aec2cf06a5
Merge pull request #753 from borglab/feature/essential-mat-with-approx-k
...
Adding factor which considers the essential matrix and camera calibration as variable
2021-06-21 09:14:06 -07:00
01561bc217
formatting example
2021-06-20 22:26:19 -07:00
e3b6c8308a
updating points name, constexpr
2021-06-21 03:47:10 +00:00
d9a8111bbd
resolving merge conflict
2021-06-17 01:42:51 +00:00
545dfd0be7
removing failing test and unused data
2021-06-17 01:36:57 +00:00
c4582941bf
removing duplicate data file
2021-06-13 20:33:37 -07:00
01515d1001
formatting changes
2021-06-13 20:30:04 -07:00
14f8b8aa62
removing Sampson error + some tests cleanup
2021-06-14 01:30:00 +00:00
bce9050672
adding 11 point example for cal3bundler
2021-06-10 14:47:43 -07:00
4fbd98df3a
creating 18 point example
2021-06-08 13:14:56 -07:00
1744eaf599
Correct ImuFactorExamples frame description
2021-05-28 21:00:34 +01:00
587ad0fad3
update: use avialble rot2 class
2021-03-23 16:13:13 +01:00
554dd790d9
fix: UnaryFactor Jacobian
2021-03-23 10:11:19 +01:00
7f80c906c4
Fix override warnings: modernize-use-override
2021-01-28 23:02:13 -05:00
06d8ec289d
Merge pull request #633 from borglab/fix/foot-imu
...
Adds unit test for imu preintegration of a single step
2021-01-19 21:03:10 -05:00
3d7e182822
Remove gtsam_unstable lib from examples
2021-01-18 14:47:39 -05:00
a567a570ed
Move example to gtsam_unstable
2021-01-18 14:41:28 -05:00
19b7312edb
Split .h/.cpp, use const& (WIP)
2021-01-17 11:08:53 -05:00
fb44e56dc8
Merge pull request #547 from borglab/feature/RobustShonan
...
Feature/robust shonan
2021-01-11 21:58:42 -05:00
4d100461d4
Removed reference for iterating over values. Also used auto where I could, when changing.
2021-01-04 20:46:16 -05:00
e54ef580f7
add simulation data
2020-12-14 14:32:36 -05:00
5e82b72b60
fixed typo
2020-12-05 14:34:35 -05:00
799788672f
formatting
2020-11-30 17:32:16 -05:00
d8fc330be4
Assign pointer to prevent errors
2020-11-27 19:35:12 -05:00
1506001166
fixed typo
2020-09-30 16:10:27 -04:00
6567422ec5
added control over minimum rank in ShonanAveraging example, and resolved hard-coded sigma in FrobeniusFactor
2020-09-26 19:06:55 -04:00
32943df612
Merge pull request #365 from borglab/imu-examples
...
Reworked IMU examples
2020-08-24 13:54:39 -04:00
9e1c4fc2fb
Merge branch 'develop' into imu-examples
2020-08-21 11:25:39 -04:00
12d18343b9
Shonan C++ CLI
2020-08-19 23:13:28 -04:00
5e803e917e
Fixed example printing
2020-08-19 09:29:09 -04:00
5a85494f33
replace atof/atoi with standardized stof/stoi
2020-08-17 13:12:40 -04:00
84afc94458
Feature/shonan averaging ( #473 )
...
Shonan Rotation Averaging.
199 commit messages below, many are obsolete as design has changed quite a bit over time, especially from the earlier period where I thought we only needed SO(4).
* prototyping weighted sampler
* Moved WeightedSampler into its own header
* Random now uses std header <random>.
* Removed boost/random usage from linear and discrete directories
* Made into class
* Now using new WeightedSampler class
* Inlined random direction generation
* eradicated last vestiges of boost/random in gtsam_unstable
* Added 3D example g2o file
* Added Frobenius norm factors
* Shonan averaging algorithm, using SOn class
* Wrapping Frobenius and Shonan
* Fixed issues with <<
* Use Builder parameters
* Refactored Shonan interface
* Fixed << issues as well as MATLAB segfault, using eval(), as discussed in issue #451
* ShonanAveragingParameters
* New factor FrobeniusWormholeFactorP computes |Rj*P - Ri*P*Rij|
* Fixed broken GetDimension for Lie groups with variable dimension.
* Removed all but Shonan averaging factor and made everything work with new SOn
* Just a single WormholeFactor, wrapped noise model
* Use std <random>
* comments/todos
* added timing script
* add script to process ShonanAveraging timing results
* Now producing a CSV file
* Parse csv file and make combined plot
* Fixed range
* change p value and set two flags on
* input file path, all the csv files proceeses at the same time
* add check convergence rate part
* csv file have name according to input data name
* correct one mistake in initialization
* generate the convergence rate for each p value
* add yticks for the bar plot
* add noises to the measurements
* test add noise
* Basic structure for checkOptimalityAt
* change optimizer method to cholesky
* buildQ now working. Tests should be better but visually inspected.
