Paul Furgale
|
1a00d7e3d9
|
Second draft of the BAD implementation
|
2014-09-27 11:39:46 +02:00 |
dellaert
|
b47837462e
|
Unit test succeeds !!!
|
2014-09-21 18:54:01 +02:00 |
|
dellaert
|
4bc82da85c
|
Compile with optional derivatives
|
2014-09-21 18:36:19 +02:00 |
|
dellaert
|
8e3a0f4847
|
Prototype [jacobians] code
|
2014-09-21 18:22:28 +02:00 |
|
dellaert
|
583c81ffea
|
Implemented uncalibrate, value test succeeds
|
2014-09-21 17:59:34 +02:00 |
|
dellaert
|
6a5e4191a3
|
UnaryExpression
|
2014-09-21 17:43:47 +02:00 |
|
dellaert
|
b89f65cccc
|
BinaryExpression
|
2014-09-21 17:37:09 +02:00 |
|
dellaert
|
59b0e6a657
|
Progress on error
|
2014-09-21 17:13:25 +02:00 |
|
dellaert
|
d9fafc1bf1
|
No more base class
|
2014-09-21 16:48:24 +02:00 |
|
dellaert
|
7a64e2e546
|
Class hierarchy
|
2014-09-21 16:30:30 +02:00 |
|
dellaert
|
6532966f62
|
Call JacobianFactor constructor with map
|
2014-09-21 13:11:55 +02:00 |
|
dellaert
|
c7b6a9af12
|
Now use old-style factor to create expected value and derivatives
|
2014-09-21 05:33:53 -04:00 |
|
dellaert
|
a76c27d074
|
Now just linearize
|
2014-09-18 18:33:11 -04:00 |
|
dellaert
|
b19132e004
|
First version of test, with vector of Matrices
|
2014-09-18 17:10:39 -05:00 |
Jing Dong
|
be68cc0047
|
add given marginals to update_noiseModel to improve speed
|
2014-09-15 03:03:25 -04:00 |
|
Jing Dong
|
1a7653730c
|
fix headers for TransBtwRobotFactorEM
|
2014-09-13 18:12:28 -04:00 |
Vadim Indelman
|
6b890cec0e
|
added updateNoiseModels functionality
|
2014-09-10 00:24:32 +03:00 |
Chris Beall
|
2634b2e890
|
Finish concurrent-calibration
|
2014-08-12 16:00:20 -04:00 |
|
Chris Beall
|
50c8313233
|
Rename TransformProjectionFactor to ProjectionFactorPPP
|
2014-08-12 15:55:28 -04:00 |
|
Chris Beall
|
2c3f6e563d
|
Renamed TransformCalProjectionFactor to ProjectionFactorPPPC to follow new naming convention
|
2014-08-12 15:29:05 -04:00 |
|
Vadim Indelman
|
bcab483574
|
Changed norm to determinant.
|
2014-08-01 21:51:52 +03:00 |
|
Vadim Indelman
|
89410fe1ee
|
added updateNoiseModels_givenCovs to BetweenFactorEM.
