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
de55dc0d66
Fix Vector_() to Vec() in gtsam_unstable/slam
2013-10-22 04:56:01 +00:00
87f9a2ab03
Fix Vector_() to Vec() in gtsam_unstable/nonlinear
2013-10-22 04:35:21 +00:00
2a178515b3
Fix Vector_() to Vec() in gtsam_unstable/examples
2013-10-22 04:30:13 +00:00
6587f9781c
Fix Vector_() to Vec() in gtsam_unstable/dynamics
2013-10-22 04:22:50 +00:00
b8ce816de2
2013-10-21 22:00:12 +00:00
d57f61e5ab
removing include which no longer exists
2013-10-21 18:23:00 +00:00
6e7302283e
moved smart factors for smartFactors_ceres
2013-10-21 15:35:23 +00:00
8b68c71614
2013-10-20 02:20:07 +00:00
5bf761a67a
minor changes to BAL example
2013-10-19 23:07:16 +00:00
a1402018ca
added computePoints functionality in smartFactorsCreator
2013-10-19 22:42:51 +00:00
92f0bb64b2
added tests on smartHessianFactor with Cal3Bundler
2013-10-19 22:00:43 +00:00
796d9c7a67
added functionalities in dataset.cpp (writeBALfromValues) and BAL example
2013-10-19 20:28:20 +00:00
916d730fce
Updated BAL example with readBAL functionality (work in progress)
2013-10-19 02:05:51 +00:00
de5f8ee354
templated calibration object in triangulateDLT
2013-10-19 02:05:49 +00:00
aa1f1582f5
KITTItoBALConverted checked in
2013-10-19 00:57:01 +00:00
d5790376d7
cleaning (2)
2013-10-18 23:15:47 +00:00
81c183199a
cleaning and removing useless things
2013-10-18 23:14:34 +00:00
f7e90bbe86
temporary disabled -
2013-10-18 06:17:01 +00:00
1400498b72
Back to old calibration
2013-10-18 04:31:14 +00:00
7901e0d795
Switch to Cal3Bundler
2013-10-18 04:01:07 +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
06812ed964
intermediate changes (work in progress)
2013-10-18 01:25:18 +00:00
3a139587ee
minor changes
2013-10-17 01:18:22 +00:00
12b19b6ca9
added input arguments for BAL testing
2013-10-16 23:17:29 +00:00
b95c1c14e4
minor adds
2013-10-16 02:50:57 +00:00
6f6061c6c2
fixed make check
2013-10-16 00:58:41 +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
aa3729b098
Running, but to test
2013-10-15 19:16:39 +00:00
c27f4f6bcb
added possibility to read initialization from file in ProjectionFactorCreator
2013-10-15 19:16:38 +00:00
575e5b1693
Cosmetic corrections
2013-10-15 19:16:35 +00:00
16af82dc86
support multivalue variables
2013-10-15 18:25:05 +00:00
9bff152dbe
add template on triangulation
2013-10-15 18:01:06 +00:00
4f2d233e67
added test on Hessian
2013-10-15 14:57:48 +00:00
b77f7f77a4
created infrastructure for testing BAL datasets
2013-10-15 02:02:53 +00:00
44ae90f523
added SmartHessianProjection factor: allows different calibrations and noises for the cameras
2013-10-14 22:33:15 +00:00
0ad2dc6f81
removed "using" from header
2013-10-12 21:08:27 +00:00
223da3e34f
fixed DiscreteBayesNet::sample.
2013-10-12 20:23:04 +00:00
939f694b33
first converged loopy belief test
2013-10-12 20:06:02 +00:00
9ad033fc45
Added unit tests on projectPointAtInfinity and backprojectPointAtInfinity. Fixed error projectPointAtInfinity. Deleted projectPointAtInfinity
2013-10-12 19:29:07 +00:00
71039164b2
Added "using namespace boost::assign" to allow use of +=
2013-10-12 17:15:36 +00:00
b51a8380c4
added boost include
2013-10-12 16:21:15 +00:00
8be7363a01
refactor and add more comments
2013-10-12 15:27:37 +00:00
b161a106c7
loopy belief in progress
2013-10-12 05:49:11 +00:00
35924f6055
disable printing
2013-10-11 21:59:36 +00:00
2570492fa6
disable printing
2013-10-11 21:58:09 +00:00
a5f1d68099
fix scheduling examples by adding the default key index ordering in Scheduler.
2013-10-11 21:55:31 +00:00
19d64460ba
check in fail DiscreteBayesNet::sample unittest.
2013-10-11 19:07:16 +00:00
8add3de3c2
fix compilation errors in unstable discrete examples
2013-10-11 19:01:12 +00:00
1531abd285
fix testCSP by using the default key ordering.
2013-10-11 17:48:44 +00:00
bf11f93cee
revive unstable discrete. testCSP still fails, but looks like the solution is valid. See comments in file.
2013-10-11 17:42:30 +00:00
9639660685
Added GenericProjectionFactorCreator. Both smart and generic projection factors now work (again) in batch mode. Incremental not tested yet.
2013-10-11 01:59:36 +00:00
1a8a670870
Fixed bugs in new version since creator class is used: Get number of landmarks from creator object,
...
replace ensureHasOrdering with direct COLAMD call.
