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1270 Commits (9edd4e1de6b0be7064c3460ae348e403f5b67f9a)

Author SHA1 Message Date
Duy-Nguyen Ta aa2ffcd118 Merge branch 'develop' into feature/cleanup_ImuFactor 2015-09-17 17:42:38 -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
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
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
dellaert 110a046fb6 Fixed compile issue and tightened tolerances 2015-07-24 16:05:15 +02:00
dellaert 0bb73bae9e Comments 2015-07-23 16:59:26 +02:00
dellaert 1a47a334de Deal with changes in Rot3 2015-07-21 11:23:42 -07:00
cbeall3 7ae31bd8e7 delete some unused stuff 2015-07-20 11:43:57 -04:00
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 2c765c735a Velocity3 default constructor does not zero 2015-07-17 22:09:49 -07:00
dellaert 233cabb3fb Made Velocity a Vector3 2015-07-17 17:36:29 -07:00
dellaert d1271fd9d5 Fixed product retract/localCoordinates and corresponding tests 2015-07-16 23:48:56 -07:00
dellaert 459226800d Replaced failing test with two new, working tests 2015-07-16 22:38:30 -07:00
dellaert b8f5141743 HasRange 2015-07-16 22:38:17 -07:00
cbeall3 3f0e695cc9 some tests pass again 2015-07-16 11:26:07 -04:00
dellaert 0c3bb85547 Added test of localCoordinates 2015-07-15 23:22:31 -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 fb4dd81c4d refactoring: step 1 2015-07-15 12:58:03 -04:00
Frank Dellaert 30435da070 Moved BearingRangeFactor to SAM 2015-07-12 18:57:26 -07:00
Frank Dellaert 03db69117a Define and partially specify Range and Bearing functors 2015-07-12 15:51:49 -07:00
Frank Dellaert 3bad6fea67 moved RangeFactor to SAM 2015-07-12 12:12:59 -07:00
Frank Dellaert 5052eb2c64 cleaning up 2015-07-11 18:31:36 -07:00
Frank Dellaert 7ff3e11efd removed redundancy in naming 2015-07-09 11:29:32 -07:00
Frank Dellaert 3b16ad2967 Moved deprecated headers into subdirectory 2015-07-09 11:14:39 -07:00
Frank Dellaert 377b90941b switch to Rodrigues everywhere 2015-07-05 16:11:04 -07:00
dellaert 464a82cc51 Merge remote-tracking branch 'origin/develop' into feature/betterOrdering 
Conflicts:
	.cproject
	gtsam/inference/Ordering.h
	gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
	gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp
	gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp
 2015-06-28 15:41:58 -07:00
zhaoyang 35c23da427 change: add const traits and renaming some test parameters 2015-06-26 18:24:30 -04:00
zhaoyang 12f9b413ff feature: add concept test for similarity3 2015-06-26 16:01:26 -04:00
zhaoyang 400a17d9ab change: a little clean up 2015-06-26 15:44:08 -04:00
dellaert d415cffd4b Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3 2015-06-23 22:41:33 -07:00
Frank Dellaert 801d1fb700 Merged in feature/performance (pull request #161) 
Improving performance
 2015-06-23 22:27:10 -07:00
cbeall3 0e022b3b33 Values::keys now returns KeyVector instead of list. Corresponding fixes in Matlab wrapper. 2015-06-24 00:35:32 -04:00
cbeall3 b0f04503c9 Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3 
# Conflicts:
#	gtsam/linear/tests/testRegularHessianFactor.cpp
#	gtsam/slam/SmartFactorBase.h
 2015-06-23 10:03:42 -04:00
dellaert f9ddbb1345 Eliminated linked list 2015-06-21 01:45:56 -07:00
dellaert 128bac616c Globally replaced FastSet<Key> with KeySet. 2015-06-20 18:38:25 -07:00
Luca f8205bfe02 Merge branch 'develop' into feature/SmartFactors3 
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
Luca 78c8160dc5 all tests pass and it compiles (yuppii!), but if I make check I get errors with isManifold and something that seems unrelated to smart factors. going to merge with develop 2015-06-19 12:06:45 -04:00
Paul Drews 99fce3f5af Added a few tests 2015-06-11 19:55:10 -04:00
Paul Drews 76ffc45ee7 Merged 'develop'. 
Conflicts:
	gtsam_unstable/geometry/Similarity3.cpp
	gtsam_unstable/geometry/Similarity3.h
 2015-06-11 19:54:54 -04:00
Paul Drews f6ac546cc3 Added comparison to brute force matrix exponential 2015-06-11 13:56:35 -04:00
Paul Drews 5ceb7d9ddc Fully implemented logmap/expmap, which are used for retract/localCoordinates 2015-06-10 16:36:56 -04:00
Paul Drews 0d5f0510ab Expmap and Logmap, still incorrect around identity 2015-06-10 11:01:34 -04:00
dellaert d385984f26 Working compose/between/inverse derivatives 2015-05-26 01:08:27 -07:00
dellaert d060d4621e PoseRTV is now implemented using ProductLieGroup 2015-05-25 23:50:00 -07:00
dellaert 9d522c72f3 internal::LieGroup needed if you also want Testable traits 2015-05-25 22:04:04 -07:00
dellaert b23a51db6d PoseRTV as ProductManifold works 2015-05-25 17:13:08 -07:00
cbeall3 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
dellaert 79d20b6c44 GTSAM-style formatting 2015-05-13 23:44:46 -07:00
Abe 13a4da21b2 misc bugfixes and cleanup from skydio 2015-05-13 22:26:24 -07:00
Frank Dellaert e456923a74 Merged in feature/SimplerExpressions (pull request #135) 
Expressions without MPL
 2015-05-13 00:36:49 -07:00
Frank 057aef90d9 Fixed some more warnings on Ubuntu 2015-05-12 15:05:34 -07:00
Frank 4ba329c23b Fixed many warnings on Ubuntu 2015-05-12 13:46:24 -07:00
dellaert 4f846ff75f No more boost::mpl needed for Expressions 2015-05-12 01:33:33 -07:00
dellaert 81b3860991 Moved all internal data structures to internal namespace 2015-05-11 21:19:40 -07:00
dellaert 13dcc977f2 Moved Point2Vector wrapper from gtsam_unstable.h to gtsam.h 2015-05-03 17:31:08 -07:00
Chris Beall b52ced7a09 Merged in fix/serialization_warnings (pull request #128) 
Fix some unused variable warnings in the serialization code.