|
2014-08-01 21:11:19 +03:00 |
|
cbeall3
|
bc982293ab
|
New unit tests for quaternary pose+transform+landmark+calibration factor
|
2014-07-29 21:55:14 -04:00 |
|
Jing Dong
|
b5b1bbfba0
|
improve TransBtwRobotEM factor's preformance by removing redundant unwhitenedError calc
|
2014-07-18 17:11:21 -04:00 |
|
Jing Dong
|
e06c2cfacc
|
change few function parameters to const reference to improve preformance of TransformBtwRobot factors
|
2014-07-18 15:59:14 -04:00 |
|
cbeall3
|
f4dc6a3a95
|
Fix metis linking in tests
|
2014-07-16 14:45:12 -04:00 |
|
cbeall3
|
f261a6ddbc
|
Merge remote-tracking branch 'origin/develop' into feature/concurrent-calibration
|
2014-07-02 15:49:47 -04:00 |
|
cbeall3
|
8bc87e8f4f
|
Transform + Calibration examples and factor
|
2014-07-01 16:33:23 -04:00 |
|
cbeall3
|
5b2f4a2c3a
|
Move Transform factors to unstable
|
2014-07-01 16:03:35 -04:00 |
Vadim Indelman
|
991906181b
|
Updating EM factor (to accout for uncertainty in states)
|
2014-06-30 20:43:25 +03:00 |
Richard Roberts
|
946cc5338a
|
Merge branch 'develop' into feature/timing_scripts_build
Conflicts:
gtsam_unstable/CMakeLists.txt
|
2014-06-21 08:55:49 -07:00 |
|
cbeall3
|
7485a8f2d5
|
Merge remote-tracking branch 'origin/develop' into feature/concurrent-calibration
|
2014-06-20 13:48:26 -04:00 |
|
cbeall3
|
3bacdbbec5
|
Move Smart Projection Factor wrapper to stable
|
2014-06-20 13:41:51 -04:00 |
|
cbeall3
|
a34dff1397
|
Merge remote-tracking branch 'origin/feature/new_imu_factors' into develop
|
2014-06-20 13:32:34 -04:00 |
|
cbeall3
|
67e0e71802
|
First script to experiment with Concurrent calibration estimation
|
2014-06-13 12:17:45 -04:00 |
|
cbeall3
|
9f796565d0
|
print optimization errors for now
|
2014-06-12 16:24:03 -04:00 |
|
cbeall3
|
8bee2cd70f
|
Fixed unstable examples never getting built
|
2014-06-12 14:40:24 -04:00 |
|
Richard Roberts
|
fe235b1209
|
Building timing scripts using new timing script support in GtsamTesting.cmake. Fixed compile errors in timing scripts but disabled a couple.
|
2014-06-07 19:02:11 -07:00 |
|
Richard Roberts
|
2591f7dca2
|
Fixed missing gtsam_unstable/partition tests
|
2014-06-07 19:01:13 -07:00 |
|
cbeall3
|
87f5818776
|
Move smart projection factor
|
2014-05-31 15:33:19 -04:00 |
|
cbeall3
|
41de41deec
|
minor cleanup
|
2014-05-30 19:37:03 -04:00 |
|
cbeall3
|
a7a209ce0c
|
Minor fixes and documentation cleanup
|
2014-05-30 13:31:35 -04:00 |
|
cbeall3
|
625b7b0743
|
Monocular Smart Projection factor example based on stereo data
|
2014-05-30 11:58:07 -04:00 |
Luca
|
386ed2e510
|
Merge branch 'develop'
Conflicts:
gtsam_unstable/slam/SmartFactorBase.h
|
2014-05-28 18:11:39 -04:00 |
|
cbeall3
|
2699605943
|
Fix return type mismatch
|
2014-05-28 11:31:17 -04:00 |
|
Luca
|
8806c15b36
|
fixed possible connectivity issue when smart factors are degenerate
|
2014-05-23 17:49:42 -04:00 |
|
Luca
|
c2705902cb
|
added dynamic outlier rejection (with unit tests) for smart pose factors
|
2014-05-22 22:32:12 -04:00 |
|
Luca
|
e0500f7b18
|
added and renamed unit tests
|
2014-05-22 21:28:00 -04:00 |
|
Luca
|
4f91f94d1e
|
included possibility to linearize to Jacobian for smart Pose factors
|
2014-05-22 21:27:46 -04:00 |
djensen3
|
b83a996731
|
Fixed SmartProjectionPoseFactor matlab wrapping
|
2014-05-13 17:04:16 -04:00 |
|
Chris Beall
|
1062e41de3
|
shut up some warnings on Windows
|
2014-05-06 22:57:26 -04:00 |
|
cbeall3
|
842554a230
|
Unit test fixes for quaternion mode and also rotation matrix + full expmap mode.
