443d304a7c
Added another TrifocalTensor estimation test
2010-02-22 21:45:15 +00:00
fbbdd0be3e
Fixed error calculation with NonlinearConstraints - now use Unit noisemodels in NonlinearConstraint to prevent having the error forced to infinity
2010-02-22 21:11:22 +00:00
ee9205f0fa
uncommented unit tests
2010-02-22 16:43:40 +00:00
65cbff6af6
added unit tests
2010-02-22 06:42:58 +00:00
6ea8a22958
Fixed two unit tests in MATLAB, needed some small changes in C++ as well
2010-02-21 23:50:28 +00:00
694f6e4219
linearize now always returns a shared pointer
2010-02-21 21:17:47 +00:00
517c82f62f
Small details, like using a reference in FOREACH
2010-02-21 17:06:11 +00:00
fe4471930f
avoid keys() call to known set of keys
2010-02-21 15:24:05 +00:00
190ec53a63
use ifdef
2010-02-21 15:23:27 +00:00
7f1c3f9952
fixed a bug
2010-02-21 04:51:42 +00:00
274265a401
Errors:axpy and testErrors
2010-02-21 00:01:43 +00:00
5b6af9e4bd
1.0 versions of BLAS level 2
2010-02-20 23:44:07 +00:00
ac316f2d56
formatting only
2010-02-20 23:43:41 +00:00
75b35949c9
Fixed several unit test main() functions that were returning 0 instead of the result of runAllTests. This caused unit tests to print failures but not count as failures in the pass/fail counts. In CMake projects, since test output is logged to a file instead of printed, this caused no indication of failures when they occured! All tests still pass with no other modifications after fixing this.
2010-02-20 22:22:45 +00:00
1949a992cd
define two additional types
2010-02-20 00:28:10 +00:00
689b9fefc0
throw exceptions instead of crashing
2010-02-19 22:44:45 +00:00
d0ce5d36da
created addPrior
2010-02-19 02:48:47 +00:00
e60d903210
removed extra quotes
2010-02-18 23:31:23 +00:00
2bf4c0ce5b
Fixed two bugs, both related to array overflow
2010-02-18 22:52:49 +00:00
c26219e3d4
Added Pose2::matrix() function.
2010-02-18 16:27:01 +00:00
cd5c281c76
Added get and set
2010-02-18 14:30:16 +00:00
ede0a8c874
Added unit test
2010-02-18 14:29:40 +00:00
3247751b5d
Major check-in: there are now two interchangeable implementations of VectorConfig.
...
VectorMap uses a straightforward stl::map of Vectors. It has O(log n)
insert and access, and is fairly fast at both. However, it has high overhead
for arithmetic operations such as +, scale, axpy etc...
VectorBTree uses a functional BTree as a way to access SubVectors
in an ordinary Vector. Inserting is O(n) and much slower, but accessing,
is O(log n) and might be a bit slower than VectorMap. Arithmetic operations
are blindingly fast, however. The cost is it is not as KISS as VectorMap.
Access to vectors is now exclusively via operator[]
Vector access in VectorMap is via a Vector reference
Vector access in VectorBtree is via the SubVector type (see Vector.h)
Feb 16 2010: FD: I made VectorMap the default, because I decided to try
and speed up conjugate gradients by using Sparse FactorGraphs all the way.
2010-02-17 03:29:12 +00:00
cb5d4c3127
instantiate SymbolicConfig
2010-02-16 23:20:39 +00:00
d895cb90dc
Added a static dim function to Point3 for generic detection of dimension
2010-02-16 20:21:03 +00:00
529fc5536b
Fixed templating problem with visualSLAM::ProjectionFactor
2010-02-16 02:09:07 +00:00
30893b33eb
some small details to work it work with NewVectorConfig
2010-02-15 23:54:10 +00:00
5d33eb185c
added SubVector type and some related routines
2010-02-15 23:53:16 +00:00
e4691a1594
BTree refactored, Node is now an inner class, find is non-recursive
2010-02-15 23:52:46 +00:00
39708194a3
added TrifocalTensor test and changed DLT to use non-sorted version.
2010-02-15 23:45:53 +00:00
341c4d9250
Deleted debug print
2010-02-15 21:38:33 +00:00
8691d633a7
added testTensors to the tests
2010-02-15 20:25:38 +00:00
17706d4ebd
Added key template parameters to visualSLAM::projectionFactor without changing the interface. Added dimension checking function for Point2 type.
2010-02-15 16:37:37 +00:00
6f0d23cdaf
forgot to change comments in previous checkin
2010-02-14 07:26:53 +00:00
1cc5bf748b
make file changes and added make targets to the cproject
2010-02-14 07:26:10 +00:00
c16e6fc0d5
Moved Tensor related Files from CitySLAM
2010-02-14 07:25:03 +00:00
1923778750
Moved Tensor related Files from CitySLAM
2010-02-14 07:24:37 +00:00
44094b494e
fixed maxIteration bug
2010-02-14 07:14:42 +00:00
1f165a9f85
Made CG state a class
2010-02-14 05:52:20 +00:00
43f9baf77a
added test to check singular value ordering for a sample homography case
2010-02-14 04:56:29 +00:00
693e13ef88
added default bool option to svd to sort the singular values and V. the default is true so pass false to avoid sorting
2010-02-14 04:54:39 +00:00
f9c2000847
save graph to graphviz format
2010-02-13 07:09:56 +00:00
d0a93ad9dd
insert bayes net as a clique
2010-02-13 07:09:27 +00:00
4408eaf6f4
Added FactorGraph::checkGraphConsistency() to check for consistency between the variables->factors and factors->variables maps, and a unit test that tests the replace function including checking consistency.
2010-02-13 01:29:19 +00:00
f1988513fe
Fixed bug in print function of TypedLabeledSymbol
2010-02-10 21:03:49 +00:00
dde0626e5c
Added a constructor for TypedLabeledSymbol from Symbol that decodes the index to split out a label
2010-02-10 15:27:21 +00:00
d0aed559b5
TypedLabeledSymbols now convert properly to Symbols, so they can be used to add a runtime label to a TypedKey to express "Pose 1 of robot A"
2010-02-10 14:39:58 +00:00
31999ecb1f
added 4-way symbolic factor
...
fixed a bug in the bayes tree to graphviz routine
2010-02-09 22:59:18 +00:00
e83b6c3b84
Normalizing rotation matrix to fix numerical instability when composing many poses
2010-02-09 22:44:02 +00:00
31fc894a4a
added 4-way symbolic factor
...
fixed a bug in the bayes tree to graphviz routine
2010-02-09 21:32:14 +00:00
Manohar Paluri
Alex Cunningham
Kai Ni
Frank Dellaert
Richard Roberts