* multiple test with cholesky
* back
* computeLambda now works
* make combined plots while make bar plot
* Calculate minimum eigenvalue - the very expensive version
* Exposed computeMinEigenValue
* make plots and bar togenter
* method change to jacobi
* add time for check optimality, min_eigen_value, sub_bound
* updated plot min_eigen value and subounds
* Adding Spectra headers
* David's min eigenvalue code inserted and made to compile.
* Made it work
* Made "run" method work.
* add rim.g2o name
* Fixed bug in shifting eigenvalues
* roundSolution which replaces projectFrom
* removed extra arguments
* Added to wrapper
* Add SOn to template lists
* roundSolution delete the extra arguement p
* only calculate p=5 and change to the correct way computing f_R
* Fixed conflict and made Google-style name changes
* prototype descent code and unit test for initializeWithDescent
* add averaging cost/time part in processing data
* initializewithDescent success in test
* Formatting and find example rather than hardcode
* Removed accidentally checked in cmake files
* give value to xi by block
* correct gradient descent
* correct xi
* }
* Fix wrapper
* Make Hat/Vee have alternating signs
* MakeATangentVector helpder function
* Fixed cmake files
* changed sign
* add line search
* unit test for line search
* test real data with line search
* correct comment
* Fix boost::uniform_real
* add save .dat file
* correct test case
* add explanation
* delete redundant cout
* add name to .dat output file
* correct checkR
* add get poses_ in shonan
* add Vector Point type for savig data
* Remove cmake file which magically re-appeared??
* Switched to std random library.
* Prepare Klaus test
* Add klaus3.g2o data.
* fix comment
* Fix derivatives
* Fixed broken GetDimension for Lie groups with variable dimension.
* Fix SOn tests to report correct dimension
* Added tests for Klaus3 data
* Add runWithRandomKlaus test for shonan.
* Finish runWithRandomKlaus unittest.
* Correct datafile.
* Correct the format.
* Added measured and keys methods
* Shonan works on Klaus data
* Create dense versions for wrappers, for testing
* Now store D, Q, and L
* Remove another cmake file incorrectly checked in.
* Found and fixed the bug in ComputeLambda !
* Now using Q in Lambdas calculation, so Lambdas agree with Eriksson18cvpr.
* Make FrobeniusFactor not use deprecated methods
* FrobeniusWormholeFactor takes Rot3 as argument
* Wrapped some more methods.
* Wrapped more methods
* Allow creating and populating BetweenFactorPose3s in python
* New constructors for ShonanAveraging
* add function of get measurements number
* Remove option not to use noise model
* wrap Use nrMeasurements
* Made Logmap a bit more tolerant of slightly degenerate rotations (with trace < -1)
* Allow for Anchor index
* Fix anchor bug
* Change outside view to Rot3 rather than SO3
* Add Lift in SOn class
* Make comet working
* Small fixes
* Delete extra function
* Add SOn::Lift
* Removed hardcoded flag
* Moved Frobenius factor to gtsam from unstable
* Added new tests and made an old regression pass again
* Cleaned up formatting and some comments, added EXPORT directives
* Throw exception if wrongly dimensioned values are given
* static_cast and other throw
* Fixed run-time dimension
* Added gauge-constraining factor
* LM parameters now passed in, added Gauge fixing
* 2D test scaffold
* Comments
* Pre-allocated generators
* Document API
* Add optional weight
* New prior weeights infrastructure
* Made d a template parameter
* Recursive Hat and RetractJacobian test
* Added Spectra 0.9.0 to 3rdparty
* Enabling 2D averaging
* Templatized Wormhole factor
* ignore xcode folder
* Fixed vec and VectorizedGenerators templates for fixed N!=3 or 4
* Simplifying constructors
Moved file loading to tests (for now)
All unit tests pass for d==3!
* Templated some methods internally
* Very generic parseToVector
* refactored load2d
* Very much improved FrobeniusWormholeFactor (Shonan) Jacobians
* SO(2) averaging works !
* Templated parse methods
* Switched to new Dataset paradigm
* Moved Shonan to gtsam
* Checked noise model is correctly gotten from file
* Fixed covariance bug
* Making Shonan wrapper work
* Renamed FrobeniusWormholeFactor to ShonanFactor and moved into its own compilation unit in gtsam/sfm
* Fixed wrong include
* Simplified interface (removed irrelevant random inits) and fixed eigenvector test
* Removed stray boost::none
* Added citation as suggested by Jose
* Made descent test deterministic
* Fixed some comments, commented out flaky test
Co-authored-by: Jing Wu <jingwu@gatech.edu>
Co-authored-by: jingwuOUO <wujing2951@gmail.com>
Co-authored-by: swang <swang736@gatech.edu>
Co-authored-by: ss <ss>
Co-authored-by: Fan Jiang <prof.fan@foxmail.com>
2020-08-17 07:43:10 -04:00
be70d1785c
Merge branch 'develop' into imu-examples
2020-08-17 00:38:14 -04:00
b1e3b5495c
Some behavior changes.