|
2014-05-06 20:03:45 -04:00 |
|
cbeall3
|
0450c58d66
|
silence warning
|
2014-05-06 12:06:07 -04:00 |
|
dellaert
|
9373711a85
|
Finish TSAMFactors
|
2014-05-06 01:34:56 -04:00 |
|
cbeall3
|
2f180d1d02
|
Remove using namespace std from header files
|
2014-05-05 16:35:22 -04:00 |
|
dellaert
|
0a2385711b
|
MATLAB wrapping of TSAMFactors
|
2014-05-05 10:14:56 -04:00 |
|
dellaert
|
05c1e572b6
|
Moved TSAMFactors.h from tsam to gtsam
|
2014-05-05 10:14:36 -04:00 |
|
Luca
|
5c420f1aec
|
added references
|
2014-05-04 18:16:40 -04:00 |
|
dellaert
|
92c9e9c0aa
|
Fixed "unused" warnings
|
2014-05-03 12:23:49 -04:00 |
|
dellaert
|
1ed07ca4ed
|
Moved to unstable
|
2014-05-03 12:23:20 -04:00 |
|
djensen3
|
5402f9fa20
|
Removed smartProjectionPoseFactor from matlab wrapper; it was causing matlab crashes
|
2014-05-02 11:12:10 -04:00 |
|
djensen3
|
8dbd7c175c
|
added SmartProjectionFactor to matlab wrapper
|
2014-05-01 15:55:37 -04:00 |
|
djensen3
|
ce13807d10
|
added script to run and save tests in a simplified way
|
2014-05-01 12:56:24 -04:00 |
|
Luca
|
32e1a8f994
|
tried some changes for wrapping
|
2014-05-01 10:48:54 -04:00 |
|
djensen3
|
2cb448fa24
|
adding SmartProjectionPoseFactor to wrapper
|
2014-04-30 16:17:32 -04:00 |
|
Luca
|
185c572b5a
|
removed wrong base class
|
2014-04-24 11:28:41 -04:00 |
|
Luca
|
8c657f8857
|
slight change in implementation of hessianBlockDiagonal
|
2014-04-23 19:00:15 -04:00 |
|
Luca
|
d9e93f316a
|
error computation now does not include noise model
|
2014-04-23 18:43:14 -04:00 |
|
Luca
|
2b52bad569
|
optimized point damping
|
2014-04-23 15:15:48 -04:00 |
|
Luca
|
e56666e85c
|
fixed print function
|
2014-04-23 14:53:01 -04:00 |
|
Luca
|
37b750411f
|
added gradientAtZero with raw memory access
|
2014-04-22 18:38:12 -04:00 |
|
Luca
|
dd780e356c
|
fixed computation of linearized error in implicit schur factors
|
2014-04-21 18:59:33 -04:00 |
|
Luca
|
e232b6085b
|
wrapping smart factors
|
2014-04-15 11:06:38 -04:00 |
|
Luca
|
bd218feada
|
Merge branch 'develop'
|
2014-04-15 10:57:20 -04:00 |
|
Luca
|
f63db8859b
|
addind wrapper for smart factors
|
2014-04-15 10:56:17 -04:00 |
|
Luca
|
926b4c6443
|
removed temporary variables - minor
|
2014-04-14 11:41:55 -04:00 |
|
Luca
|
6ef11bb297
|
removed debug statements
|
2014-04-09 21:14:38 -04:00 |
|
Luca
|
4bdefc3f70
|
removed debug bloks
|
2014-04-09 21:04:52 -04:00 |
|
Luca
|
dc7b5d58c0
|
implemented efficient update of Hessian matrix via Schur complement
|
2014-04-09 21:01:03 -04:00 |
|
Luca
|
4123053c81
|
progress on grouping - still seg faults
|
2014-04-08 18:55:42 -04:00 |
|
Luca
|
2908197f1a
|
Merge branch 'develop'
|
2014-04-06 14:35:32 -04:00 |
|
Luca
|
310fce3be9
|
last updates from smartFactors project (these files are now removed from that project)
