aa3729b098
Running, but to test
2013-10-15 19:16:39 +00:00
c27f4f6bcb
added possibility to read initialization from file in ProjectionFactorCreator
2013-10-15 19:16:38 +00:00
575e5b1693
Cosmetic corrections
2013-10-15 19:16:35 +00:00
16af82dc86
support multivalue variables
2013-10-15 18:25:05 +00:00
9bff152dbe
add template on triangulation
2013-10-15 18:01:06 +00:00
4f2d233e67
added test on Hessian
2013-10-15 14:57:48 +00:00
b77f7f77a4
created infrastructure for testing BAL datasets
2013-10-15 02:02:53 +00:00
44ae90f523
added SmartHessianProjection factor: allows different calibrations and noises for the cameras
2013-10-14 22:33:15 +00:00
0ad2dc6f81
removed "using" from header
2013-10-12 21:08:27 +00:00
223da3e34f
fixed DiscreteBayesNet::sample.
2013-10-12 20:23:04 +00:00
939f694b33
first converged loopy belief test
2013-10-12 20:06:02 +00:00
9ad033fc45
Added unit tests on projectPointAtInfinity and backprojectPointAtInfinity. Fixed error projectPointAtInfinity. Deleted projectPointAtInfinity
2013-10-12 19:29:07 +00:00
71039164b2
Added "using namespace boost::assign" to allow use of +=
2013-10-12 17:15:36 +00:00
b51a8380c4
added boost include
2013-10-12 16:21:15 +00:00
8be7363a01
refactor and add more comments
2013-10-12 15:27:37 +00:00
b161a106c7
loopy belief in progress
2013-10-12 05:49:11 +00:00
35924f6055
disable printing
2013-10-11 21:59:36 +00:00
2570492fa6
disable printing
2013-10-11 21:58:09 +00:00
a5f1d68099
fix scheduling examples by adding the default key index ordering in Scheduler.
2013-10-11 21:55:31 +00:00
19d64460ba
check in fail DiscreteBayesNet::sample unittest.
2013-10-11 19:07:16 +00:00
8add3de3c2
fix compilation errors in unstable discrete examples
2013-10-11 19:01:12 +00:00
1531abd285
fix testCSP by using the default key ordering.
2013-10-11 17:48:44 +00:00
bf11f93cee
revive unstable discrete. testCSP still fails, but looks like the solution is valid. See comments in file.
2013-10-11 17:42:30 +00:00
9639660685
Added GenericProjectionFactorCreator. Both smart and generic projection factors now work (again) in batch mode. Incremental not tested yet.
2013-10-11 01:59:36 +00:00
1a8a670870
Fixed bugs in new version since creator class is used: Get number of landmarks from creator object,
...
replace ensureHasOrdering with direct COLAMD call.
Current Smart Projection factor version works in batch mode
2013-10-10 20:21:40 +00:00
e799c9ffa9
tabs converted to two spaces
2013-10-10 17:52:57 +00:00
121e71431a
SmartFactorsCreator + initial fix in kitti example
2013-10-09 17:13:19 +00:00
426b4d79cf
testSmartProjectionFactor - disabled
2013-10-08 14:28:50 +00:00
444df1958a
Kitti test not working
2013-10-06 18:17:35 +00:00
d049dd38c6
Incremental mode in Smart Factors (not working yet with standard ProjectionFactors)
2013-10-06 18:17:32 +00:00
83182b05ca
Second method for landmark-first ordering: Provide a constrained ordering with landmarks in group 1 and poses in group 2
2013-10-04 14:25:19 +00:00
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
43d56b120a
From Hmf6_unordered: getISAM2 and variables Reeliminated/Relinearized (d97dcacf186900d12003c399e7fe55e03ca34e3f)
2013-10-03 19:52:05 +00:00
0c7b2ec062
From Hmf6_unordered: Public isam2 - to be changed (10834edc1698d941be3203e8e6bea0bd4a573443)
2013-10-03 19:52:01 +00:00
bf40956592
Merged from Hmf6_unordered 970392249a8c50153f24594c9c81acb740cedd06
