e2ce27f712
move static member definition to cpp file
2015-09-22 08:17:19 -04:00
377b90941b
switch to Rodrigues everywhere
2015-07-05 16:11:04 -07:00
35c23da427
change: add const traits and renaming some test parameters
2015-06-26 18:24:30 -04:00
12f9b413ff
feature: add concept test for similarity3
2015-06-26 16:01:26 -04:00
400a17d9ab
change: a little clean up
2015-06-26 15:44:08 -04:00
99fce3f5af
Added a few tests
2015-06-11 19:55:10 -04:00
76ffc45ee7
Merged 'develop'.
...
Conflicts:
gtsam_unstable/geometry/Similarity3.cpp
gtsam_unstable/geometry/Similarity3.h
2015-06-11 19:54:54 -04:00
f6ac546cc3
Added comparison to brute force matrix exponential
2015-06-11 13:56:35 -04:00
5ceb7d9ddc
Fully implemented logmap/expmap, which are used for retract/localCoordinates
2015-06-10 16:36:56 -04:00
0d5f0510ab
Expmap and Logmap, still incorrect around identity
2015-06-10 11:01:34 -04:00
9d522c72f3
internal::LieGroup needed if you also want Testable traits
2015-05-25 22:04:04 -07:00
13dcc977f2
Moved Point2Vector wrapper from gtsam_unstable.h to gtsam.h
2015-05-03 17:31:08 -07:00
b52ced7a09
Merged in fix/serialization_warnings (pull request #128 )
...
Fix some unused variable warnings in the serialization code.
2015-04-20 15:00:45 -04:00
a4fac2ab62
added cout style print statements for similarity
2015-04-12 15:38:40 -04:00
ebf5746987
Fix some serialization warnings.
2015-03-06 16:12:09 +01:00
74605df641
Re-ordered methods in .h and .cpp to match them
2015-03-03 07:42:31 -08:00
d8822e5b57
H1 works for rot/translation, but not scale :-(
2015-03-02 21:58:54 -08:00
728991e31f
Fixed H2
2015-03-02 21:08:57 -08:00
05198c091e
comment
2015-03-02 21:08:41 -08:00
e0e5590856
matrix() returns 4*4 matrix \in GL(4)
2015-03-02 21:08:23 -08:00
6bfda9fcba
Added prototype derivatives for transform_from
2015-03-02 20:34:56 -08:00
fcd00450d3
Formatting, use Point3/Rot3, resolved link error of operator*(Point3)
2015-03-02 20:09:44 -08:00
1e58c0b0a2
Comments and standard BORG formatting
2015-03-02 19:34:33 -08:00
6faa881de6
Make the code prettier.
2015-02-26 15:10:59 -05:00
9991ae04f3
Fixed unit tests
2015-02-25 10:59:25 -05:00
f9ccd23d4a
Refactored into class and unit test
2015-02-19 01:21:20 -05:00
42d8e1fcb2
Working Sim3 Transform
2015-02-13 09:06:08 -05:00
db73a0dd1d
Working, with stub log/expmap and identity
2015-01-28 14:55:13 -05:00
10b56a115c
Working Similarity3 transform with unit tests.
2015-01-26 13:38:32 -05:00
c6b3535dda
retract works, local coordiantes still broken
2015-01-25 01:28:16 -05:00
a87a3dd987
Rotation works, translation and scale incorrect
2015-01-24 22:42:48 -05:00
d28ef19b9a
Merge remote-tracking branch 'origin/develop' into feature/Similarity
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Partial update of Similarity to BAD
Conflicts:
.gitignore
2015-01-23 08:10:21 -05:00
bade68fa33
Simple single prior optimization
2015-01-12 12:58:17 -05:00
a88b10eacc
Working similarity3 transform with unit tests
2015-01-07 09:57:48 -05:00
89460fe931
Unit tests still fail, but believed to be correct.
