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Merge remote-tracking branch 'origin/develop' into feature/SoundSlam 

Conflicts:
	examples/SFMExampleExpressions.cpp
release/4.3a0
dellaert 2014-12-28 18:53:09 +01:00
parent 6b9c21b942 ba6d088fad
commit 3587ad4e2c
6 changed files with 44 additions and 54 deletions
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32
.cproject
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@ -510,22 +510,6 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="SFMExampleExpressions.run" path="build/gtsam_unstable/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>SFMExampleExpressions.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="Pose2SLAMExampleExpressions.run" path="build/gtsam_unstable/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>Pose2SLAMExampleExpressions.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testInvDepthCamera3.run" path="build/gtsam_unstable/geometry/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testInvDepthCamera3.run" path="build/gtsam_unstable/geometry/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j5</buildArguments>
@ -3102,6 +3086,22 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="Pose2SLAMExampleExpressions.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j4</buildArguments>
<buildTarget>Pose2SLAMExampleExpressions.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="SFMExampleExpressions.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j4</buildArguments>
<buildTarget>SFMExampleExpressions.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testLago.run" path="build/gtsam/nonlinear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testLago.run" path="build/gtsam/nonlinear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j5</buildArguments>

0
gtsam_unstable/examples/Pose2SLAMExampleExpressions.cpp → examples/Pose2SLAMExampleExpressions.cpp
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0
gtsam_unstable/examples/SFMExampleExpressions.cpp → examples/SFMExampleExpressions.cpp
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36
examples/SolverComparer.cpp
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@ -72,22 +72,22 @@ typedef NoiseModelFactor1<Pose> NM1;
typedef NoiseModelFactor2<Pose,Pose> NM2; typedef NoiseModelFactor2<Pose,Pose> NM2;
typedef BearingRangeFactor<Pose,Point2> BR; typedef BearingRangeFactor<Pose,Point2> BR;
GTSAM_VALUE_EXPORT(Value); //GTSAM_VALUE_EXPORT(Value);
GTSAM_VALUE_EXPORT(Pose); //GTSAM_VALUE_EXPORT(Pose);
GTSAM_VALUE_EXPORT(Rot2); //GTSAM_VALUE_EXPORT(Rot2);
GTSAM_VALUE_EXPORT(Point2); //GTSAM_VALUE_EXPORT(Point2);
GTSAM_VALUE_EXPORT(NonlinearFactor); //GTSAM_VALUE_EXPORT(NonlinearFactor);
GTSAM_VALUE_EXPORT(NoiseModelFactor); //GTSAM_VALUE_EXPORT(NoiseModelFactor);
GTSAM_VALUE_EXPORT(NM1); //GTSAM_VALUE_EXPORT(NM1);
GTSAM_VALUE_EXPORT(NM2); //GTSAM_VALUE_EXPORT(NM2);
GTSAM_VALUE_EXPORT(BetweenFactor<Pose>); //GTSAM_VALUE_EXPORT(BetweenFactor<Pose>);
GTSAM_VALUE_EXPORT(PriorFactor<Pose>); //GTSAM_VALUE_EXPORT(PriorFactor<Pose>);
GTSAM_VALUE_EXPORT(BR); //GTSAM_VALUE_EXPORT(BR);
GTSAM_VALUE_EXPORT(noiseModel::Base); //GTSAM_VALUE_EXPORT(noiseModel::Base);
GTSAM_VALUE_EXPORT(noiseModel::Isotropic); //GTSAM_VALUE_EXPORT(noiseModel::Isotropic);
GTSAM_VALUE_EXPORT(noiseModel::Gaussian); //GTSAM_VALUE_EXPORT(noiseModel::Gaussian);
GTSAM_VALUE_EXPORT(noiseModel::Diagonal); //GTSAM_VALUE_EXPORT(noiseModel::Diagonal);
GTSAM_VALUE_EXPORT(noiseModel::Unit); //GTSAM_VALUE_EXPORT(noiseModel::Unit);
double chi2_red(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& config) { double chi2_red(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& config) {
// Compute degrees of freedom (observations - variables) // Compute degrees of freedom (observations - variables)
@ -295,7 +295,7 @@ void runIncremental()
NonlinearFactorGraph newFactors; NonlinearFactorGraph newFactors;
Values newVariables; Values newVariables;
newFactors.push_back(boost::make_shared<PriorFactor<Pose> >(firstPose, Pose(), noiseModel::Unit::Create(Pose::Dim()))); newFactors.push_back(boost::make_shared<PriorFactor<Pose> >(firstPose, Pose(), noiseModel::Unit::Create(3)));
newVariables.insert(firstPose, Pose()); newVariables.insert(firstPose, Pose());
isam2.update(newFactors, newVariables); isam2.update(newFactors, newVariables);
@ -474,7 +474,7 @@ void runBatch()
cout << "Creating batch optimizer..." << endl; cout << "Creating batch optimizer..." << endl;
NonlinearFactorGraph measurements = datasetMeasurements; NonlinearFactorGraph measurements = datasetMeasurements;
measurements.push_back(boost::make_shared<PriorFactor<Pose> >(0, Pose(), noiseModel::Unit::Create(Pose::Dim()))); measurements.push_back(boost::make_shared<PriorFactor<Pose> >(0, Pose(), noiseModel::Unit::Create(3)));
gttic_(Create_optimizer); gttic_(Create_optimizer);
GaussNewtonParams params; GaussNewtonParams params;