2013-10-03 19:51:56 +00:00
4996db5023
Fix in running incremental optimization on Kitti
2013-10-03 18:02:25 +00:00
4d31dd99f3
Hopefully fixed the mex build flags
2013-10-03 16:50:14 +00:00
a6dd4c0464
testing on kitti
2013-09-30 20:39:55 +00:00
441dcec64e
added unit test for selective relinearization
2013-09-28 21:25:08 +00:00
9ad72e9523
included rank tolerance in Smart factor constructor
2013-09-28 18:49:26 +00:00
d10ffee4d4
management of degeneracy
2013-09-28 00:49:37 +00:00
7560a1f6e3
Typo fixed
2013-09-27 16:06:36 +00:00
e10a0a0650
bool to disable selective relinearization
2013-09-26 23:09:50 +00:00
8168d4a186
commented test
2013-09-26 23:09:48 +00:00
22ccd4b4b4
update to smartFactor
2013-09-26 23:09:47 +00:00
b04d2f1512
ICRA version of Kitti dataset processing
2013-09-26 20:36:57 +00:00
d440901920
Fixed quoting on include paths for building the toolbox so that the toolbox builds again
2013-09-26 18:12:32 +00:00
70a448f43e
Efficient implementation of Selective Linearization
2013-09-26 15:07:56 +00:00
73e72a98bd
Selective relinearization
2013-09-26 01:06:55 +00:00
9f68c04792
Initial implementation of selective relinearization
2013-09-20 20:19:58 +00:00
c310bafc8a
ISAM2 option, increased num poses
2013-09-14 03:10:10 +00:00
0e5069c26c
Added toy example on SmartRangeFactors
2013-09-14 00:21:10 +00:00
5dc138aa09
wrap important bits of SmartRangeFactor
2013-09-13 21:00:48 +00:00
14e65ce607
Matrix initialization bug fix
2013-09-13 18:26:39 +00:00
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
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
a8d1072a02
Further optimization with another ~9% speed improvement.
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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
b3d500f58c
Added optional flag_bump_up_near_zero_probs.
2013-08-29 22:43:09 +00:00
86d21aaa05
Added optional flag_bump_up_near_zero_probs.
2013-08-29 22:42:33 +00:00
141958123a
Working version of rotation only smart factor
2013-08-28 17:37:58 +00:00
df36ee643a
Added option to start with an M step.
2013-08-28 16:56:57 +00:00
0422b9cfef
degenerate case in smart vision factor
2013-08-28 16:07:58 +00:00
633220a9dd
degenerate case in SmartProjectionFactor
2013-08-28 16:07:56 +00:00
19ddf3f228
minor speedup
2013-08-28 14:47:57 +00:00
bf8621aa3a
Added some state that is returned/passed in to smart projection factor to support smart re-linearization
...
Fixed bug in batch example that did not add last set of measurements in file
Created incremental version that reads measurements as they come, associates with a smart factor (or creates new one), and optimizes.
Last example achieves same results on 200-pose example as batch example.
2013-08-28 12:31:56 +00:00
138a7ea28c
minor fixes - removed unnecessary boost optional
2013-08-27 17:48:59 +00:00
f779736380
Fixed failed test, which resulted from removal of feature allowing one to pass a landmark in to constructor
2013-08-26 12:46:13 +00:00
e6d5c2bf73
updated to the new gtsam version.
2013-08-23 18:15:28 +00:00
6ab49e95da
Added cref_list_of.
2013-08-23 18:12:59 +00:00
e439a298b8
disabled until debugging is done.
2013-08-23 16:18:18 +00:00
3b7670c5aa
added TransformBtwRobotsUnaryFactorEM.
2013-08-23 15:24:46 +00:00
77e02a332e
Added TransformBtwRobotsUnaryFactorEM. May need to move to MAST later.
2013-08-23 15:24:16 +00:00
f6402916d6
added flag_bump_up_near_zero_probs_.
