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
13d829687c
Merged from branch 'trunk'
2013-08-12 21:49:59 +00:00
d9c9682f6e
Merge branch 'svn/trunk'
...
Conflicts:
gtsam_unstable/slam/BetweenFactorEM.h
gtsam_unstable/slam/tests/testBetweenFactorEM.cpp
2013-08-12 21:47:36 +00:00
b34b6cc9ee
Added warning if triangulation fails
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Added ability to pass in landmark position directly, thereby avoiding triangulation
Added test that compares GenericProjectionFactor and SmartProjectionFactor for 1 iteration using
both GaussNewton and LM optimization. These tests also fail, until we find the problem/bug.
2013-08-12 21:44:54 +00:00
f1c9322d37
Removed old VerticalBlockView and SymmetricBlockView (replaced with VerticalBlockMatrix and SymmetricBlockMatrix)
2013-08-12 21:41:05 +00:00
6cba528671
Fixed include path
2013-08-12 18:21:27 +00:00
7a027be7e5
Fixed unit tests compiling on windows
2013-08-12 16:25:13 +00:00
87a7c56c88
Switched to square root of covariance norm.
2013-08-12 16:11:48 +00:00
14931bcc7d
improved tests a little. basic 3 landmark test with smart projection factor fails!
2013-08-12 14:40:57 +00:00
ea3ca54cba
"Fixed" more unit tests
2013-08-11 19:01:06 +00:00
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
f4d816dcf8
Disabled testSmartProjectionFactor and made print message about this
2013-08-11 18:40:57 +00:00
f240327f24
Fixed testIMUSystem and BetweenFactorEM
2013-08-11 18:40:47 +00:00
0db8e446d5
Disabled gtsam_unstable/nonlinear filters and smoothers
2013-08-11 18:40:39 +00:00
4585fd1caa
Merge branch 'svn/trunk'
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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
f41d4b879b
Added the ability to remove factors from ConcurrentIncrementalFilter
2013-08-10 17:16:47 +00:00
34a3a6ea49
Added the ability to remove factors from the ConcurrentBatchFilter
2013-08-10 17:16:38 +00:00
ebc6a66c3a
Updated to the marginal factor calculation in BatchFixedLagSmoother to
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be more efficient
2013-08-10 17:16:31 +00:00
12d003229a
Fixed missing '}'
2013-08-10 17:16:19 +00:00
c33c6e2c70
Added unit tests for Concurrent Incremental Filter and Smoother
2013-08-10 17:15:48 +00:00
915dc98bd2
Updated unit tests for Concurrent Batch Filter and Smoother
2013-08-10 17:15:38 +00:00
f656e93202
Created Concurrent Incremental Filter and Smoother
2013-08-10 17:15:31 +00:00
663c598591
Updated Concurrent Batch Filter and Smoother to the latest versions
2013-08-10 17:15:20 +00:00
1dc0e6192b
Added accessor functions for internal data structures to
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IncrementalFixedLagSmoother
2013-08-10 17:15:03 +00:00
bb4ad176da
Needed std::
2013-08-09 18:50:15 +00:00
1eae17561d
Taking ImuFactor noise model automatically from preintegrated measurement covariance
2013-08-09 18:50:14 +00:00
c03172aca3
add prior on second camera
2013-08-09 15:31:15 +00:00
369e69b0d2
actually set everything to zero to turn factor off during linearization
2013-08-09 15:28:57 +00:00
8d9dcfbfc2
Fixed problem with pixel_sigma (2-dimensional only)
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Added switch to determine if normal GenericProjectionFactor or SmartProjectionFactor is used
2013-08-09 14:52:26 +00:00
5b7d7b3793
Closer to building and tests running
2013-08-08 20:45:44 +00:00
b0c96f9bf6
unwhitenedError.
2013-08-08 20:14:12 +00:00
27cabb62f1
added unwhitenedError to BetweenFactorEM.
2013-08-08 20:13:39 +00:00
4a4e16485c
Making more things in gtsam_unstable compile
2013-08-08 20:08:54 +00:00
883c870dff
Removed unnecessary summarization files in gtsam_unstable, restricted compilation of gtsam_unstable for components needing iSAM2 - core gtsam_unstable library builds
2013-08-08 20:08:52 +00:00
5af82c4042
SmartProjectionFactor example: Cleaned up some code, added comments,
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changed some of the LM parameters. Switched to use smaller kitti
dataset for now.
2013-08-08 17:16:23 +00:00
579e0931dc
Fixed different issues with EM.
2013-08-08 15:12:21 +00:00
b3ea3f9465
lines added to testSmartProjectionFactor
2013-08-08 14:30:26 +00:00
6dd67a13fd
Changed to optimize entire graph instead of sub-graphs
2013-08-08 14:20:08 +00:00
a82262cf99
Included noise model and f term in SmartProjectionFactor
2013-08-08 14:00:26 +00:00
159f9eee1e
Added SmartProjectionFactorExample_kitti.cpp.