...
- maxIndex now does what it says
- id = size_t, Key is only for Values and Graph)
- re-admitted methods needed for wrapper.
2020-08-15 13:05:58 -04:00
a1f6e1585a
use boost program_options for command line parsing
2020-08-11 01:32:58 -05:00
4949f8bb9d
reworked basic ImuFactorsExample
2020-08-11 01:32:44 -05:00
3bc109de53
renamed ImuFactorExample2 to be more consistent with naming
2020-08-11 00:26:34 -05:00
aae9c19d0f
example using CombinedImuFactor
2020-08-11 00:25:42 -05:00
5da2108cd4
Merge branch 'develop' into imu-examples
2020-07-27 20:37:29 -05:00
0198c648e3
Fix all new gcc warnings/errors: make explicit virtual/override methods.
...
Rules are:
- use "virtual" in base classes only.
- use "override" in all derived classes.
2020-07-26 11:20:42 +02:00
6897ddc8aa
Merge branch 'develop' into feature/g2o-vertices
2020-07-24 11:29:54 -05:00
8a210188f3
test for readG2o
2020-07-24 03:10:14 -05:00
e993afe2bf
replace boost random with std random
2020-07-23 14:05:23 -04:00
18b705835b
Merge pull request #263 from kvmanohar22/isam2_imu_example
...
adding functionality to use ISAM2 for imu preintegration example
2020-07-15 18:03:43 -04:00
4b4a0e532f
Add BayesNet-inst.h at end of BayesNet.h
2020-07-14 08:50:20 -04:00
954741093c
Merge branch 'develop' into isam2_imu_example
2020-07-13 21:06:24 -04:00
621e79f06c
Add explicit HMM example
2020-07-12 23:25:26 -04:00
7dba3023d6
New discrete example
2020-07-12 23:25:26 -04:00
48b0b2b76e
Explicit type definition to handle warning
2020-07-10 23:01:18 -04:00
e41dbfc26c
fix init issues with Vector3, use static matrices where possible
2020-07-10 21:45:01 -04:00
cd843f646f
Merge pull request #390 from borglab/fix/discrete_examples
...
Formatted and fixed discrete examples
2020-07-10 05:43:52 -04:00
3dcff34b46
Formatted and fixed discrete examples
2020-07-09 20:46:12 -04:00
dc65a0a1d9
Added g2o test files
2020-07-09 16:27:32 -04:00
d0318172af
Merge pull request #249 from mindThomas/feature/isam2-kitti-example
...
Added ported C++ version of ISAM2 Kitti example
2020-07-09 15:17:18 -04:00
e3712772cb
ISAM2 Kitti example: Addressed review comments
2020-07-08 09:09:37 +08:00
561218ae82
updated file docstring for ImuFactorExample2.cpp
2020-06-29 16:34:05 -05:00
52a8dde6a7
updated filename in brief
2020-06-17 13:47:43 -05:00
0cd1e777bc
Reformatted some and use of auto
2020-05-09 19:08:31 -04:00
ff5a14831b
Reformatted and refactored
2020-05-09 19:08:17 -04:00
6a23c476a1
Merge pull request #279 from ghaggin/camera_mods
...
Fisheye Calibration
2020-05-09 16:44:54 -04:00
222e767e8d
fix uninitialized variable Key first_pose
2020-05-06 23:49:51 -04:00
b4eb0c233d
Merge pull request #209 from acxz/tbb_fix
...
TBB deprecation fix (partial)
2020-05-06 18:52:56 -04:00
e0cbc76456
change to more efficient call of threaded functions
2020-05-06 16:47:16 -04:00
df9cf86cb0
replace task_scheduler_init with task arena/group
2020-04-13 11:30:57 -04:00
6c964a5a41
Fix Pose2SLAMExample_g2o example
2020-04-12 19:10:03 -04:00
93ba522582
Remove any unnecessary PriorFactor.h includes
2020-04-12 13:42:02 -04:00
211119b00e
Replace addPrior<> with addPrior
2020-04-12 13:10:09 -04:00
b4b487695d
replace task_scheduler_init with task arena/group
2020-04-12 12:48:25 -04:00
aa3ac32235
Change all old cases of graph.emplace_shared<PriorFactor<...>>(...) and graph.add(PriorFactor<...>(...)) to graph.addPrior<...>(...). Removed unnecessary PriorFactor.h includes.
