8fe7e48258
backward compatibility unit tests for NoiseModelFactor4
2021-12-03 00:46:23 -05:00
2aecaf3258
optional jacobian overloads backwards compatibility
2021-12-03 00:39:10 -05:00
81f1d93158
NoiseModelFactorN - fixed-number of variables >6
2021-12-01 16:04:49 -05:00
613b161fd2
Merge pull request #188 from michaelbosse/fix_bug_robust_residuals
2021-11-30 15:06:21 -05:00
582f6914cd
more extra semicolon warnings fixed
2021-11-08 23:07:05 +01:00
27143fc724
Add tests for Lie::interpolate jacobians
2021-10-25 17:15:18 -04:00
de68189559
Merge branch 'develop' into refactor/ExpressionTests
2021-07-19 11:56:58 +02:00
d5890a2d61
update all the tests
2021-07-10 21:03:15 -04:00
650e432f52
update boost::bind usage
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use <boost/bind/bind.hpp> instead of deprecated <boost/bind.hpp>
use boost::placeholders:: scope in appropriate files
remove and add <boost/bind/bind.hpp> in appropriate files
2021-06-16 00:56:43 -04:00
2827584f69
add expressions for cross() and dot()
2021-06-11 09:41:26 +02:00
0fe12ec984
resolve some nits
2021-05-12 16:57:27 -04:00
a637737d5e
refactor tests and add comments
2021-05-12 15:36:12 -04:00
d6a3171e67
user can now also set the weights to initialize gnc!
2021-05-10 20:06:31 -04:00
5274abafd0
all tests done!
2021-05-10 18:23:12 -04:00
3ac97c3dbe
adding knownOutlier input to GNC
2021-05-10 10:30:32 -04:00
759dcaa1dd
formatting changes
2021-03-05 00:06:30 -08:00
a2f99ac71c
unit test + fix segfault
2021-03-05 07:21:38 +00:00
8261326e78
Merge pull request #684 from borglab/feature/gncImprovements
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changed barcsq to a vector to allow each factor to have a different inlier threshold
2021-02-03 13:44:21 -05:00
7f80c906c4
Fix override warnings: modernize-use-override
2021-01-28 23:02:13 -05:00
a59a12245c
done with new default noise thresholds!
2021-01-22 23:24:28 -05:00
28b0f0ac8e
working unit tests: added chi2
2021-01-22 22:27:47 -05:00
be86b9b5d7
changed barcsq to be a vector, such that the user can provide a bound for each factor
2021-01-22 21:04:28 -05:00
06d8ec289d
Merge pull request #633 from borglab/fix/foot-imu
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Adds unit test for imu preintegration of a single step
2021-01-19 21:03:10 -05:00
7eeed6dc14
remove cout statements from testImuPreintegration tests
2021-01-19 15:47:44 -05:00
07244bbdea
merge with upstream
2021-01-19 10:54:52 +00:00
bb662f0cb4
clean up
2021-01-19 10:49:42 +00:00
6e46b72742
add unit test for NonlinearFactor weight with different noise models
2021-01-06 11:46:49 -05:00
90e22cf0dd
Merge pull request #617 from borglab/gnc
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Gnc
2021-01-04 10:04:59 -05:00
24672385b3
moved gncLossType outside params
2020-12-29 21:59:21 -05:00
dfdd206708
addressed all except 2 comments by Frank. waiting for inputs on the 2 outstanding issues
2020-12-28 21:03:20 -05:00
eea52766d1
renamed enum
2020-12-28 20:49:17 -05:00
06dfeb7ac5
moved GncParams to separate file, addressing comments by Frank, 1/n
2020-12-28 20:43:35 -05:00
dc5c769e7c
- fixed stopping conditions
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- handled degenerate case in mu initialization
- set TLS as default
- added more unit tests
2020-12-23 22:08:44 -05:00
c57174436f
fix test
2020-12-22 21:08:42 -05:00
046db8749e
Fix TLS convergence check
2020-12-22 13:40:52 -05:00
cd82a56214
made function name less ambiguous, added more comments on inlierThreshold
2020-12-21 22:32:34 -05:00
0e09f019ef
fixed templating, added a strict unit test on inlier threshold
2020-12-21 22:28:07 -05:00
fd43d817df
save time in CSV, formatting
2020-12-15 10:50:28 -05:00
7f975d194a
refactored code for testing ImuPreintegration with impact
2020-12-14 14:32:24 -05:00
8b9f917f43
refactored code for ImuMeasurements
2020-12-14 14:32:04 -05:00