2013-08-23 15:22:50 +00:00
ca3956adc1
minor changes.
2013-08-23 15:21:50 +00:00
930c537991
Added TBB include directories when compiling matlab wrapper
2013-08-22 21:44:14 +00:00
0466e606b0
Added try/catch for triangulation exception
...
Optimizations resulting in about 6-7% improvement
Added methods returning keys and other information needed to create generic projection factors
Code cleanup
2013-08-21 01:35:13 +00:00
ae958ad0f5
Fixed testConcurrentIncrementalFilter
2013-08-19 22:07:32 +00:00
568335d21f
In progress fixing filter/smoother unit tests
2013-08-19 21:33:13 +00:00
e42f8e5a35
fix documentation
2013-08-19 20:25:04 +00:00
ab51b50a9a
landmark triangulation now throws two different exceptions instead of returning boost::none. TriangulationCheiralityException and TriangulationUnderconstrainedException
2013-08-19 20:10:36 +00:00
c6cf4d2dab
Removed use of convenience libraries for tests - wasn't really supported in current version
2013-08-19 15:32:21 +00:00
4b12d6f794
Moved Symbol and LabeledSymbol to inference as they are no longer specific to nonlinear optimization
2013-08-19 15:32:16 +00:00
f9dcf31c2b
Fixing examples and some tests for gtsam_unstable/nonlinear. testConcurrentIncrementalFilter doesn't compile and is disabled, testIncrementalFixedLagSmoother is enabled and builds, but fails.
2013-08-19 15:32:08 +00:00
fe860be33f
SmartProjectionFactor: Added add(measured, poseKey) method to incrementally add views to the same landmark.
...
Added unit test for new method and way of creating factor.
Fixed missing negative when calculating b for non-blockwise version of Schur complement
2013-08-18 02:18:32 +00:00
09c4d8b712
Disabled testBetweenFactorEM because it is in progress for debugging
2013-08-16 21:57:49 +00:00
ce9e9b4a91
Added "TODO: correct?" comments
2013-08-16 21:16:07 +00:00
192962d96f
Fixed a couple problems in converted ConcurrentIncrementalFilter and ConcurrentIncrementalSmoother
2013-08-16 21:16:06 +00:00
68c6bf4a38
Added CMake code and preprocessor macros so that everything works without TBB and falls back on single-threading
2013-08-16 20:26:07 +00:00
2d413e05c6
Removed functions largely supersceded by newer bayes tree functionality
2013-08-16 16:32:19 +00:00
0212bbc30d
Fixed some unit tests
2013-08-16 04:11:02 +00:00
3701dc6322
Changes in CFS for unordered (still work in progress)
2013-08-15 22:12:09 +00:00
6337a65ce7
Updated Incremental Smoother to unordered
2013-08-15 22:12:07 +00:00
591a43a343
Added TBB linking flags to wrap build script
2013-08-15 17:44:17 +00:00
e4f65eacf8
Updating ConcurrentIncrementalSmoother/Filter to work with unordered (work in progress)
2013-08-14 19:12:24 +00:00
0514ad39c6
Smart projection factor working on Kitti
2013-08-14 19:12:23 +00:00
d7e6f43fa7
Updated to work with unordered GTSAM
2013-08-14 19:12:21 +00:00
4dfa2506ab
ConcurrentFilterAndSmoother updated and working with the unordered version of GTSAM
2013-08-13 22:30:08 +00:00
16b4f0fe8b
Moved ImuFactor and CombinedImuFactor into main gtsam, and moved InertialNavFactor family into gtsam_unstable.
2013-08-13 21:04:31 +00:00
5d0f8399ed
Fixed gtsam_unstable matlab wrapper
2013-08-12 22:26:37 +00:00
175965a6bf
Merged from branch 'branches/unordered'
2013-08-12 21:52:43 +00:00
Luca Carlone
Duy-Nguyen Ta
Frank Dellaert
Zsolt Kira
Chris Beall
Richard Roberts
Alex Cunningham
Vadim Indelman