 2015-04-20 15:00:45 -04:00
nsrinivasan7 a4fac2ab62 added cout style print statements for similarity 2015-04-12 15:38:40 -04:00
cbeall3 ea6f5e3fb9 Use TriangulationParameters 2015-04-08 21:36:11 -04:00
cbeall3 762a7b7435 Remove selective relinearization and state 2015-04-08 17:52:25 -04:00
cbeall3 51482ea358 Remove template parameter D, get from Base::Dim instead 2015-04-08 14:21:40 -04:00
dellaert 956b53dc3b Fixed sign in stereo version 2015-03-12 09:51:44 -07:00
dellaert 2bdeac30f0 Fixed compile error w PointCov 2015-03-12 07:56:47 -07:00
dellaert a4d1874af4 Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3 2015-03-09 17:51:16 -07:00
dellaert faadf5b06f Fully compiles now 2015-03-06 08:48:35 -08:00
Thomas Schneider 472821f16d Merge remote-tracking branch 'upstream/develop' into fix/serialization_warnings 2015-03-06 17:10:59 +01:00
Thomas Schneider ebf5746987 Fix some serialization warnings. 2015-03-06 16:12:09 +01:00
Chris Beall 3be6b16995 relax threshold from 1e-7 to 1e-6 to make test pass. 2015-03-06 00:32:43 -05:00
dellaert 758aab6e80 Cleaned up test 2015-03-05 10:41:49 -08:00
dellaert b40c0f7f15 Fixed sign 2015-03-05 10:36:03 -08:00
dellaert dc3d5f77fe Extra stereo tests 2015-03-05 10:35:54 -08:00
dellaert e6a90db2d5 Migrated to non-keyed Fblocks 2015-03-04 23:11:01 -08:00
dellaert f28b083c14 Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3 
Conflicts:
	gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
 2015-03-04 16:02:25 -08:00
dellaert 74605df641 Re-ordered methods in .h and .cpp to match them 2015-03-03 07:42:31 -08:00
dellaert d8822e5b57 H1 works for rot/translation, but not scale :-( 2015-03-02 21:58:54 -08:00
dellaert 728991e31f Fixed H2 2015-03-02 21:08:57 -08:00
dellaert 05198c091e comment 2015-03-02 21:08:41 -08:00
dellaert e0e5590856 matrix() returns 4*4 matrix \in GL(4) 2015-03-02 21:08:23 -08:00
dellaert 6bfda9fcba Added prototype derivatives for transform_from 2015-03-02 20:34:56 -08:00
dellaert fcd00450d3 Formatting, use Point3/Rot3, resolved link error of operator*(Point3) 2015-03-02 20:09:44 -08:00
dellaert 1e58c0b0a2 Comments and standard BORG formatting 2015-03-02 19:34:33 -08:00
Frank Dellaert b2dcf35e77 Merged in feature/Similarity (pull request #117) 
Sim3 Support
 2015-02-26 23:33:37 +01:00
Paul Drews 6faa881de6 Make the code prettier. 2015-02-26 15:10:59 -05:00
dellaert a375e7b5be RADICAL2: The SmartProjectionPoseFactor (soon to be renamed SmartPinholePoseFactor, if it survives at all) now no longer stores shared calibrations. Values expect to contain PinholePoses not Pose3s now. The current state of affairs was simply a bug: one pose could be optimized for several different calibrations. It relied on the user to make sure all measurements for a specific pose to optimize were all given the same shared calibration, which was then stored *millions of times* in the pose factors. Instead, there is now *one* shared calibration per PinholePose unknown. 2015-02-26 13:55:16 +01:00
dellaert a132d959f5 RADICAL: Got rid of sensor_pose. In the new PinholePose philosophy, this is entirely the responsibility of the CAMERA. Just like PinholePose, we can have a camera class that has a shared extra transform: it is part of the calibration. PinholePose itself is not able to do this, as the calibration is assumed 2D only, but it's easy to create a class and have the correct derivatives in place. 2015-02-26 12:06:43 +01:00
dellaert 0bf95ae7f6 Removed obsolete code, including slow Schur-complement versions 2015-02-26 11:44:51 +01:00
dellaert fd71974ff3 Got mostly rid of computeEP: just a call to cameras.project2 2015-02-25 20:52:16 +01:00
dellaert 850470ef06 rename of computeJacobians overloads to better reflect functionality 2015-02-25 19:30:17 +01:00