6543fb6c7c
Merge branch 'develop' into fix/foot-imu
2020-12-14 13:47:11 -05:00
720ac41208
Adds unit test for imu preintegration of a single step
2020-12-08 15:22:01 +00:00
398c01375e
more unit tests
2020-12-07 20:20:51 -05:00
594f63d1f6
test fix
2020-12-07 17:28:35 -05:00
9caa0d14cf
mu update test
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Separated GM & TLS case
make sure the mu set size is explicitly stated (does not depend on default values)
2020-12-07 16:16:21 -05:00
d0a81f8441
mu initialization test & minor formatting fixes
2020-12-07 16:04:36 -05:00
9903fb91d0
tls done except unit tests
2020-12-07 13:24:49 -05:00
fcf2d31684
moved class to .h
2020-12-05 13:47:40 -05:00
d6f7da73c3
Merge pull request #619 from borglab/fix/zero_translation_avg
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Handling edges with pure rotation in translation averaging
2020-12-01 19:23:41 -08:00
602db46f44
changing test names and adding documentation
2020-12-01 01:33:43 -08:00
cb3a766b30
uncomment calibration applications
2020-11-30 13:19:13 -05:00
2703307a43
deprecate SimpleCamera tests
2020-11-30 07:01:58 -05:00
8d009c2fcf
translation recovery unit tests pass
2020-11-30 00:30:19 -08:00
4bc250e7c0
new test doesnt pass
2020-11-28 23:44:20 -08:00
786d4bbf9a
done - PGO works like a charm!
2020-11-27 23:12:26 -05:00
7699f04820
correct formatting
2020-11-27 22:54:51 -05:00
c4644a0d61
added functionality to fix weights
2020-11-27 22:50:41 -05:00
ef47741881
ladies and gents... GNC!
2020-11-27 22:22:14 -05:00
dab00907b9
added verbosity
2020-11-27 22:07:16 -05:00
9e3263f2b1
yay! only the final monster to go!
2020-11-27 19:29:42 -05:00
556fa83e9f
new constructor test which gets rid of robust loss now passes!
2020-11-27 19:00:08 -05:00
7ce0641b43
working on make graph
2020-11-27 18:28:31 -05:00
5db6894b66
finally I have a way to properly change the noise model!
2020-11-27 18:25:38 -05:00
e99188095f
stuck on conversion of noise model
2020-11-27 17:14:34 -05:00
0f07251cf5
1 test to go
2020-11-27 16:31:32 -05:00
7c22c2c402
simplified small test to make it more understandable
2020-11-27 16:18:36 -05:00
52225998fe
2 tests to go
2020-11-27 16:10:03 -05:00
a33c50fcef
now we have very cool tests!
2020-11-27 15:46:12 -05:00
f897fa81a9
added gnc loop
2020-11-27 15:14:41 -05:00
90dd2c7035
params parsed correctly
2020-11-27 13:05:54 -05:00
ff40590fc3
added equals in NonlinearOptimizerParams
2020-11-27 12:59:27 -05:00
b5d06b5878
starting to create test and code for gncParams
2020-11-25 20:11:04 -05:00
7e29944f95
Initial design
2020-11-25 11:02:01 -05:00
c5576c534f
Add iteration hook in non-linear optimizers
2020-11-08 11:57:47 +01:00
e87fd24df1
Remove offending include
2020-08-18 10:51:15 -04:00
b1e3b5495c
Some behavior changes.
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- maxIndex now does what it says
- id = size_t, Key is only for Values and Graph)
- re-admitted methods needed for wrapper.
2020-08-15 13:05:58 -04:00
9bcdbe8b78
Merge pull request #463 from borglab/feature/sfm_binary_measurement
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Update translation averaging to use vector of binary measurements instead of map
2020-08-13 09:35:22 -04:00
ae5956bd10
changes with passing unit tests
2020-08-05 00:18:42 -07:00
09bb25498f
Merge branch 'develop' into dellaert/issue420
2020-07-31 16:45:03 -04:00
947479e9de
Add variadic-template N-ary ExpressionFactor
2020-07-28 16:20:38 +02:00
85c576cc47
Merge pull request #432 from borglab/fix/recover-slam-serialization-test
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Recover SLAM serialization test
2020-07-26 23:37:17 +02:00
0198c648e3
Fix all new gcc warnings/errors: make explicit virtual/override methods.
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Rules are:
- use "virtual" in base classes only.
- use "override" in all derived classes.