Current Smart Projection factor version works in batch mode
2013-10-10 20:21:40 +00:00
e799c9ffa9
tabs converted to two spaces
2013-10-10 17:52:57 +00:00
121e71431a
SmartFactorsCreator + initial fix in kitti example
2013-10-09 17:13:19 +00:00
426b4d79cf
testSmartProjectionFactor - disabled
2013-10-08 14:28:50 +00:00
444df1958a
Kitti test not working
2013-10-06 18:17:35 +00:00
d049dd38c6
Incremental mode in Smart Factors (not working yet with standard ProjectionFactors)
2013-10-06 18:17:32 +00:00
83182b05ca
Second method for landmark-first ordering: Provide a constrained ordering with landmarks in group 1 and poses in group 2
2013-10-04 14:25:19 +00:00
cc724134a6
Added ability to run both smart and projection factor version (for comparison)
...
For projection factor version, we can specify a landmark-first ordering
2013-10-04 13:47:24 +00:00
43d56b120a
From Hmf6_unordered: getISAM2 and variables Reeliminated/Relinearized (d97dcacf186900d12003c399e7fe55e03ca34e3f)
2013-10-03 19:52:05 +00:00
0c7b2ec062
From Hmf6_unordered: Public isam2 - to be changed (10834edc1698d941be3203e8e6bea0bd4a573443)
2013-10-03 19:52:01 +00:00
bf40956592
Merged from Hmf6_unordered 970392249a8c50153f24594c9c81acb740cedd06
2013-10-03 19:51:56 +00:00
4996db5023
Fix in running incremental optimization on Kitti
2013-10-03 18:02:25 +00:00
4d31dd99f3
Hopefully fixed the mex build flags
2013-10-03 16:50:14 +00:00
a6dd4c0464
testing on kitti
2013-09-30 20:39:55 +00:00
441dcec64e
added unit test for selective relinearization
2013-09-28 21:25:08 +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
7560a1f6e3
Typo fixed
2013-09-27 16:06:36 +00:00
e10a0a0650
bool to disable selective relinearization
2013-09-26 23:09:50 +00:00
8168d4a186
commented test
2013-09-26 23:09:48 +00:00
22ccd4b4b4
update to smartFactor
2013-09-26 23:09:47 +00:00
b04d2f1512
ICRA version of Kitti dataset processing
2013-09-26 20:36:57 +00:00
d440901920
Fixed quoting on include paths for building the toolbox so that the toolbox builds again
2013-09-26 18:12:32 +00:00
70a448f43e
Efficient implementation of Selective Linearization
2013-09-26 15:07:56 +00:00
73e72a98bd
Selective relinearization
2013-09-26 01:06:55 +00:00
9f68c04792
Initial implementation of selective relinearization
2013-09-20 20:19:58 +00:00
c310bafc8a
ISAM2 option, increased num poses
2013-09-14 03:10:10 +00:00
0e5069c26c
Added toy example on SmartRangeFactors
2013-09-14 00:21:10 +00:00
5dc138aa09
wrap important bits of SmartRangeFactor
2013-09-13 21:00:48 +00:00
14e65ce607
Matrix initialization bug fix
2013-09-13 18:26:39 +00:00
7413b50da1
Support for running on entire kitti dataset.
...
Cleaned up prints, added gathering of statistics (# variables, triangulation failures, etc.)
2013-09-13 13:22:43 +00:00
35327d0d56
Added incremental version using the normal Projection Factor.
...
Supports initialization both using read-in landmark poses or triangulation.
2013-09-11 14:02:41 +00:00
a8d1072a02
Further optimization with another ~9% speed improvement.
...
Don't retriangulate on linearize if previous triangulation involved same poses
Added noalias in non-blockwise portion
Added exception handling for project() function
2013-09-10 15:15:24 +00:00
b3d500f58c
Added optional flag_bump_up_near_zero_probs.
2013-08-29 22:43:09 +00:00
86d21aaa05
Added optional flag_bump_up_near_zero_probs.
2013-08-29 22:42:33 +00:00
141958123a
Working version of rotation only smart factor
2013-08-28 17:37:58 +00:00
df36ee643a
Added option to start with an M step.
2013-08-28 16:56:57 +00:00
0422b9cfef
degenerate case in smart vision factor
2013-08-28 16:07:58 +00:00
633220a9dd
degenerate case in SmartProjectionFactor
2013-08-28 16:07:56 +00:00
19ddf3f228
minor speedup
2013-08-28 14:47:57 +00:00
bf8621aa3a
Added some state that is returned/passed in to smart projection factor to support smart re-linearization
...
Fixed bug in batch example that did not add last set of measurements in file
Created incremental version that reads measurements as they come, associates with a smart factor (or creates new one), and optimizes.
Last example achieves same results on 200-pose example as batch example.
2013-08-28 12:31:56 +00:00
138a7ea28c
minor fixes - removed unnecessary boost optional
2013-08-27 17:48:59 +00:00
Andrew Melim
Richard Roberts
vindelman3
Luca
jing
Frank Dellaert
Luca Carlone
Jing Dong
Chris Beall
Pablo Fernandez Alcantarilla
Zsolt Kira
Duy-Nguyen Ta
Alex Cunningham
Vadim Indelman