26
gtsam/base/Lie.h
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@ -144,9 +144,6 @@ struct LieGroupTraits : Testable<Class> {
/// @{ /// @{
typedef multiplicative_group_tag group_flavor; typedef multiplicative_group_tag group_flavor;
static Class Identity() { return Class::identity();} static Class Identity() { return Class::identity();}
static Class Compose(const Class& m1, const Class& m2) { return m1 * m2;}
static Class Between(const Class& m1, const Class& m2) { return m1.inverse() * m2;}
static Class Inverse(const Class& m) { return m.inverse();}
/// @} /// @}
/// @name Manifold /// @name Manifold
@ -161,21 +158,13 @@ struct LieGroupTraits : Testable<Class> {
static int GetDimension(const Class&) {return dimension;} static int GetDimension(const Class&) {return dimension;}
static TangentVector Local(const Class& origin, const Class& other) {
return origin.localCoordinates(other);
}
static Class Retract(const Class& origin, const TangentVector& v) {
return origin.retract(v);
}
static TangentVector Local(const Class& origin, const Class& other, static TangentVector Local(const Class& origin, const Class& other,
ChartJacobian Horigin, ChartJacobian Hother = boost::none) { ChartJacobian Horigin = boost::none, ChartJacobian Hother = boost::none) {
return origin.localCoordinates(other, Horigin, Hother); return origin.localCoordinates(other, Horigin, Hother);
} }
static Class Retract(const Class& origin, const TangentVector& v, static Class Retract(const Class& origin, const TangentVector& v,
ChartJacobian Horigin, ChartJacobian Hv = boost::none) { ChartJacobian Horigin = boost::none, ChartJacobian Hv = boost::none) {
return origin.retract(v, Horigin, Hv); return origin.retract(v, Horigin, Hv);
} }
@ -192,17 +181,18 @@ struct LieGroupTraits : Testable<Class> {
return Class::Expmap(v, Hv); return Class::Expmap(v, Hv);
} }
static Class Compose(const Class& m1, const Class& m2, ChartJacobian H1, static Class Compose(const Class& m1, const Class& m2, //
ChartJacobian H2 = boost::none) { ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) {
return m1.compose(m2, H1, H2); return m1.compose(m2, H1, H2);
} }
static Class Between(const Class& m1, const Class& m2, ChartJacobian H1, static Class Between(const Class& m1, const Class& m2, //
ChartJacobian H2 = boost::none) { ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) {
return m1.between(m2, H1, H2); return m1.between(m2, H1, H2);
} }
static Class Inverse(const Class& m, ChartJacobian H) { static Class Inverse(const Class& m, //
ChartJacobian H = boost::none) {
return m.inverse(H); return m.inverse(H);
} }

4
gtsam/nonlinear/expressions.h
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@ -8,14 +8,14 @@
#pragma once #pragma once
#include <gtsam/nonlinear/Expression.h> #include <gtsam/nonlinear/Expression.h>
#include <boost/bind.hpp> #include <gtsam/base/Lie.h>
namespace gtsam { namespace gtsam {
// Generics // Generics
template<typename T> template<typename T>
Expression<T> between(const Expression<T>& t1, const Expression<T>& t2) { Expression<T> between(const Expression<T>& t1, const Expression<T>& t2) {
return Expression<T>(t1, &T::between, t2); return Expression<T>(traits<T>::Between, t1, t2);
} }
typedef Expression<double> double_; typedef Expression<double> double_;