2020-04-11 20:09:54 -04:00
f4525b51e4
Change PriorFactor includes from gtsam/slam to gtsam/nonlinear
2020-04-10 22:26:22 -04:00
3ee552c7c6
Changed cacheing in jac func and fixed comments per PR discussion
2020-04-09 13:24:32 -04:00
a488888d40
Added example with fisheye camera using the SFM data
2020-04-09 09:49:34 -04:00
76b29b78af
Prefer C++11 nullptr
2020-04-06 23:31:05 +02:00
221dcaa13a
adding functionality to use ISAM2 for imu preintegration example
2020-03-30 22:16:30 +05:30
4197fa3c54
removed graphWithPrior from all examples while keeping functionality the same
2020-03-29 19:13:15 -04:00
e7bdc05689
Merge branch 'develop' of github.com:mbrossar/gtsam into develop
2020-03-29 12:01:08 -04:00
ca4daa0894
Merge pull request #258 from borglab/deprecate-simplecamera
...
Replace SimpleCamera with PinholeCameraCal3_S2
2020-03-23 08:08:18 -04:00
8fdbf2fa6e
added Cal3_S2 header and Frank's recommendations
2020-03-21 15:29:07 -04:00
8096b0e251
add deprecated task_scheduler_init unitl alternative is found
2020-03-16 00:49:17 -04:00
906d0277e9
Added ported C++ version of ISAM2 Kitti example
2020-03-16 00:56:02 +08:00
75d5409d78
follow Google style guide naming convention for Sfm related data structs
2020-03-06 18:02:51 -05:00
719975022c
consistent naming scheme for SfM_Data
2020-03-06 17:56:32 -05:00
d9923fc3cc
replaced/appended all calls to SimpleCamera with PinholeCameraCal3_S2
2020-02-21 19:42:55 -05:00
bfc32e9f69
add deprecated task_scheduler_init until alternative is found
2020-01-13 07:29:41 -05:00
aff24bd77b
remove tbb.h include and specify individual includes needed
...
remove deprecated tbb::task_scheduler_init
2020-01-11 18:11:59 -05:00
a99610b77a
make code match comments when creating Pose3 noiseModel instances
2020-01-04 16:57:22 -08:00
a607bf6526
Add flag for CombinedImu
2019-12-21 18:59:11 -05:00
e0fb001702
Remove ugly preprocessor directives, still hardcoded though
2019-12-21 18:59:11 -05:00
3d7ce45de6
Create Pose3Localization.cpp
...
Pose3Example_g2o with marginal computation.
2019-08-02 17:14:31 +02:00
b925142b98
Create pose3Localizationexample.txt
...
pose3example.txt without loop closure
2019-08-02 17:13:02 +02:00
6bcbfe2c67
Tightened odometry sigmas to avoid ILS
2019-06-11 20:42:54 -04:00
ff6fe5e5e3
get_* naming convention in GaussianConditional
2019-05-16 18:59:24 -04:00
8801de4d63
Pose3 naming convention
2019-05-16 15:06:15 -04:00
23f3f95ed2
deprecated get_noiseModel
2019-05-16 14:40:55 -04:00
b2e5dadcdb
Merge branch 'develop' of https://bitbucket.org/gtborg/gtsam into fix/trailing_whitespaces
...
# Conflicts:
# gtsam/symbolic/tests/testVariableIndex.cpp
# gtsam_unstable/gtsam_unstable.h
# gtsam_unstable/linear/RawQP.cpp
# gtsam_unstable/linear/RawQP.h
2019-05-12 09:26:28 -04:00
a450ba1e55
Merge remote-tracking branch 'origin/develop' into feature/LPSolver
...
# Conflicts:
# gtsam_unstable/linear/QPSVisitor.h
# gtsam_unstable/linear/RawQP.cpp
2019-04-24 16:08:50 -04:00
63de2f887e
Fixed comment
2019-04-17 09:02:16 -04:00
9b7eb34add
Show how expressions make (optimization-based) inverse kinematics easy.
2019-04-15 15:19:40 -04:00
18d26d12af
Added some xml test files
2019-04-07 13:15:05 -04:00
1cdc228d6a
remove trailing spaces
2019-02-11 10:58:34 -05:00
e7d6cd4faf
fixed typo in description
2019-01-04 17:12:04 +01:00
9c382b6c14
changed the SFMdata functions so that it allows the passage of function arguments to generate a trajectory; default arguments result in the original behaviour (described in header). In the range bearing examples: fixed weirdo text-artifacts, add newline for readability, added underscore the prediction expression.
2019-01-04 16:17:33 +01:00
ba03b398f4
type in filename....