2015-01-02 09:02:43 -05:00
7c455efe50
Made Event into new-style manifold
2014-12-28 18:24:00 +01:00
f9c353d4a5
Merge remote-tracking branch 'origin/develop' into feature/SoundSlam
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Conflicts:
.cproject
gtsam/base/LieMatrix.h
gtsam/base/LieVector.h
gtsam/base/OptionalJacobian.h
gtsam/base/tests/testOptionalJacobian.cpp
gtsam/geometry/Cal3_S2Stereo.h
gtsam/geometry/CalibratedCamera.h
gtsam/geometry/PinholeCamera.h
gtsam/geometry/Point2.h
gtsam/geometry/Point3.h
gtsam/geometry/Pose2.cpp
gtsam/geometry/Pose2.h
gtsam/geometry/Pose3.cpp
gtsam/geometry/Pose3.h
gtsam/geometry/Rot2.cpp
gtsam/geometry/Rot2.h
gtsam/geometry/Rot3.cpp
gtsam/geometry/Rot3.h
gtsam/geometry/Rot3M.cpp
gtsam/geometry/Rot3Q.cpp
gtsam/geometry/Unit3.cpp
gtsam/geometry/tests/testRot3.cpp
gtsam/nonlinear/AdaptAutoDiff.h
gtsam/nonlinear/Expression-inl.h
gtsam/nonlinear/Expression.h
gtsam/nonlinear/tests/testExpression.cpp
gtsam/slam/RangeFactor.h
timing/timeAdaptAutoDiff.cpp
timing/timeCameraExpression.cpp
2014-12-28 17:45:41 +01:00
e5017984a1
traits_x -> traits
2014-12-26 16:47:51 +01:00
5473550eea
Using traits in many places (forced by loss of Point2 mojo)
2014-12-22 16:02:33 +01:00
79d8514528
MASSIVE edit: made Testable its own concept, and moderinized Testable.h to use Testable traits. This required adding Testable traits in many classes.
2014-12-21 22:02:57 +01:00
da4c44e12d
More progress
2014-12-14 15:26:43 +01:00
a7b8e60272
Unit test failure, either retraction or localCoordinates is wrong for rotation
2014-12-12 10:38:59 -05:00
c6e4cd5e03
Operational Sim3 with basic unit tests
2014-12-12 10:12:58 -05:00
69f27b9488
Additional unit test
2014-12-12 08:43:57 -05:00
8c4468185a
Take a stab at localCoordinates
2014-12-11 22:54:02 -05:00
a9121fc3fc
Now it's super-easy to create priors on pieces of state.
2014-12-11 13:45:15 +01:00
bb00e375da
Print for MATLAB
2014-12-10 21:44:56 +01:00
d17caa5487
Event header and test file
2014-12-10 19:14:18 +01:00
f71513b3bf
Compiles and test runs
2014-12-05 15:50:09 +01:00
51c4a50c23
Initial broken commit of Similarity Transform
2014-12-05 09:28:10 -05:00
aa093a35da
Updated all comma initializer usages to use .finished()
2014-11-22 16:35:27 -08:00
3824fe5f90
Fixed assert_equal and warnings
2014-11-04 15:48:30 +01:00
4afe132b1a
Fixed dimensions of Vectors
2014-11-04 15:41:14 +01:00
2a745b6c26
No more LieVector/LieScalar
2014-11-03 13:32:58 +01:00
b5327673fb
Get rid of LieVector
2014-11-03 11:02:15 +01:00
2788ec7f33
removed std::type_traits which is c++11
2014-10-29 10:23:13 +01:00
1fadda83e0
removed DerivedValue<> inheritence from classes
2014-10-24 18:34:06 +02:00
113b9d2e74
Got rid of unnecessary LieVector usage that broke fixed-code
2014-10-22 01:32:59 +02:00
1eb5e185e5
New numericalDerivatives with traits an Charts - still some segfaults, *and* there should be no need for (a) multiple prototypes to match against c++ pointers, (b) the use of explicit template arguments. A task for someone...
2014-10-21 18:50:52 +02:00
0a6fe0f0a8
No more default argument
2014-10-07 00:44:40 +02:00
87f5818776
Move smart projection factor
2014-05-31 15:33:19 -04:00
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
f5ce1d865e
A custom linearize for speed
2014-03-04 02:50:28 -05:00
b1013163e7
Switched to TriangulationFactors: huge improvement
2014-03-02 15:51:02 -05:00
5c466a7914
Moved to header file
2014-03-02 15:36:29 -05:00
a7f98a8316
Drastically simplified by passing cameras
2014-03-02 15:33:56 -05:00
f3ee25f1a8
TriangulationFactor, first version
2014-03-02 14:56:50 -05:00
dfee108e53
Some more refactoring
2014-03-02 13:49:42 -05:00
bf779af3d1
added twoPoses test
2014-03-02 13:44:18 -05:00
7b93cd207c
fixed header bloat
2014-03-02 13:34:43 -05:00
68401cf216
removed Cheirality testing in that GTSAM mode
2014-03-02 13:16:36 -05:00
ba6f857663
Removed some copy/paste
2014-03-02 13:02:21 -05:00
485b3b475a
Fixed a typo that disabled the testTriangulation tests.