|
2014-04-06 14:25:46 -04:00 |
Andrew Melim
|
e98b90bd2a
|
Make building of metis/partition optional via cmake flag
|
2014-04-04 15:49:04 -04:00 |
|
jing
|
02fc860d9e
|
add smartfactor base classes, smartProjectionPoseFactor, and its unit test to gtsam_unstable
|
2014-03-27 13:14:13 -04:00 |
|
cbeall3
|
178b7f29da
|
clang warnings
|
2014-03-17 21:56:50 -04:00 |
|
Andrew Melim
|
9ffc928536
|
Correct signed vs unsigned comparison warnings
|
2014-03-17 12:07:54 -04:00 |
|
Andrew Melim
|
719592258b
|
Remove unused variable
|
2014-03-17 12:04:40 -04:00 |
|
dellaert
|
68297dedb5
|
Removed unused variable
|
2014-03-16 16:36:07 -04:00 |
|
Luca
|
6f692b1547
|
Merge branch 'develop'
Conflicts:
gtsam/base/SymmetricBlockMatrix.cpp
gtsam/linear/JacobianFactor-inl.h
gtsam_unstable/geometry/tests/testTriangulation.cpp
|
2014-03-12 12:57:59 -04:00 |
|
dellaert
|
9007d1ca72
|
Copy constructor and return const &
|
2014-03-06 21:07:54 -05:00 |
|
dellaert
|
691e9884d7
|
Const correctness, comments, and templated Eigen blocks (esp. important in integrate)
|
2014-03-06 21:05:11 -05:00 |
|
dellaert
|
f5ce1d865e
|
A custom linearize for speed
|
2014-03-04 02:50:28 -05:00 |
|
dellaert
|
b1013163e7
|
Switched to TriangulationFactors: huge improvement
|
2014-03-02 15:51:02 -05:00 |
|
dellaert
|
5c466a7914
|
Moved to header file
|
2014-03-02 15:36:29 -05:00 |
|
dellaert
|
a7f98a8316
|
Drastically simplified by passing cameras
|
2014-03-02 15:33:56 -05:00 |
|
dellaert
|
f3ee25f1a8
|
TriangulationFactor, first version
|
2014-03-02 14:56:50 -05:00 |
|
dellaert
|
dfee108e53
|
Some more refactoring
|
2014-03-02 13:49:42 -05:00 |
|
dellaert
|
bf779af3d1
|
added twoPoses test
|
2014-03-02 13:44:18 -05:00 |
|
dellaert
|
7b93cd207c
|
fixed header bloat
|
2014-03-02 13:34:43 -05:00 |
|
dellaert
|
68401cf216
|
removed Cheirality testing in that GTSAM mode
|
2014-03-02 13:16:36 -05:00 |
|
dellaert
|
ba6f857663
|
Removed some copy/paste
|
2014-03-02 13:02:21 -05:00 |
|
Richard Roberts
|
bf1f5037d0
|
Fixed warning
|
2014-03-01 20:41:05 -05:00 |
|
Andrew Melim
|
e9eb706786
|
Fix conflict
|
2014-02-24 11:37:43 -05:00 |
|
Richard Roberts
|
ed8b1eeaa1
|
Converted another loop to use insert like was fixed in the previous commit (wasn't a problem this time but am matching the style to the other file)
|
2014-02-24 09:29:30 -05:00 |
|
cbeall3
|
3e0904e250
|
remove unneeded/wasteful loop
|
2014-02-23 23:12:25 -05:00 |
|
Richard Roberts
|
1770f44ad9
|
Fixed a number of clang warnings
|
2014-02-23 18:53:48 -05:00 |
|
Richard Roberts
|
4c5cb4d8ec
|
Removed some unused code that was causing warnings
|
2014-02-23 18:51:48 -05:00 |
|
Richard Roberts
|
485b3b475a
|
Fixed a typo that disabled the testTriangulation tests.