2020-07-26 11:20:42 +02:00
a4b95d273f
recover SLAM serialization test
2020-07-25 18:07:25 +02:00
05f50eae40
Fix minor bugs
2020-07-24 03:10:03 -05:00
30703ccb6a
Removed all deprecated code w Stephanie...
2020-07-22 17:32:25 -04:00
eb1a2b8fb3
modified test
2020-07-12 14:31:29 -04:00
0e6dc6a016
Merge branch 'develop' of github.com:borglab/gtsam into feature/1dsfm
2020-06-29 20:05:56 -07:00
fee226a1de
fix SfmData naming
2020-06-24 22:43:55 -07:00
3d42e4e76a
Formatting only
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# Conflicts:
# gtsam/nonlinear/NonlinearOptimizer.cpp
# tests/testPCGSolver.cpp
2020-05-21 14:50:02 -04:00
98b8d6b4f3
Move to its own compilation unit
2020-05-12 19:37:33 -04:00
7910f00c2c
Optimization works!
2020-05-12 19:37:33 -04:00
83a0f51587
Moved TranslationFactor prototype into sfm directory
2020-05-12 19:37:33 -04:00
652302f5ad
Running optimization
2020-05-12 19:37:33 -04:00
d8f3ca46a4
Added initalizeRandomly
2020-05-12 19:37:33 -04:00
146f411a99
Built TranslationFactor class and partially completed TranslationRecovery class
2020-05-12 19:37:33 -04:00
5abe293cdf
Setup and simulateMeasurements
2020-05-12 19:37:33 -04:00
03910d725e
Merge branch develop
2020-04-12 13:47:24 -04:00
211119b00e
Replace addPrior<> with addPrior
2020-04-12 13:10:09 -04:00
aa3ac32235
Change all old cases of graph.emplace_shared<PriorFactor<...>>(...) and graph.add(PriorFactor<...>(...)) to graph.addPrior<...>(...). Removed unnecessary PriorFactor.h includes.
2020-04-11 20:09:54 -04:00
f4525b51e4
Change PriorFactor includes from gtsam/slam to gtsam/nonlinear
2020-04-10 22:26:22 -04:00
9887d4467c
Replace push_back with emplace_shared. Address PR feedback.
2020-04-10 21:32:19 -04:00
b266287cca
Add addPrior method to NonlinearFactorGraph and corresponding unit test.
2020-04-10 13:01:26 -04:00
b622262acf
printError(): allow custom factor filter
2020-04-10 00:35:53 +02:00
76b29b78af
Prefer C++11 nullptr
2020-04-06 23:31:05 +02:00
669ffd0a05
Merge pull request #235 from borglab/feature/robust_unit_tests
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Add More Unit Tests for Robust Noise Models
2020-04-04 14:03:28 -04:00
ca4daa0894
Merge pull request #258 from borglab/deprecate-simplecamera
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Replace SimpleCamera with PinholeCameraCal3_S2
2020-03-23 08:08:18 -04:00
75d5409d78
follow Google style guide naming convention for Sfm related data structs
2020-03-06 18:02:51 -05:00
719975022c
consistent naming scheme for SfM_Data
2020-03-06 17:56:32 -05:00
4babfe2491
Remove redundant params
2020-03-03 17:39:28 -05:00
3c0671ba8d
Removed commentted out and print-s
2020-03-01 19:38:57 -05:00
e312abdbf0
Add More Unit Tests for Robust Noise Models
2020-03-01 15:22:19 -05:00
d9923fc3cc
replaced/appended all calls to SimpleCamera with PinholeCameraCal3_S2
2020-02-21 19:42:55 -05:00
a99610b77a
make code match comments when creating Pose3 noiseModel instances
2020-01-04 16:57:22 -08:00
e40a500859
Update test cases for new preferred syntax
2019-10-28 17:43:56 -04:00
8e62a1405e
deprecated functions for backwards compatibility
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also removed some edits that were tangential to the PR.