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Currently loads kitti dataset after processing by VO code (stereo_factors.txt and camera_poses.txt)
Creates graph after N landmarks have been seen, runs it through SmartProjectionFactor
Verification of output is still needed; LM seems to optimize but poses don't seem to change.
2013-08-08 03:11:42 +00:00
f423d6f2a8
SmartProjectionFactor: More cleanup, added more tests, added some timing
2013-08-07 23:32:40 +00:00
d33f435eab
Added BetweenFactorEM with 2 indicator variables.
2013-08-07 15:25:00 +00:00
c2f5adc7d0
Cleaned up code: Removed commented out code, added debug condition
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If debug is enabled, both blockwise and full implementations are performed and then compared
2013-08-07 13:05:08 +00:00
e2f8dd866d
Merge branch 'svn/trunk'
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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
2d60d2cdfa
Fixed more unit tests
2013-08-06 18:04:40 +00:00
e39d100b6a
Made most global unit tests compile, includes dogleg, iterative, kalman filter, etc
2013-08-06 13:44:22 +00:00
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
ede0805fac
Global find+replace to remove Ordered
2013-08-05 22:31:44 +00:00
cb7eb1b510
Find+replace Ordered headers
2013-08-05 22:31:33 +00:00
09643929fd
Making some tests compile
2013-08-05 22:31:26 +00:00
628d4e0d77
Disabled discrete for the time being
2013-08-05 22:30:52 +00:00
2e085ace91
Changes in SmartProjectionFactor
2013-08-05 19:25:08 +00:00
5518007317
adding test with regular projection factors for comparison, and bug fixes in SmartFactor test.
2013-08-05 17:58:32 +00:00
d1de6b29a9
adding 3 camera, 3 landmark test
2013-08-05 15:50:19 +00:00
39ec641c4a
Modifications to SmartProjectionFactor and unit test: work in progress
2013-08-05 15:09:03 +00:00
d1419a3d11
Added SmartProjectionFactor (+unit tests)
2013-08-02 23:35:39 +00:00
f273b8f915
Removed extra 'typename'
2013-08-02 16:04:29 +00:00
34dc67c1af
Brought some relevant changes from aspn-imu-factor branch (is correct this time)
2013-08-02 16:04:17 +00:00
424ef0728f
Changed a filename to avoid having multiple object files of the same name in the library
2013-08-01 16:54:44 +00:00
2705d85fa7
Merged from branch 'trunk'
2013-07-31 18:55:15 +00:00
ed79432a69
Added MultiProjectionFactor, invoving n views (camera poses) observing a single landmark: work in progress
2013-07-31 18:02:56 +00:00
34998b3435
Added missing export tag
2013-07-31 15:36:39 +00:00
321a286f02
Revert "Brought some relevant changes from aspn-imu-factor branch"
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This reverts commit b08a11ffb27d14487115f20745f1cea17fcc55ee.
2013-07-31 15:26:48 +00:00
b62af20fdc
Revert "Removed extra 'typename'"
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This reverts commit 04fd69f56c1e1cbd934a54aeb415e2cf2132d236.
2013-07-31 15:26:46 +00:00
90cf73d4a7
Removed extra 'typename'
2013-07-31 15:25:05 +00:00
7345b40feb
Brought some relevant changes from aspn-imu-factor branch
2013-07-31 15:25:03 +00:00
201a7bfda5
adding triangulation function needed by new Schur complement factor
2013-07-30 18:52:06 +00:00
3ade190128
Renamed old classes to "Ordered" and removed "Unordered" name from new classes
2013-07-29 23:55:40 +00:00
b5c530d080
Merge branch 'svn/trunk'
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Conflicts:
CMakeLists.txt
2013-07-09 17:54:06 +00:00
ecb24ebd06
Fixes to include path ordering and boost libraries
2013-07-09 15:43:55 +00:00
d7767188b3
Merged from branch 'trunk'
2013-07-01 13:11:15 +00:00
f3aa2fde53
Fixed compile error
2013-06-25 17:22:45 +00:00
0837eab8f5
Scripts to test (still not working so-well) smart range factor
2013-06-25 17:13:02 +00:00
31a9319fca
Merge branch 'trunk'
2013-06-24 19:30:29 +00:00
bad9373aec
Merge branch 'trunk'
2013-06-24 19:30:24 +00:00
26df712592
Put new unit test global variables into anonymous namespaces. Removed dll export tag from SmartRangeFactor since it is a header-only class.
2013-06-24 19:30:00 +00:00
39910717d6
Picked the winner
2013-06-24 16:25:02 +00:00
34db300802
Fixed n<3 Jacobians
2013-06-24 16:18:48 +00:00
3383e52c5f
Split unit tests....