|
2014-02-23 18:50:58 -05:00 |
|
Andrew Melim
|
efcf58161c
|
Spelling correction for adjacency, correct unused var warnings and unsigned vs signed int comparision warnings
|
2014-02-23 17:55:18 -05:00 |
|
Andrew Melim
|
adeac28527
|
Graph reduction unit test pass
|
2014-02-23 17:47:39 -05:00 |
|
Andrew Melim
|
46c52bc957
|
Issues with key index versus graph index is source of the problem re heap trashing. Need to verify GenericGraph but seems that properly odering the keys fixes the issues.
|
2014-02-23 17:42:21 -05:00 |
|
Andrew Melim
|
2c5c38c855
|
Unit tests pass using GenericGraph 2D, use of GenericGraph 3D causes heap corruption during prepare graph for some unknown reason
|
2014-02-23 16:37:09 -05:00 |
|
Andrew Melim
|
0aa32a748f
|
Updating to new metis interface. Need to address prepareMetisGraph since its causing core dump on second edgeseparator test
|
2014-02-21 18:20:43 -05:00 |
|
Andrew Melim
|
05e42ba452
|
Test Separator unit test passes. Partially
|
2014-02-21 11:21:08 -05:00 |
|
Andrew Melim
|
1ff9309533
|
Parition builds partially. Computing edge separate is no longer a separate function in METIS. testFindSep fails
|
2014-02-20 14:36:14 -05:00 |
|
Andrew Melim
|
f48b8e593c
|
Move tests to folder
|
2014-02-20 12:27:58 -05:00 |
|
Andrew Melim
|
4c86ea1ab5
|
Merge branch 'develop' of bitbucket.org:gtborg/gtsam into feature/partition
|
2014-02-20 10:10:04 -05:00 |
|
Richard Roberts
|
89e6d2f1e8
|
Removed some commented-out includes
|
2014-02-18 13:44:25 -05:00 |
|
Andrew Melim
|
ed4e1a8e57
|
Merge branch 'develop' of bitbucket.org:gtborg/gtsam into feature/partition
|
2014-02-17 12:41:09 -05:00 |
|
Richard Roberts
|
3293df1529
|
Removed duplicate link libraries during wrap
|
2014-02-17 00:43:14 -05:00 |
|
Richard Roberts
|
f283150eb4
|
Using macro for creating examples to remove cmake code copy/paste
|
2014-02-13 13:24:14 -05:00 |
|
Richard Roberts
|
661a157553
|
Working on standardizing/simplifying building unit tests and examples. Much simpler cmake function to add a glob of tests, doing away with convenience libraries, and removing other options that we never change from their defaults.
|
2014-02-13 01:34:31 -05:00 |
|
Andrew Melim
|
2e1e4951e1
|
Merge branch 'develop' of bitbucket.org:gtborg/gtsam into feature/partition
|
2014-02-09 13:45:41 -05:00 |
|
Richard Roberts
|
9d2c5888b8
|
Made cmake slightly nicer when using Xcode - removed a couple unnecessary prints, and removed .run targets when using Xcode since they're not needed and clog up the project view.
|
2014-02-08 11:14:43 -05:00 |
vindelman3
|
5ef681bc4a
|
Changed Vec() to Vector().
|
2014-02-05 13:59:21 -05:00 |
|
vindelman3
|
381899640e
|
Moved TransformBtwRobotsUnaryFactor to gtsam_unstable from svn version.
|
2014-02-04 14:13:25 -05:00 |
|
Richard Roberts
|
4b8c17ec77
|
Changed target name to 'gtsam' instead of 'gtsam-shared' and 'gtsam-static'. Modified CMake options to only allow building either static or shared, but not both. Enabled GTSAM_BUILD_TYPE_POSTFIXES by default on all platforms.