2014-02-23 18:50:58 -05:00
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
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
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
8641816b21
fix Vector_() in gtsam_unstable and tests
2014-01-23 02:03:12 -05:00
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
880d9a8e3c
Switched to new Eigen built-in special comma initializer
2013-12-16 21:33:12 +00:00
abbbd02979
reintroduced triangulation.cpp with non-templated functions
2013-12-09 21:28:43 +00:00
2896a45d1f
Fix Matrix_(...) to Mat() <<...
2013-11-13 06:08:59 +00:00
0b3aac7048
Fix Matrix_(...) to Mat() <<... in gtsam_unstable
2013-11-13 05:51:03 +00:00
199505db5f
Changed API for triangulation to use vectors of pinhole cameras, or a vector of poses and a single calibration
2013-11-06 06:31:46 +00:00
5defdbe73f
Fixed compile problems on windows
2013-11-05 16:06:10 +00:00
a28e04988d
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.
2013-11-01 01:04:34 +00:00
efeb7b4f8a
fixed warning on cheirality exception
2013-10-31 01:32:48 +00:00
73b82a00eb
added possibility to disable Cheirality in triangulation.h using cmake flag
2013-10-29 23:38:31 +00:00
3c33e44c46
Fixed compile errors on windows
2013-10-29 04:24:14 +00:00
def9b84e45
Added virtual solve method to NonlinearOptimizer that you can override, e.g., with Ceres
...
See example in testNonlinearOptimizer
As part of this, I also merged SuccessiveLinearizationParams into NonlinearOptimizerParams, which is now in its own separate file NonlinearOptimizerParams.h
2013-10-25 18:27:43 +00:00
6d288a193d
another unit test for distinct calibrations, more documentation
2013-10-22 15:52:10 +00:00
e98c80aad0
removed nontemplated triangulation functions. Improved unit tests and documentation
2013-10-22 15:31:46 +00:00
de5f8ee354
templated calibration object in triangulateDLT
2013-10-19 02:05:49 +00:00
9997e0b8ea
EPI: Optimize landmark position using LM using SVD triangulation as initialization.
...
Works for both single camera and multi-camera (with different calibration) cases.
2013-10-18 02:56:10 +00:00
45e1fe832d
fixed issues
2013-10-16 00:54:56 +00:00
01f6ee56e4
templated version for Kitti, triangulation, and factorCreators
2013-10-15 22:43:10 +00:00
9bff152dbe
add template on triangulation
2013-10-15 18:01:06 +00:00
9ad72e9523
included rank tolerance in Smart factor constructor
2013-09-28 18:49:26 +00:00
d10ffee4d4
management of degeneracy
2013-09-28 00:49:37 +00:00
14e65ce607
Matrix initialization bug fix
2013-09-13 18:26:39 +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
34998b3435
Added missing export tag
2013-07-31 15:36:39 +00:00
201a7bfda5
adding triangulation function needed by new Schur complement factor
2013-07-30 18:52:06 +00:00
ebcc638ef5
renamed dist to distance (dist still works but now deprecated)
2013-06-05 16:11:36 +00:00
67e36febf2
Added DLL export annotations on new code
2013-04-01 19:29:53 +00:00
a2bc0f8ae5
Fixing wrapped typedefs
2013-03-23 20:19:40 +00:00
045072746d
Cleaning up extraneous namespace references
2013-03-23 20:19:39 +00:00
3c2e037b16
Moved geometry components from MastSLAM for Pose3Upright, BearingS2, SimWall2D and SimPolygon2D
2013-03-23 20:19:30 +00:00
6111c099ab
Improved build of shared vs static GTSAM libraries - now possible to build either one or both, executables link to the shared if it is being build, or otherwise to the static. Also removed separate shared/static CMake flags for gtsam_unstable, now uses the same GTSAM_BUILD_SHARED and GTSAM_BUILD_STATIC as gtsam.
2013-03-13 18:17:39 +00:00
6b67238dd3
more documentation and cleanup
2012-11-29 18:19:28 +00:00
4297d24c96
changed tabs to spaces for consistent indentation in all of GTSAM
2012-10-02 14:40:07 +00:00
d93aac12d0
Fixed ambiguous sqrt/atan errors
2012-08-03 21:02:37 +00:00
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
e4bc0f9b81
Moved tensor code back to geometry
2012-05-04 14:44:19 +00:00
9ce892ce65
gtsam_unstable now builds and tests pass
2012-05-03 17:03:25 +00:00
Duy-Nguyen Ta
Frank Dellaert
zhaoyang
Paul Drews
dellaert
Chris Beall
nsrinivasan7
Thomas Schneider
Paul Furgale
Richard Roberts
gawela
Mike Bosse
Luca
jing
Frank Dellaert
Luca Carlone
Jing Dong
Chris Beall
Zsolt Kira
Alex Cunningham