2019-10-28 17:41:16 -04:00
4877bdb4f3
Caught some stragglers using boost::optional<Ordering>
2019-10-20 03:20:14 -04:00
1733f3ac98
convert all optional Ordering to function overloads
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compiles and passes tests, but some potentially code-breaking changes in:
Marginals.h - order of arguments had to change since `factorization` has a default value
EliminatableFactorGraph.h - marginalMultifrontalBayesNet and marginalMultifrontalBayesTree no longer accept `boost::none` as a placeholder to specify later arguments
Notes:
EliminateableFactorGraph.h - `orderingType` is no longer needed in function overloads that specify ordering, but I left it for the time being to avoid potential code breaking
2019-10-20 01:15:20 -04:00
a4ac57c5b8
Merge pull request #117 from borglab/feature/wrap-mestimator-weight
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Wrap mEstimators
2019-10-10 16:55:26 -04:00
e20494324f
Gaussian Factor Graph unittests and linearization
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(with Python bindings)
2019-10-09 15:58:57 -04:00
3eb8e3d9bc
fixed function declarations which use globally declared noise models
2019-09-25 23:02:21 -04:00
65b309e5cd
renamed global variables in smallExample.h and added optional noise model parameters
2019-09-25 20:04:32 -04:00
07b670423d
Fixed exception type for TBB path
2019-06-11 13:40:29 -04:00
3ab9a1e3cc
Made detail handling more explicit in update
2019-06-03 14:12:10 -04:00
8b01b81027
Split up relinearize again for clarity
2019-06-02 00:41:17 -04:00
42b5f81633
Now using add_factors
2019-06-01 18:03:29 -04:00
4b405728a7
Get rid of deprecated LieScalar
2019-06-01 17:34:24 -04:00
ecacda68c0
Further refactored pushNewFactors
2019-06-01 17:34:24 -04:00
1a29ab5533
Refactored iSAM2::update to reveal what is changed when
2019-06-01 17:34:24 -04:00
184324a2dc
Check exception type
2019-05-30 16:43:34 -04:00
0e309baab6
Make test with hard constraints
2019-05-30 16:42:50 -04:00
8801de4d63
Pose3 naming convention
2019-05-16 15:06:15 -04:00
70d3c9044d
Fixed ILS error in example
2019-05-15 22:33:22 -04:00
ed721a152a
Example coded, throws ILS
2019-05-15 20:55:16 -04:00
912c091dc9
Resurrected remaining tests and deleted two
2019-05-15 20:33:23 -04:00
110240aa4f
Resurrected lots of elimination tests
2019-05-15 20:10:46 -04:00
464804d8f5
Recovered eliminateOne
2019-05-15 17:40:57 -04:00
b2e5dadcdb
Merge branch 'develop' of https://bitbucket.org/gtborg/gtsam into fix/trailing_whitespaces
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# Conflicts:
# gtsam/symbolic/tests/testVariableIndex.cpp
# gtsam_unstable/gtsam_unstable.h
# gtsam_unstable/linear/RawQP.cpp
# gtsam_unstable/linear/RawQP.h
2019-05-12 09:26:28 -04:00
b6abcb04f2
Split off builder, now also used with same parameters in SubGraphSolver
2019-04-14 14:14:48 -04:00
7b6eaa4333
removed unused typedefs
2019-04-13 22:05:49 -04:00
913262b27d
Fixed issue with test with tbb iterators
2019-04-08 16:46:56 -04:00
a7227cab43
Cleaned up formatting
2019-04-07 22:33:58 -04:00
c1c2fd7008
Fixed the tests - key was choosing right ordering
2019-04-07 22:31:27 -04:00
2de0957b2d
Renamed some variables, used subVector as a test
2019-04-07 18:14:53 -04:00
93a7c99f03
Created more unit tests attesting problems with solve.
2019-04-07 13:15:05 -04:00
490a558fe1
Fixed dimension mismatch (on account of three extra dummy factors)
2019-04-07 13:15:05 -04:00
3889b29305
Resurrected tests
2019-04-07 13:15:05 -04:00
3737474d1e
Deprecated all but three constructors.
2019-04-04 09:23:02 -04:00
aaf2ff5689
Resurrected tests
2019-04-04 01:17:47 -04:00
1cdc228d6a
remove trailing spaces
2019-02-11 10:58:34 -05:00
fbcfbf0cdd
Made naming convention in wrapper uniform.
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2D means Pose2 + Point2
3D means Pose3 + Point3
2018-12-31 11:19:46 -05:00
Gerry Chen
Frank Dellaert
Jose Luis Blanco Claraco
Varun Agrawal
acxz
yetongumich
lcarlone
akrishnan86
Akshay Krishnan
Toni
Russell Buchanan
lucacarlone
jingnanshi
Frank dellaert
Fan Jiang
Jose Luis Blanco-Claraco
Frank Dellaert
alescontrela
Fan Jiang
Peter Mullen
Gerry Chen
Duy-Nguyen Ta
Duy-Nguyen Ta