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4925 Commits (cc724134a676de9fbaceaf44614aa4f2a6e453ec)

Author SHA1 Message Date
Zsolt Kira cc724134a6 Added ability to run both smart and projection factor version (for comparison) 
For projection factor version, we can specify a landmark-first ordering
 2013-10-04 13:47:24 +00:00
Richard Roberts 43d56b120a From Hmf6_unordered: getISAM2 and variables Reeliminated/Relinearized (d97dcacf186900d12003c399e7fe55e03ca34e3f) 2013-10-03 19:52:05 +00:00
Richard Roberts 0c7b2ec062 From Hmf6_unordered: Public isam2 - to be changed (10834edc1698d941be3203e8e6bea0bd4a573443) 2013-10-03 19:52:01 +00:00
Richard Roberts bf40956592 Merged from Hmf6_unordered 970392249a8c50153f24594c9c81acb740cedd06 2013-10-03 19:51:56 +00:00
Richard Roberts 2ad0cd4417 Fixed compile error on linux 2013-10-03 19:10:13 +00:00
Luca Carlone 4996db5023 Fix in running incremental optimization on Kitti 2013-10-03 18:02:25 +00:00
Richard Roberts 3c68d20ff2 Fixed calculate_nnz and added unit test 2013-10-03 16:50:20 +00:00
Richard Roberts 19602bbb0b Fixed warning 2013-10-03 16:50:18 +00:00
Richard Roberts 95ac34aeeb Updating Hessian in-place instead of computing Hessian for each Jacobian 2013-10-03 16:50:16 +00:00
Richard Roberts 4d31dd99f3 Hopefully fixed the mex build flags 2013-10-03 16:50:14 +00:00
Duy-Nguyen Ta c3e3b693e7 support special linearize for constraints, which Jacobian could be augmented by Jacobian-from-Hessian parts for Lagrange multipliers in SQP 2013-10-02 03:55:11 +00:00
Duy-Nguyen Ta 63ff1b47c1 support augmented matrices in Matrix's vector_scale_in_place, Constrained's Whiten, WhitenInPlace, and unit(...). These are used in constraints SQP solver with Lagrange multipliers. 2013-10-02 03:52:08 +00:00
Luca Carlone a6dd4c0464 testing on kitti 2013-09-30 20:39:55 +00:00
Luca Carlone 5c4395e812 Removed const 2013-09-30 20:39:53 +00:00
Luca Carlone 441dcec64e added unit test for selective relinearization 2013-09-28 21:25:08 +00:00
Luca Carlone 9ad72e9523 included rank tolerance in Smart factor constructor 2013-09-28 18:49:26 +00:00
Luca Carlone d10ffee4d4 management of degeneracy 2013-09-28 00:49:37 +00:00
Richard Roberts 6f463166a9 Using TBB task continuation in tree traversal but this unfortunately does not improve performance 2013-09-27 16:30:36 +00:00
Luca Carlone 7560a1f6e3 Typo fixed 2013-09-27 16:06:36 +00:00
Luca Carlone e10a0a0650 bool to disable selective relinearization 2013-09-26 23:09:50 +00:00
Luca Carlone 8168d4a186 commented test 2013-09-26 23:09:48 +00:00
Luca Carlone 22ccd4b4b4 update to smartFactor 2013-09-26 23:09:47 +00:00
Zsolt Kira b04d2f1512 ICRA version of Kitti dataset processing 2013-09-26 20:36:57 +00:00
Alex Cunningham d440901920 Fixed quoting on include paths for building the toolbox so that the toolbox builds again 2013-09-26 18:12:32 +00:00
Luca Carlone 70a448f43e Efficient implementation of Selective Linearization 2013-09-26 15:07:56 +00:00
Luca Carlone 73e72a98bd Selective relinearization 2013-09-26 01:06:55 +00:00
Luca Carlone 9f68c04792 Initial implementation of selective relinearization 2013-09-20 20:19:58 +00:00
Richard Roberts e1ef219916 Added optional ordering for creating dense jacobian and hessian matrices from GaussianFactorGraph 2013-09-20 15:25:16 +00:00
Richard Roberts 5f2a4e0dc6 Changed remaining Index to Key 2013-09-20 15:25:11 +00:00
Richard Roberts c24cc8d2e2 Use KeyFormatter in BayesNet::saveGraph 2013-09-18 17:23:38 +00:00
Richard Roberts f5bb8c6507 Added missing MATLAB wrapping of GaussianFactorGraph elimination functions 2013-09-18 17:23:33 +00:00
Alex Cunningham a4bd2adbc7 Added test for serializing a GaussianBayesTree 2013-09-17 14:04:11 +00:00
Richard Roberts 1c30b6daef Fixed the other place where tbb set_ref_count was called before finishing creating children which may throw exceptions, hopefully will fix the intermitant TBB crash when an exception is thrown. 2013-09-17 03:24:21 +00:00
Richard Roberts 2b78eb8bec Restored NonlinearFactorGraph::symbolic() and made a few other minor fixes. 2013-09-17 03:13:32 +00:00
Richard Roberts b050e96b93 Use cleaner function for spawning TBB tasks 2013-09-16 20:59:00 +00:00
Richard Roberts 0bb5d1595d Added Cauchy noise model contributed by Jan Oberländer 2013-09-16 20:58:58 +00:00
Zsolt Kira c310bafc8a ISAM2 option, increased num poses 2013-09-14 03:10:10 +00:00
Luca Carlone 0e5069c26c Added toy example on SmartRangeFactors 2013-09-14 00:21:10 +00:00
Chris Beall 5dc138aa09 wrap important bits of SmartRangeFactor 2013-09-13 21:00:48 +00:00
Chris Beall 14e65ce607 Matrix initialization bug fix 2013-09-13 18:26:39 +00:00
Zsolt Kira 7413b50da1 Support for running on entire kitti dataset. 
Cleaned up prints, added gathering of statistics (# variables, triangulation failures, etc.)
 2013-09-13 13:22:43 +00:00
Zsolt Kira 35327d0d56 Added incremental version using the normal Projection Factor. 
Supports initialization both using read-in landmark poses or triangulation.
 2013-09-11 14:02:41 +00:00
Alex Cunningham 90ddac8fac Added a print function to the BayesTreeCliqueWrapper that also prints out contents 2013-09-10 19:26:02 +00:00
Richard Roberts 22dc80e4ff Attempting to fix a TBB crash 2013-09-10 15:45:12 +00:00
Zsolt Kira a8d1072a02 Further optimization with another ~9% speed improvement. 
Don't retriangulate on linearize if previous triangulation involved same poses
Added noalias in non-blockwise portion
Added exception handling for project() function
 2013-09-10 15:15:24 +00:00
Alex Cunningham 6d6ee8debc Fixed bug with linear factor not getting cloned on linearization, updated comments to reflect lack of ordering 2013-09-10 14:09:25 +00:00
Alex Cunningham bbb6ff90fd Added tests and updated comments regarding using disconnected systems 2013-09-09 16:59:04 +00:00
Alex Cunningham ceb9f44c4f Making some typedefs public 2013-09-09 16:58:58 +00:00
Alex Cunningham 0042767020 Made splitConditional() public 2013-09-09 16:58:53 +00:00
Frank Dellaert 86be7b4ebe use fdp not dot 2013-09-06 21:27:27 +00:00