2019-01-04 11:55:26 +01:00
986346f2b9
another comment update
2019-01-04 11:53:50 +01:00
7bb6863e75
little typo in a comment
2019-01-04 11:50:20 +01:00
d4398fb092
expression example of estimating trajectory, landmarks and sensor-body-transform simultaneously
2019-01-04 11:31:41 +01:00
3c3f6d2b7c
Switching to METIS ordering fixes out of memory error for large examples.
2018-12-31 13:08:41 -05:00
6a58e88631
Added example by Wenqiang Zhou given in issue #369
2018-12-31 12:33:13 -05:00
609019b585
Fixed warning
2018-12-31 12:30:53 -05:00
e58ba2d2af
Fixed possibly uninitialized warnings in ImuFactorExample2.cpp
2018-12-16 17:47:00 -05:00
e8da58725f
formatting
2018-12-14 12:18:43 -08:00
4da1b7189d
change help output text
2018-12-14 12:16:19 -08:00
8b8947b95c
fixed typo
2018-12-14 12:15:14 -08:00
937cdcf4d9
shorten parameter values
2018-12-14 12:12:33 -08:00
224af650bb
add test code
2018-12-13 17:28:52 -08:00
d86782eebc
Some remaining std::vector stragglers
2018-11-08 12:25:21 -05:00
79d63010dd
Give access to bearing/range
2018-11-06 13:28:47 -05:00
f8c13a862d
Remove Unused Tests and QPS Files.
2018-11-05 16:45:43 -05:00
45d3b99b26
Merge remote-tracking branch 'origin/develop' into feature/LPSolver
2018-11-01 16:24:56 -04:00
9840286979
Fixed noise model, removed extraneous variable
2018-10-22 11:31:12 +00:00
264a240094
Fixed both C++ and python examples
2018-10-16 19:01:28 -04:00
eb447d28a1
Added symbol keys
2018-10-13 17:48:36 -04:00
18234f68fd
Cleanup, c++11
2018-10-13 16:25:58 -04:00
c428e30784
Example due to Robert Truax in Issue #280
2018-10-13 15:29:07 -04:00
dbf14ca1d8
Merge remote-tracking branch 'origin/develop' into fix/isam2
2018-10-08 23:58:51 -04:00
ca80678ffc
Fixed more warnings
2018-10-08 21:38:50 -04:00
efa35e6a82
Cleaned up example
2018-09-30 17:22:53 -04:00
05d5179bc3
Some more cleanup
2018-09-29 17:31:46 -04:00
224299ccb9
Cleaned up/naming conventions/docs
2018-09-29 00:05:39 -04:00
67ffd65838
Added Alexander's example file
2018-09-29 00:04:13 -04:00
bd67779f74
Merged in feature/variadic-emplace_back (pull request #274 )
...
Feature/variadic emplace_back
Approved-by: Jing Dong
2017-03-12 05:19:15 +00:00
3c1a0a8801
Replaced graph.add with graph.emplace_shared if needed.
2016-10-01 11:41:37 -04:00
249d6b0b1b
Replaced graph.push_back with graph.emplace_shared if needed.
2016-10-01 11:17:41 -04:00
95c75b8bae
Updated functions
2016-09-09 08:33:51 -04:00
ab1f6562c8
Fixes compile errors when using BOOST version 1.61.0
2016-08-06 00:59:07 -04:00
2ae903413a
Merged develop into feature/LPSolver
2016-07-01 16:43:20 -04:00
c98c772017
[TEST] added QPTest. Showcases failure to work on indeterminate linear systems.
2016-07-01 15:42:23 -04:00
15c6aa210b
[TEST] Added Remaining Failing Tests AUG2D CONT-050 HS118 HS268 HS51 HS51 HS53 HS76
2016-07-01 13:02:59 -04:00
ac1a02337e
[TEST] Added Test HS35MOD
...
[FEATURE] Added support for FX bounds for QPS Parsing format.
2016-06-29 15:38:00 -04:00
4ba87c59e7
[TEST] Add HS35
...
[TEST] Disabled HS118
2016-06-29 15:24:27 -04:00
c9efb4bbda
[TEST] QP Now correctly handles negative constant values on hessian factors.
2016-06-28 19:51:51 -04:00
7849150276
Avoid use of now defuct copy constructor
2016-06-19 12:29:37 -07:00
6bafe9932e
Merge branch 'develop' into feature/LPSolver
2016-06-12 19:44:19 -04:00
5d5f0e770c
got rid of useless Eigen stuff in example
2016-06-09 19:43:03 -04:00
71a47d1469
added comments
2016-06-09 10:51:16 -04:00
853d327725
Deal with Point3 changes
2016-06-09 00:19:40 -07:00
68af6d6622
Merge remote-tracking branch 'origin/develop' into feature/imuFactorExample
2016-06-08 23:39:04 -07:00
bd8129d3f7
Merged in feature/EigenPoint2 (pull request #256 )
...