2013-06-24 16:02:17 +00:00
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
aea4f31096
Fixed Jacobians, optimization works
2013-06-24 15:31:13 +00:00
123657e3d0
Merged from branch 'trunk'
2013-06-24 15:28:16 +00:00
b7dbcefa8b
simplified measurements_ to vector
2013-06-24 12:15:01 +00:00
4b412b0a4b
keys and Jacobians
2013-06-24 12:07:21 +00:00
40bc7070ff
Example in unstable, to use SmartRangeFactor
2013-06-24 12:06:47 +00:00
d041c5b8a8
Split up circle intersection code into three routines that are used in SmartRangeFactor
2013-06-24 08:24:56 +00:00
5f5e481394
AHRS mechanization small efficiency change (in progress)
2013-06-21 00:21:18 +00:00
e7334b89bd
Rebasing...
2013-06-20 17:08:30 +00:00
5ae4f21517
Added missing dll export tags to new functions
2013-06-20 16:05:23 +00:00
456d1b5cf7
Cleanup: moving old serialization function to gtsam_unstable, renaming matlab serializaion test
2013-06-19 17:50:09 +00:00
45b5389f8a
Serialized more classes in gtsam and gtsam_unstable
2013-06-19 17:50:07 +00:00
8f9d5ec2e2
Merge branch 'trunk'
2013-06-17 21:15:57 +00:00
d85c773f7c
Changes in AHRS - flat trim initialization added, some comments by Frank, aidingAvailablitiy function
2013-06-14 21:18:22 +00:00
9e3bfdc4f8
comments only
2013-06-11 14:36:54 +00:00
083e0c849e
Switched to templated version of liquefy() to allow for use with non-default clique types
2013-06-11 14:36:53 +00:00
83a1483e9f
Adding unit tests and a bugfix for liquefying bayes tree function
2013-06-11 14:36:52 +00:00
361682c485
Working on a test for liquefy
2013-06-11 14:36:51 +00:00
d5e721a1d0
Continued work on unordered classes and elimination algorithm
2013-06-06 15:36:11 +00:00
ebcc638ef5
renamed dist to distance (dist still works but now deprecated)
2013-06-05 16:11:36 +00:00
b2d4469cb3
Added missing export tag
2013-06-04 17:34:02 +00:00
1e5f9c742d
Revert "Modified Concurrent Filter to calculate marginals using a "shortcut" that allows constant-time updates during synchronization. Still need to test implementation."
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This reverts commit f24a4f4668006cfe9a3eeb1658b7df03c74490d5.
2013-05-22 00:05:03 +00:00
8e26da7396
Added matlab version of the Concurrent Filtering and Smoothing example
2013-05-21 21:07:45 +00:00
5f371a4e55
Modified Concurrent Filter to calculate marginals using a "shortcut"
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that allows constant-time updates during synchronization. Still need to
test implementation.
2013-05-21 21:07:43 +00:00
16c11c70fb
Fixes to compile on Windows
2013-05-21 17:24:49 +00:00
13d3f1cb6e
Updated Fixed-Lag smoother example
2013-05-21 14:57:40 +00:00
77c2e37a4d
remove unused debug variables
2013-05-21 00:03:05 +00:00
03977ba628
Added wrapping of AHRS
2013-05-20 23:28:38 +00:00
1d9000724d
Moved AHRS to gtsam_unstable
2013-05-20 23:16:44 +00:00
1c5061cf3c
Added optional flag to ConcurrentBatchFilter to control relinearization
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during syncs.
2013-05-17 08:06:06 +00:00
d4ec018d0f
Added constructors to Point2Vector
2013-05-13 20:48:09 +00:00
50866b9a0e
Partial fix for compiling statically on Windows
2013-05-13 18:04:36 +00:00
7d03d3c502
Moved pre-sync code to the update() call for the cuncurrent smoother
2013-05-09 18:59:22 +00:00
93149ae5f2
Updated Concurrent example, forcing a call to smoother.update() between
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each synchronization
2013-05-09 18:59:20 +00:00
7ad3de6bc0
documentation
2013-05-08 20:10:49 +00:00
32b3eebf07
removed redundant shared_ptr typedefs in Cal3_S2 and Cal3_S2Stereo
2013-05-08 19:21:00 +00:00
9e39df6e88
Added PriorFactor and BetweenFactor with optional sensor pose
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transformations. Ideally these should simply be the PriorFactor and
BetweenFactor, but more investigation is needed.
2013-05-08 13:23:56 +00:00
f68e301458
Wrapped Inverse Depth Factor variants
2013-05-08 13:23:39 +00:00
54808f6d44
Added several experimental versions of an Inverse Depth Factor
2013-05-08 13:23:35 +00:00
acd6e629e8
Moved older functions back to gtsam_unstable, cleanup. All tests pass. Rearranged summarization wrap interfaces.
2013-05-08 10:13:57 +00:00
Vadim Indelman
Richard Roberts
Zsolt Kira
Luca Carlone
Chris Beall
Alex Cunningham
Stephen Williams
Frank Dellaert
Kyel Ok
Duy-Nguyen Ta