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7413 Commits (a881e8d3eeb50a0ae8b12db9f28ff1203f50a6fd)

Author SHA1 Message Date
Luca b126d98609 included suggestions from Frank 2014-12-08 20:20:03 -05:00
Luca dc13912ce2 moved jacobian computation to updateMeasurement functions, and fixed noise propagation. Luca&Christian: insight is that preintegration noise acts on rotations as R * expmap(noise), while before it was expmap( logmap(R) + noise) 2014-12-08 18:41:39 -05:00
Luca 02f92e4e04 included Jacobian of logmap in quaternion mode 2014-12-08 18:39:47 -05:00
Sungtae An c5b4d731cc Correct Yond-Dian's name 2014-12-08 18:03:40 -05:00
Luca 54ee973309 changed naming in comments about expmap & logmap jacobians 2014-12-08 16:27:57 -05:00
Luca f991c1a398 getting rid of rightJacobianSO3 (not completed yet) 2014-12-08 13:15:51 -05:00
Luca 422db08c69 included Jacobian for logmap and expmap, with unit tests (Note: only implemented for Rot3M, this will not work in quaternion mode) 2014-12-08 12:31:02 -05:00
Luca d5d7594888 deleted hard-coded function from IMU unit test 2014-12-08 12:31:02 -05:00
Chris Beall fbcb9a4d67 Fix intermittent optimization crash in Debug+TBB modes, exposed by testGeneralSFMFactor, etc. 2014-12-08 10:59:49 -05:00
lvzhaoyang 6d97b8d3db Small fix of IMUKittiExampleAdvanced. Now the same priorFactor issue 2014-12-08 10:41:52 -05:00
Luca 2730dab4c6 made test more serious and easy to understand 2014-12-07 15:04:10 -05:00
Luca ab54ca1697 addressed some of Frank's comments 2014-12-07 15:03:48 -05:00
Luca aee20d669d removed useless comments, added other comments 2014-12-07 13:58:13 -05:00
cbeall3 cd35db218b Minor cleanup 2014-12-07 13:58:06 -05:00
cbeall3 b58064ce43 Stereo calibration can now be optimized 2014-12-07 13:58:06 -05:00
cbeall3 971a53cfb5 Fixed size vectors for all Logmap, localcoordinates and vector methods 2014-12-07 13:51:17 -05:00
Luca 6d571ca6b9 truth revealing unit test :-) re-established good functioning of IMU factor (TODO: fix CombinedImuFactor F & G) 2014-12-07 13:14:45 -05:00
cbeall3 bfd40014a2 comma initialization 2014-12-07 12:38:36 -05:00
lvzhaoyang b881135f53 fix TransformProjectionFactorExample.m 
But there is a issue that optimizer doesn't generate the trajectory. Will fix it later.
 2014-12-07 00:57:32 -05:00
lvzhaoyang 3943ce0d25 fix TransformProjectionFactorExampleISAM 2014-12-07 00:53:08 -05:00
lvzhaoyang bd2b92b75d Small fix, but now have the same priorFactorVector issue as IMUKittiExampleGPS 2014-12-07 00:50:10 -05:00
lvzhaoyang 9dfd6a10e6 Fix TransformCalProjectionFactorExampleISAM.m 2014-12-07 00:47:03 -05:00
lvzhaoyang 240a9592b9 A wrong commit of last smartRangeFactor.m Now fixed. 2014-12-07 00:41:12 -05:00
lvzhaoyang a8811beb31 Fix testSAMFactors 2014-12-07 00:39:27 -05:00
lvzhaoyang 11e83437e7 fix smartRangeFactorExample.m 2014-12-07 00:36:36 -05:00
lvzhaoyang 2371600c63 fix the plot_projected_landmarks.m project_landmarks.m 2014-12-07 00:31:48 -05:00
lvzhaoyang fa4bfbfbc5 Fix the example data reading, 
but KittiGps_metadata.txt, KittiRelativePose_metadata.txt, KittiRelativePose.txt don't exists in gtsam/examples/data directory
 2014-12-07 00:29:30 -05:00
lvzhaoyang 924a8d6670 Fix plot_projected_landmarks.m project_landmarks.m 
Haven't finish FlightCameraTransformIMU.m, stuck at TransformCalProjectionFactorCal3_S2
 2014-12-07 00:23:17 -05:00
lvzhaoyang 615709dd49 fix MonocularVOExample.m 2014-12-06 23:25:53 -05:00
lvzhaoyang a67289b240 fix the insert simpleCamera. Now SFMexample can work 2014-12-06 23:18:15 -05:00
lvzhaoyang 87ae297dad just make sure it can compile and run. Will come back to fix it 2014-12-06 23:13:09 -05:00
Luca 792d2656d0 using cross product instead of skewSymm matrix in predict 2014-12-06 19:13:02 -05:00
Luca d46224e8a1 added const and changed name in updatePreintegratedMeasurements to "omegaCoriolisHat" to comply with notation in "predict" 2014-12-06 19:04:41 -05:00
krunalchande 943a18b124 Fixed confusion in naming. 2014-12-06 17:42:07 -05:00
Frank Dellaert 8cc26c759d BIG CHANGE: the OptionalJacobian<M,N> obviates the need for the `optional<Matrix&> Jacobian arguments. They will continue to exist, for backwards compatibility, in the old-style factors, but everywhere else they should disappear. This PR by Natesh has eradicated all but one in gtsam/geometry. Great job !!!! 
Merged in feature/fixedSizeDerivatives (pull request #54)

Proposed way to do Jacobians from now on via Eigen::Ref like type
 2014-12-05 22:54:36 +01:00
dellaert 468aa5d6b6 Merge remote-tracking branch 'origin/develop' into feature/fixedSizeDerivatives 2014-12-05 22:23:12 +01:00
nsrinivasan7 a5877a96b8 @dellaert. Works with quaternion switch on in gcc 4.7, 4.8 and MSVC 2012. Pls Merge if compiles on MAC 2014-12-05 16:01:10 -05:00
Sungtae An 47396871a3 Slightly modify some comments 2014-12-05 15:43:26 -05:00
Sungtae An 1c9a1f7cdb Add the citation of the reference. 2014-12-05 15:33:22 -05:00
cbeall3 a7b61373a9 Fix include path for moved Autodiff stuff 2014-12-05 13:52:49 -05:00
Natesh Srinivasan f5db91a56f works on gcc 4.8 2014-12-05 11:08:13 -05:00
dellaert 4e6534eff7 Tried to harmonize AHRS and IMU handling of coriolis term (but they are inconsistent) 2014-12-05 13:52:51 +01:00
dellaert aa93475b3d Moved two very large methods from ImuFactorBase to PreintegrationBase 2014-12-05 13:24:03 +01:00
dellaert 8bfe4d75fb Possibly controversial (sorry @lucacarlone ) name change to make it easier to see copy/paste patterns. 2014-12-05 12:36:14 +01:00
dellaert ac8e4d2536 Made PreintegratedRotation a base class of PreintegrationBase 2014-12-05 12:17:08 +01:00
dellaert 507979c526 PreintegratedRotation works for AHRS 2014-12-05 12:12:54 +01:00
dellaert 37e6b796ec Slightly edited and re-formatted comments 2014-12-05 09:29:00 +01:00
dellaert cc03a13f5f check.navigation target 2014-12-05 09:28:40 +01:00
Sungtae An 06b82ce3e3 Clean up the code 2014-12-04 23:30:27 -05:00
Sungtae An cfb82d9a96 Modify some comments 2014-12-04 23:30:17 -05:00