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55 Commits (d4e4705fcd3b43c922b3118c0e6d3478b00289f2)

Author SHA1 Message Date
Richard Roberts ea3ca54cba "Fixed" more unit tests 2013-08-11 19:01:06 +00:00
Richard Roberts 517a5037a7 Enabled more unit tests and either fixed them or have them print a "disabled" message during make check 2013-08-11 18:41:08 +00:00
Richard Roberts f4d816dcf8 Disabled testSmartProjectionFactor and made print message about this 2013-08-11 18:40:57 +00:00
Richard Roberts f240327f24 Fixed testIMUSystem and BetweenFactorEM 2013-08-11 18:40:47 +00:00
Richard Roberts 4585fd1caa Merge branch 'svn/trunk' 
Conflicts:
	gtsam/navigation/tests/testInertialNavFactor_GlobalVelocity.cpp
	gtsam/nonlinear/ISAM2.cpp
	gtsam/nonlinear/ISAM2.h
	gtsam/slam/tests/testBetweenFactor.cpp
	gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp
	gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp
	gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp
	gtsam_unstable/slam/SmartProjectionFactor.h
 2013-08-11 18:16:56 +00:00
Richard Roberts 1eae17561d Taking ImuFactor noise model automatically from preintegrated measurement covariance 2013-08-09 18:50:14 +00:00
Alex Cunningham 4a4e16485c Making more things in gtsam_unstable compile 2013-08-08 20:08:54 +00:00
Luca Carlone b3ea3f9465 lines added to testSmartProjectionFactor 2013-08-08 14:30:26 +00:00
Luca Carlone a82262cf99 Included noise model and f term in SmartProjectionFactor 2013-08-08 14:00:26 +00:00
Zsolt Kira f423d6f2a8 SmartProjectionFactor: More cleanup, added more tests, added some timing 2013-08-07 23:32:40 +00:00
Vadim Indelman d33f435eab Added BetweenFactorEM with 2 indicator variables. 2013-08-07 15:25:00 +00:00
Richard Roberts e2f8dd866d Merge branch 'svn/trunk' 
Conflicts:
	gtsam/linear/GaussianBayesTree.cpp
	gtsam/linear/GaussianBayesTree.h
	gtsam/linear/VectorValues.h
	gtsam/linear/tests/testVectorValues.cpp
	gtsam_unstable/nonlinear/sequentialSummarization.cpp
 2013-08-06 18:33:24 +00:00
Richard Roberts e39d100b6a Made most global unit tests compile, includes dogleg, iterative, kalman filter, etc 2013-08-06 13:44:22 +00:00
Luca Carlone 482c5df647 updates in SmartProjectionFactor: first working version with full and block version producing the same results (non-optimized) 2013-08-05 22:34:31 +00:00
Richard Roberts ede0805fac Global find+replace to remove Ordered 2013-08-05 22:31:44 +00:00
Chris Beall 5518007317 adding test with regular projection factors for comparison, and bug fixes in SmartFactor test. 2013-08-05 17:58:32 +00:00
Chris Beall d1de6b29a9 adding 3 camera, 3 landmark test 2013-08-05 15:50:19 +00:00
Luca Carlone 39ec641c4a Modifications to SmartProjectionFactor and unit test: work in progress 2013-08-05 15:09:03 +00:00
Luca Carlone d1419a3d11 Added SmartProjectionFactor (+unit tests) 2013-08-02 23:35:39 +00:00
Richard Roberts 34dc67c1af Brought some relevant changes from aspn-imu-factor branch (is correct this time) 2013-08-02 16:04:17 +00:00
Richard Roberts 2705d85fa7 Merged from branch 'trunk' 2013-07-31 18:55:15 +00:00
Luca Carlone ed79432a69 Added MultiProjectionFactor, invoving n views (camera poses) observing a single landmark: work in progress 2013-07-31 18:02:56 +00:00
Richard Roberts 321a286f02 Revert "Brought some relevant changes from aspn-imu-factor branch" 
This reverts commit b08a11ffb27d14487115f20745f1cea17fcc55ee.
