b0f04503c9
Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3
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# Conflicts:
# gtsam/linear/tests/testRegularHessianFactor.cpp
# gtsam/slam/SmartFactorBase.h
2015-06-23 10:03:42 -04:00
3a264ecc8c
.cproject from develop
2015-06-23 09:30:59 -04:00
b7b7182148
Merged in feature/reducedBloat (pull request #160 )
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Reducing header bloat by introducing new ThreadSafeException header.
2015-06-22 09:57:41 -07:00
da726aa21f
remove config.h include as global_includes.h and config.h are redundant
2015-06-22 12:02:40 -04:00
c4e0a10949
Add gtsam/config.h include to all files which include Eigen
2015-06-22 12:01:44 -04:00
3ca9cb8022
this should fix the MKL linking problem
2015-06-22 11:43:30 -04:00
47495c8f46
Included config where needed
2015-06-21 18:14:20 -07:00
128bac616c
Globally replaced FastSet<Key> with KeySet.
2015-06-20 18:38:25 -07:00
d1be7caed5
Made Key Testable, and moved all but base type away from types.h
2015-06-20 18:37:47 -07:00
e0afc0e05c
Removed mpl-based Testable scheme with GTSAM 4 traits. This means you now have to be Testable to be a "FastSet". Future plan is to completely get rid of ths data structure, which is probably all but fast.
2015-06-20 18:36:03 -07:00
926ae2c7a8
Merged develop into feature/reducedBloat
2015-06-20 16:51:30 -07:00
829093e717
Merged in fix/testRegularHessianFactor (pull request #159 )
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Fixed bug in test
2015-06-20 16:51:05 -07:00
d2bf0120fc
And another one !
2015-06-20 15:50:57 -07:00
8ba8a0ff94
Removed system specific header (damn eclipse organize includes!)
2015-06-20 15:47:30 -07:00
63c28f89bf
Removed system-specific header
2015-06-20 15:37:11 -07:00
5719ba27fa
Reducing header bloat by introducing new ThreadSafeException header.
2015-06-20 15:28:25 -07:00
8e1b4cc3be
Fixed bug in test
2015-06-20 12:16:57 -07:00
794d91e88d
Merged in feature/RegularTesting (pull request #157 )
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More constructors and better typing/testing of ReglarHessianFactors
2015-06-20 11:16:31 -07:00
cd6c5ca0bd
using parameters in smart projection factors constructors.. breaking the API, but now is way more elegant
2015-06-19 18:09:39 -04:00
f8205bfe02
Merge branch 'develop' into feature/SmartFactors3
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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
2d9fddbcaa
made cameras virtual and simplified pose factor (with Frank)
2015-06-19 15:33:18 -04:00
dcce21639f
included new constructors (still commented out)
2015-06-19 14:59:33 -04:00
f1e5c61762
adding parameter structure
2015-06-19 13:10:42 -04:00
917e7c177d
fixed examples
2015-06-19 13:10:34 -04:00
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
fb7bc12c84
most unit tests fixed - 2 to go, now sensor_T_body is in the base class, probably not the best choice
2015-06-19 11:42:51 -04:00
100016e3af
put sensor_T_body in SmartProjectionFactor
2015-06-19 10:39:59 -04:00
756d1d29b7
fixing key unit tests - still failures in the optimization
2015-06-18 17:23:39 -04:00
66083f5e18
included calibration in constructor SmartProjectionPoseFactor
2015-06-18 16:33:17 -04:00
391386a654
revived SmartProjectionPoseFactor. Compiles now, going to fix unit tests now
2015-06-18 16:00:54 -04:00
cfa656c2b9
Merged in feature/prohibitTimingTBB (pull request #158 )
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Prohibit Timing build mode with TBB.
2015-06-17 17:00:36 -04:00
e7d10b8080
Merged in fix/zeroRowInQR (pull request #155 )
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Change in QR factorization
2015-06-17 13:59:28 -07:00
0f02b7d473
Prohibit Timing build mode with TBB. See issue #173
2015-06-17 16:23:27 -04:00
19bc1cd686
Merged in fix/sparse_jacobian_output (pull request #121 )
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fixed sparseJacobian() to use a std::map such that it works with symbol keys
2015-06-17 12:17:59 -04:00
a9339baef0
Merged develop into fix/sparse_jacobian_output
2015-06-17 08:37:55 -07:00
b91ed6dc6e
Got rid of warning
2015-06-16 21:17:22 -07:00
ca2aa0cfd4
Refactoring to get grouped factors to compile again
2015-06-16 20:33:33 -07:00
82f6ca64a5
Merge remote-tracking branch 'origin/develop' into fix/zeroRowInQR
2015-06-15 01:09:19 -07:00
b68f763fe7
Merged in feature/LinearSolverCleanup (pull request #148 )
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This has
- Separate Scatter class
- change from updateATA to updateHessian as a virtual method
- Fixed-size BinaryJacobianFactor that overloads updateHessian
- SFM Timing Script that takes BAL files
2015-06-15 01:08:02 -07:00
33e412f2ee
Code review
2015-06-15 01:05:48 -07:00
f523db2d98
IMPORTANT CHANGE/BUGFIX: QR elimination now (I think properly) leaves a row of zeros if the RHS after QR contains a non-zero. A corresponding change in the error calculation makes that Jacobian and Hessian factors now agree on error. I think this was a bug, because it affected the error, but (I think) it only pertained to "empty" JacobianFactors which have no bearing on optimization/elimination.
2015-06-15 00:55:53 -07:00
83171b6096
New example
2015-06-14 23:07:28 -07:00
51433c1ec2
Merged in feature/cleanupBase (pull request #154 )
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Some cleanup in base
2015-06-14 20:42:13 -07:00
75e072396c
Refactored and renamed some internals
2015-06-14 16:05:39 -07:00
15966a65f2
Small reformat
2015-06-14 16:05:18 -07:00
a18875b598
Changed headers to GTSAM-style (near to far)
2015-06-14 16:05:09 -07:00
5771664622
Starting to diagnose issue with lower-left entry of Hessian
2015-06-14 16:01:54 -07:00
7698c52ce9
Created BinaryJacobianFactor template
2015-06-14 15:50:15 -07:00
06902209b0
Fixed bug in hessian scalar computation
2015-06-14 15:19:55 -07:00
30104a114e
More tests with failing example
2015-06-14 15:03:44 -07:00
cbeall3
Frank Dellaert
Frank Dellaert
Luca