Point2's turn to be Eigenized
2016-06-08 22:46:40 -07:00
dc415b7b0c
reestablished header for output file
2016-06-07 21:00:34 -04:00
63bd6709f5
working example!
2016-06-07 20:54:42 -04:00
46e688bd36
cleaned up example
2016-06-07 20:36:18 -04:00
c9e383e644
added IMU example, still debugging
2016-06-07 19:57:34 -04:00
a97502f5a1
Resolved all issues with typedefs
2016-06-06 21:57:52 -07:00
be494039d8
fix gtsam::ValuesIncorrectType
2016-06-06 11:11:57 -04:00
417fc13c7f
fix gtsam::ValuesIncorrectType
2016-06-06 11:09:49 -04:00
1ea390c014
Imroved ReadMe, now in markup
2016-06-05 18:58:35 -07:00
2e4a94e2bb
Merge branch 'develop' into feature/LPSolver
...
# Conflicts:
# gtsam_unstable/linear/QPSolver.cpp
# gtsam_unstable/linear/QPSolver.h
2016-05-30 14:12:15 -04:00
ef38e80857
Removed BOOST_REVERSE_FOREACH
2016-05-22 14:11:42 -07:00
20c586c398
Removed #include <boost/foreach.hpp> in both files in example folder. Tested it locally: success.
2016-05-20 09:35:27 -04:00
a9b4bfd261
Replaced BOOSE_FOREACH with for in examples folder. Tested the changed code locally: successful.
2016-05-20 09:20:03 -04:00
ccb7dd5b70
Removed some uses of BOOST_FOREACH
2016-05-18 14:34:53 -07:00
7ebe12b4a7
Added missing QP Example Data
2016-05-15 16:44:23 -04:00
cc0b7cfdc1
convert tabs to spaces. See https://bitbucket.org/gtborg/gtsam/wiki/C++%20Coding%20Conventions
2016-02-09 20:00:38 -05:00
3052afe42b
Explicit template of insert<Point3>
2016-02-08 17:32:25 -08:00
23d4c0fd9f
Deprecated several Point3 methods
2016-02-08 13:27:38 -08:00
4d93a33f61
Static methods should be uppercase.
2016-01-26 23:09:58 -08:00
92e210b893
Fix examples and Matlab wrapper
2015-08-26 13:25:12 -04:00
30435da070
Moved BearingRangeFactor to SAM
2015-07-12 18:57:26 -07:00
3bad6fea67
moved RangeFactor to SAM
2015-07-12 12:12:59 -07:00
377b90941b
switch to Rodrigues everywhere
2015-07-05 16:11:04 -07:00
464a82cc51
Merge remote-tracking branch 'origin/develop' into feature/betterOrdering
...
Conflicts:
.cproject
gtsam/inference/Ordering.h
gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp
gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp
2015-06-28 15:41:58 -07:00
b0f04503c9
Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3
...
# Conflicts:
# gtsam/linear/tests/testRegularHessianFactor.cpp
# gtsam/slam/SmartFactorBase.h
2015-06-23 10:03:42 -04:00
da726aa21f
remove config.h include as global_includes.h and config.h are redundant
2015-06-22 12:02:40 -04:00
47495c8f46
Included config where needed
2015-06-21 18:14:20 -07:00
f8205bfe02
Merge branch 'develop' into feature/SmartFactors3
...
Conflicts:
gtsam/geometry/CalibratedCamera.h
gtsam/geometry/tests/testCalibratedCamera.cpp
gtsam/geometry/triangulation.h
gtsam/nonlinear/ExpressionFactor.h
gtsam/slam/SmartProjectionFactor.h
gtsam_unstable/slam/SmartStereoProjectionFactor.h
tests/testExpressionFactor.cpp
2015-06-19 16:55:30 -04:00
917e7c177d
fixed examples
2015-06-19 13:10:34 -04:00
a585e8ac09
And one more warning...
2015-05-12 15:07:49 -07:00
057aef90d9
Fixed some more warnings on Ubuntu
2015-05-12 15:05:34 -07:00
f639ae0d7c
Ignore generated files
2015-02-26 13:55:32 +01:00
a375e7b5be
RADICAL2: The SmartProjectionPoseFactor (soon to be renamed SmartPinholePoseFactor, if it survives at all) now no longer stores shared calibrations. Values expect to contain PinholePoses not Pose3s now. The current state of affairs was simply a bug: one pose could be optimized for several different calibrations. It relied on the user to make sure all measurements for a specific pose to optimize were all given the same shared calibration, which was then stored *millions of times* in the pose factors. Instead, there is now *one* shared calibration per PinholePose unknown.