|
2014-01-30 14:41:25 -05:00 |
|
Andrew Melim
|
1d9aa38a62
|
Move partition over
|
2014-01-28 19:38:28 -05:00 |
|
Luca
|
fe55148dd7
|
deleted redundant files for imu factors
|
2014-01-27 17:38:01 -05:00 |
|
jing
|
38846aaac6
|
remove FixVector(size_t m, ...)
|
2014-01-23 19:08:20 -05:00 |
|
jing
|
376892f67f
|
fix FixVector(size_t m, ...), which also has dangerous behavior
|
2014-01-23 19:02:24 -05:00 |
|
jing
|
96296333ae
|
remove all LieVector(size_t m, ...), which doesn't check parameter's type and it's also dangerous
|
2014-01-23 18:35:29 -05:00 |
|
jing
|
c4eec5d549
|
fix Vector_() remained
|
2014-01-23 02:16:04 -05:00 |
|
jing
|
8641816b21
|
fix Vector_() in gtsam_unstable and tests
|
2014-01-23 02:03:12 -05:00 |
Frank Dellaert
|
dd447f2c6c
|
Moved all common methods in new file Rot3.cpp
git-svn-id: https://svn.cc.gatech.edu/borg/gtsam/trunk@20416 898a188c-9671-0410-8e00-e3fd810bbb7f
|
2013-12-21 18:30:46 -05:00 |
|
Frank Dellaert
|
848f992b98
|
fixed two tests that did not pass with Quaternions
git-svn-id: https://svn.cc.gatech.edu/borg/gtsam/trunk@20414 898a188c-9671-0410-8e00-e3fd810bbb7f
|
2013-12-21 18:30:46 -05:00 |
|
Frank Dellaert
|
d7dc390130
|
Particle factor scaffold
|
2013-12-19 17:14:40 +00:00 |
|
Richard Roberts
|
880d9a8e3c
|
Switched to new Eigen built-in special comma initializer
|
2013-12-16 21:33:12 +00:00 |
|
Richard Roberts
|
f664df729c
|
Updated to new wrap functions in gtsam cmake
|
2013-12-16 21:32:55 +00:00 |
Luca Carlone
|
abbbd02979
|
reintroduced triangulation.cpp with non-templated functions
|
2013-12-09 21:28:43 +00:00 |
|
Richard Roberts
|
5f87cbea7f
|
New SymmetricBlockMatrix interface - should be safer as all exposed functions use symmetric matrix expressions and the internal uninitialized values below the diagonal are never exposed.
|
2013-11-26 23:49:53 +00:00 |
|
Frank Dellaert
|
4e2b658588
|
some excel file I forgot to check in
|
2013-11-23 19:04:43 +00:00 |
|
Richard Roberts
|
a27f97dec4
|
Fix in ConcurrentFilteringAndSmoothing - one elimination call was using the default elimination function instead of the one from the parameters.
|
2013-11-21 15:42:17 +00:00 |
|
Richard Roberts
|
0608e9a05b
|
Added support for MKL in Eigen and fixed several errors and warnings within Eigen when using MKL
|
2013-11-18 19:23:23 +00:00 |
Jing Dong
|
2896a45d1f
|
Fix Matrix_(...) to Mat() <<...
|
2013-11-13 06:08:59 +00:00 |
|
Jing Dong
|
0b3aac7048
|
Fix Matrix_(...) to Mat() <<... in gtsam_unstable
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2013-11-13 05:51:03 +00:00 |
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Richard Roberts
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ec78d54f37
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Removed old Index typedef and IndexFormatter
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2013-11-08 16:35:28 +00:00 |
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Frank Dellaert
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199505db5f
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Changed API for triangulation to use vectors of pinhole cameras, or a vector of poses and a single calibration
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2013-11-06 06:31:46 +00:00 |
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Richard Roberts
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5defdbe73f
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Fixed compile problems on windows
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2013-11-05 16:06:10 +00:00 |
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Frank Dellaert
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a28e04988d
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Some documentation, and extra optimize test. In debug mode the unit test fails because it does not throw the right exception, but everything else seems fine.
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2013-11-01 01:04:34 +00:00 |