 2013-07-31 15:26:48 +00:00
Richard Roberts 7345b40feb Brought some relevant changes from aspn-imu-factor branch 2013-07-31 15:25:03 +00:00
Richard Roberts 3ade190128 Renamed old classes to "Ordered" and removed "Unordered" name from new classes 2013-07-29 23:55:40 +00:00
Frank Dellaert 34db300802 Fixed n<3 Jacobians 2013-06-24 16:18:48 +00:00
Frank Dellaert 3383e52c5f Split unit tests.... 2013-06-24 16:02:17 +00:00
Frank Dellaert 43fe036c32 Made more efficient by adding errors -> Jacobians back to 1*3, always. This is big savings if a landmark is seen from many poses. 2013-06-24 15:57:03 +00:00
Frank Dellaert aea4f31096 Fixed Jacobians, optimization works 2013-06-24 15:31:13 +00:00
Frank Dellaert b7dbcefa8b simplified measurements_ to vector 2013-06-24 12:15:01 +00:00
Frank Dellaert 4b412b0a4b keys and Jacobians 2013-06-24 12:07:21 +00:00
Frank Dellaert d041c5b8a8 Split up circle intersection code into three routines that are used in SmartRangeFactor 2013-06-24 08:24:56 +00:00
Frank Dellaert 5f5e481394 AHRS mechanization small efficiency change (in progress) 2013-06-21 00:21:18 +00:00
Alex Cunningham 456d1b5cf7 Cleanup: moving old serialization function to gtsam_unstable, renaming matlab serializaion test 2013-06-19 17:50:09 +00:00
Frank Dellaert 1d9000724d Moved AHRS to gtsam_unstable 2013-05-20 23:16:44 +00:00
Stephen Williams 9e39df6e88 Added PriorFactor and BetweenFactor with optional sensor pose 
transformations. Ideally these should simply be the PriorFactor and
BetweenFactor, but more investigation is needed.
 2013-05-08 13:23:56 +00:00
Stephen Williams 54808f6d44 Added several experimental versions of an Inverse Depth Factor 2013-05-08 13:23:35 +00:00
Alex Cunningham a069d24374 Moved PoseRotationPrior, PoseTranslationPrior and ReferenceFrameFactor to gtsam.slam 2013-04-30 17:50:47 +00:00
Chris Beall 879417cb0d more documentation and cleanup: missed a file 2012-11-29 18:20:39 +00:00
Chris Beall 4297d24c96 changed tabs to spaces for consistent indentation in all of GTSAM 2012-10-02 14:40:07 +00:00
Alex Cunningham 0ef12f2f20 Moved in reference frame factor from MastSLAM 2012-09-19 02:23:43 +00:00
Alex Cunningham f272a07e29 Moved DummyFactor to gtsam_unstable from MastSLAM - allows for adding sufficient connectivity for solvers to operate 2012-09-18 17:48:18 +00:00
Alex Cunningham 878c79f265 Reworked PoseRotationPrior with better tests and no dependence on PartialPriorFactor 2012-08-27 16:51:52 +00:00
Alex Cunningham e488871ffd Fixed compile problem in toolbox for PoseTranslationPrior. Added planar tests. 2012-08-20 14:25:09 +00:00
Alex Cunningham 3794c2a7b7 Reworked PoseTranslationPrior so that it actually works now 2012-08-20 14:25:07 +00:00
Alex Cunningham 4fb9f3b39e Moved RelativeElevationFactor from MastSLAM 2012-08-20 14:25:04 +00:00
Richard Roberts 84924ad663 Removed remaining reference to slam namespace headers 2012-08-03 21:02:39 +00:00
Alex Cunningham b211c1070d Rearranged the inverse depth factor/camera, created a gtsam_unstable/geometry folder - run cmake to find the new/moved files 2012-08-02 20:47:16 +00:00
Chris Beall 93d9023a61 added InverseDepth factor based on Montiel/Civera's paramaterization. MOntiel06rss, Civera08tro 2012-08-02 19:27:36 +00:00
Alex Cunningham d36b8b63e7 Added versions of partial priors for parts of poses - useful for GPS or inertial priors. Added interval interface to Pose2 and Pose3. 2012-06-14 20:00:51 +00:00