2015-02-26 13:55:16 +01:00
48d549f383
remove unuseful comments
2015-02-23 10:31:25 -05:00
0b9758d88c
change to GTSAM timing
2015-02-23 10:24:34 -05:00
a356d5d2b7
include Pose2
2015-02-22 06:20:53 +01:00
64bb6b77d7
Merged in feature/SmartCT (pull request #107 )
...
Refactoring of Smart Factors
2015-02-22 06:14:19 +01:00
1d81572894
Capitalize static methods in ordering.h
...
This commit involves the API change. Related files in gtsam have been changed. All the tests examples run without issue.
2015-02-21 13:16:03 -05:00
4a0891f34c
Fixed (case) type
2015-02-21 13:49:53 +01:00
5714c56bab
Make examples compile
2015-02-21 13:30:01 +01:00
92f2e8e168
add in a natural ordering for testing. Test this code on other machines.
2015-02-20 23:45:13 -05:00
55729e0e69
fix bugs in timing, duplicate graph
2015-02-19 16:00:21 -05:00
c2a223ddbb
copy the nonlinearfactor graph for two independent tests
2015-02-18 23:58:53 -05:00
3b1c6b1b1e
add in a COLAMD vs METIS exmaple
2015-02-18 23:36:31 -05:00
d79ccfed21
New example reads BAL file, creates expressions
2015-01-22 00:06:29 +01:00
12fb5fdf53
Fix crash
2015-01-22 00:06:12 +01:00
e1ae980d45
Fix for #204
...
int to size_t conversions and few others
2015-01-21 13:16:13 -05:00
c8bfeb6692
Now using awesome ExpressionFactorGraph
2014-12-28 19:26:00 +01:00
e119846280
Updated examples and test
2014-12-28 19:10:41 +01:00
3587ad4e2c
Merge remote-tracking branch 'origin/develop' into feature/SoundSlam
...
Conflicts:
examples/SFMExampleExpressions.cpp
2014-12-28 18:53:09 +01:00
9b5136d35c
Moved examples
2014-12-28 17:15:14 +01:00
02223e66fd
Removed EXPORT (Chris?)
2014-12-28 17:13:11 +01:00
52ec4f0784
fixed serialization tests
2014-12-23 12:35:49 +01:00
7b1a9ba371
Merged in feature/TemplatedSmartFactors (pull request #39 )
...
Templated Smart Factors
2014-11-25 07:36:14 -05:00
ebdcbc6d9e
Fix comma initializer
2014-11-24 18:15:56 -05:00
e34a237162
Merged in feature/ordering (pull request #34 )
...
METIS Ordering
2014-11-24 18:04:35 -05:00
e8e502137b
Update ordering
2014-11-24 12:50:55 -05:00
3ba9e8f405
Updated some usages that were missed
2014-11-23 15:24:55 -08:00
f9ca07e610
Converted Vector(2|3) << ... to Vector2(...) or Vector3(...) syntax
2014-11-23 10:22:25 -08:00
aa093a35da
Updated all comma initializer usages to use .finished()
2014-11-22 16:35:27 -08:00
c92b7cca8c
Merge branch 'feature/ordering' of bitbucket.org:gtborg/gtsam into feature/ordering
2014-11-21 15:23:22 -05:00
b19ed67545
Work in progress on correcting bug with key casting to int32. Causes overflow on cast, causing bad array indexing in metis
2014-11-21 15:23:01 -05:00
dd255eb24c
Remove landmark template parameter
2014-11-19 13:07:14 -05:00
36a485169d
Refactor Ordering parameters. Now compiles and passes with gcc
2014-11-17 16:16:52 -05:00
9c2dcfb70c
Slim down example to remove verbosity, added explanation on orderingType
2014-11-17 12:06:59 -05:00
ffae14d42e
Corrected scoped enum issue for non c++11 compilers
2014-11-17 11:57:22 -05:00
f1bd12155f
Remove intermediate file for dataset I/O test, commit f833472 was undone by merge of BAD
2014-11-13 21:03:09 -05:00
a94835a2e4
Merge remote-tracking branch 'origin/develop' into feature/BAD
...
Conflicts:
.cproject
gtsam/geometry/Cal3DS2.cpp
gtsam/geometry/Cal3DS2.h
gtsam/geometry/Cal3Unified.h
gtsam/navigation/CombinedImuFactor.h
gtsam/navigation/ImuFactor.h
gtsam/nonlinear/NonlinearFactor.h
gtsam/slam/tests/testPoseRotationPrior.cpp
Modified: testGaussMarkov1stOrderFactor.cpp, testPoseRotationPrior.cpp
2014-11-04 17:04:57 +01:00
f833472898
Remove intermediate file for dataset I/O test
2014-10-25 20:18:55 -04:00
a29f09423c
Merge branch 'develop' into feature/BAD
...
Conflicts:
gtsam/linear/tests/testGaussianBayesNet.cpp
2014-10-22 13:56:27 +02:00
a281240ff1
METIS ordering only works on values that are 0 indexed. Otherwise heap corruption occurs inside metis ordering function. Not sure how to fix/enforce
2014-10-21 15:56:40 -04:00
49d6b04eb8
Metis ordering example
2014-10-21 13:15:48 -04:00
e96ceb2b4f
extended example for robust kernels
2014-10-17 14:58:45 -04:00
155f64e1bf
No more default
2014-10-07 01:16:10 +02:00
d57ca93b7a
Merge branch 'develop'
...
Conflicts:
.cproject
examples/Pose3SLAMExample_g2o.cpp
examples/Pose3SLAMExample_initializePose3Chordal.cpp
examples/Pose3SLAMExample_initializePose3Gradient.cpp
gtsam/slam/InitializePose3.cpp
gtsam/slam/InitializePose3.h
gtsam/slam/tests/testInitializePose3.cpp
2014-10-06 17:02:08 -04:00
0800b83285
Slight efficiencies
2014-10-02 11:44:16 +02:00
bef23a2008
ExpressionExample now only uses BADFactors and yields same result as SFMExample
2014-10-02 11:21:24 +02:00
e408159545
Merged in feature/allowMap (pull request #18 )
...
Replaced range adaptor pattern with more explicit loop to create dimensions, which also allows maps to be supplied as TERMS containers.
2014-09-30 11:33:35 +02:00
34dcfa4e89
Added example from Pull Request #18 discussion
2014-09-30 11:31:17 +02:00
1013ba83c9
Updated examples to conform to gtsam document. Re-factored iSAM example a bit.
2014-09-25 14:30:41 +02:00
3ad83e6394
small improvements
2014-09-11 20:54:46 -04:00
661862f3e3
small comment
2014-09-11 12:08:42 -04:00
7322a74bbd
nice and clean unit tests for gradient initialization
2014-09-11 12:05:36 -04:00
3d06a737bf
added possibility to specify number of iterations
2014-09-10 09:35:49 -04:00
41bb99b48a
fixed gradient
2014-09-06 10:57:22 -04:00
aacd3484c7
bug fix: different pose covariance structure between g2o (t,R) and gtsam (R,t)
2014-09-04 10:07:28 -04:00
08a6bff803
fixed issues in dataset and added comments
2014-09-03 20:18:46 -04:00
544e56f634
added examples
2014-09-03 15:40:57 -04:00
16bb90387c
added example optimizing rotations only from g2o file
2014-08-31 13:03:31 -04:00
f6adeb8fff
working example
2014-08-25 16:36:58 -04:00
e605c2dbc5
added initialization example
2014-08-25 16:01:53 -04:00
330fbd730e
fix failing unit test (mac)
2014-08-22 10:40:16 -04:00
889bbea8d4
finished and tested initializer
2014-08-19 21:09:51 -04:00
fdb31dbd8d
Merge branch 'develop'
2014-08-19 20:51:16 -04:00
f5cc247b1c
added pose initializer
2014-08-19 20:50:48 -04:00
bc205cf6a4
extended g2o parser to nondiagonal noise
2014-08-19 20:10:42 -04:00
358c978f00
added 3D version of readG2o with unit test
2014-08-18 20:40:52 -04:00
f261a6ddbc
Merge remote-tracking branch 'origin/develop' into feature/concurrent-calibration
2014-07-02 15:49:47 -04:00
87ba9384e0
warning in release
2014-07-01 11:21:23 -04:00
c93c9f1863
fix namespace
2014-06-22 23:52:59 -04:00
96e8dfaf66
Simplified this example a bit
2014-06-22 18:39:11 -04:00
7485a8f2d5
Merge remote-tracking branch 'origin/develop' into feature/concurrent-calibration
2014-06-20 13:48:26 -04:00
78fcfdc5ef
Merge branch 'develop' of git@bitbucket.org:gtborg/gtsam.git into develop
2014-06-16 00:46:36 -04:00
Akshay Krishnan
akrishnan86
Ayush Baid
HMellor
Navid Mahabadi
Toni
Varun Agrawal
Frank Dellaert
lcarlone
Frank Dellaert
Jose Luis Blanco Claraco
acxz
Thomas Jespersen
alescontrela
Glen Haggin
kvmanohar22
Peter Mullen
Martin Brossard
Duy-Nguyen Ta
dellaert
Duy-Nguyen Ta
Thomas Horstink
AndreiCostinescu
Nghia Ho
=
Yao Chen
Yao Chen
Frank Dellaert
JzHuai0108
Chris Beall
Luca
zhaoyang
balderdash-devil
Mike Bosse
Andrew Melim
Richard Roberts
Yong-Dian Jian