e9641ba26b
Merge branch 'develop' into feature/cameraTemplateForAllSmartFactors
...
# Conflicts:
# gtsam/geometry/CameraSet.h
2021-08-28 20:09:24 -04:00
bafcde9ee1
Google-style formatting in new files.
2021-08-28 17:36:14 -04:00
d0505d4bc3
Check equals not assert_equal
2021-08-28 17:20:08 -04:00
2b3709ec73
Got rid of SchurComplementAndRearrangeBlocks_3_12_6
2021-08-28 17:19:53 -04:00
0c622294d2
Some formatting
2021-08-28 17:19:19 -04:00
f712d62150
Added override
2021-08-28 16:30:25 -04:00
ff33eb614d
adjusted rolling shutter as well
2021-08-28 01:31:50 -04:00
8af633a991
Merge branch 'feature/rollingShutterSmartFactors' into feature/cameraTemplateForAllSmartFactors
2021-08-26 11:30:59 -04:00
37b001307e
plot twist: templating new factor on CAMERA
2021-08-26 11:29:34 -04:00
4f33cb8835
add guards for system Metis
2021-08-26 02:22:28 -04:00
330a100110
Merge branch 'feature/rollingShutterSmartFactors' into feature/cameraTemplateForAllSmartFactors
2021-08-25 22:22:58 -04:00
db2a9151e5
don't like it - going to create a different class
2021-08-24 20:56:40 -04:00
0a8ebdf8cd
renamed interp param to alpha, improved comments, added cpp
2021-08-13 21:42:09 -04:00
a3ee695b85
reformatted using google style
2021-08-13 20:05:19 -04:00
e4f1bb1bd0
CHECK -> EXPECT
2021-07-23 22:56:37 -04:00
e838d011a6
added timing test
2021-07-23 22:48:16 -04:00
a10d495611
extra cleanup
2021-07-23 22:23:01 -04:00
1f07142b5b
renamed params. need one last test
2021-07-23 19:03:23 -04:00
5350e3463e
done with tests, now I only have to rename gamma to keep consistency with the projection factors RS
2021-07-23 18:58:43 -04:00
81526e8917
fixed another test.
2021-07-23 17:57:24 -04:00
9c288d90ce
working on testing + cosmetic improvements to print for smart factors
2021-07-23 17:48:08 -04:00
a7b7770310
test with EPI fixed
2021-07-23 15:50:16 -04:00
aeb1d35dd6
fixed test with lmk distance
2021-07-23 15:47:07 -04:00
934413522d
fixed another test, few more to go
2021-07-23 15:39:13 -04:00
1c3ff0580b
removed printout, solved CI issue
2021-07-23 00:03:41 -04:00
48a7afa463
removed comments. Code is complete now. Need few more unit tests and we are good to go
2021-07-22 22:35:21 -04:00
91a6613d84
moved common function to cameraSet. commented issues with templated calls to functions in cameraSet
2021-07-22 22:31:33 -04:00
477dd5b247
all pass!
2021-07-22 21:49:40 -04:00
d7e8912d6a
all pass!
2021-07-22 21:45:26 -04:00
a439cf0f0f
stuck on compile issue
2021-07-21 23:33:42 -04:00
d4b88ba59a
got to the final monster. Now I need to implement createHessian
2021-07-21 22:46:42 -04:00
e6ff03f73e
jacobians and errors are well tested now
2021-07-21 16:31:45 -04:00
4669213618
jacobians are good to go!
2021-07-21 16:19:44 -04:00
5d55e153f0
yay! error test passes!
2021-07-21 15:10:10 -04:00
6f8d639ab8
finding best way to test RS errors
2021-07-21 14:46:52 -04:00
306393a18c
solidified add and equal
2021-07-21 14:30:55 -04:00
30f304e733
started serious testing: all tests pass for now
2021-07-21 13:58:47 -04:00
02d2d97a8e
added nice test on cheirality exception - done with projectionFactorRollingShutter
2021-07-20 23:04:52 -04:00
a480b2dcfc
all tests are passing!
2021-07-20 22:05:36 -04:00
0d1c3f16ef
everything working out so far with the tests
2021-07-20 21:29:56 -04:00
2812eeb1be
pass on projection factor, but looks great overall
2021-07-20 21:06:51 -04:00
a204f6d508
amended
2021-07-20 20:46:43 -04:00
4c997e5474
removed interp from Pose3, starting to take pass on projection factor and test
2021-07-20 20:46:29 -04:00
b8fa0ccc6f
Merge branch 'feature/rollingShutterSmartFactors' into rolling_factor
2021-07-20 18:29:10 -04:00
16d624d4e1
now I need to move to testing and interpolation
2021-07-19 17:01:27 -04:00
1e2a1d2591
removed cpp
2021-07-19 16:11:34 -04:00
82844b541c
put in place initial functions
2021-07-19 16:11:18 -04:00
00387b32cd
setting up .h and tests - compiles and tests pass.
2021-07-19 15:30:53 -04:00
cd1d4b4df5
added templates for factors
2021-07-19 14:38:26 -04:00
d5890a2d61
update all the tests
2021-07-10 21:03:15 -04:00
dc8b5e58ff
replaced boost with std for placeholders, bind and function
2021-07-10 21:01:20 -04:00
5a2ff198f0
Merge branch 'develop' into boost-bind-warn
2021-06-28 10:54:48 -04:00
944b3aea29
formatting
2021-06-20 20:37:49 -04:00
7aeb386dbd
formatting
...
remove extraneous `using`
2021-06-20 18:04:28 -04:00
6dea8667fd
explicitly use boost::placeholders:_X for compilers that do not respect function scope
2021-06-18 13:45:59 -04:00
650e432f52
update boost::bind usage
...
use <boost/bind/bind.hpp> instead of deprecated <boost/bind.hpp>
use boost::placeholders:: scope in appropriate files
remove and add <boost/bind/bind.hpp> in appropriate files
2021-06-16 00:56:43 -04:00
ad7d8f183a
use size_t variable type
2021-06-14 16:25:15 -04:00
9392bfd1c1
Move MagPoseFactor to gtsam
2021-06-08 18:25:33 -04:00
554009741c
Merge pull request #752 from miloknowles/feature/mag_pose_factor
2021-06-03 11:09:02 -04:00
5e2af67a74
Update commment syntax and replace typedef with using
2021-06-01 16:31:20 -04:00
1011055007
Merge pull request #696 from borglab/feature/smartFactorsWithExtrinsicCalibration
...
smart factors with extrinsics calibration
2021-05-27 10:41:33 -04:00
5510b41e31
amended
2021-05-12 19:22:16 -04:00
7d93e6fca0
added comment on example interface
2021-05-12 19:20:21 -04:00
7342438fb3
added GNC example
2021-05-10 10:30:17 -04:00
c163e28c31
addeed gnc example
2021-05-08 17:03:04 -04:00
6c3aca8cac
remove virtual from overridden methods, add virtual destructors to appease compiler
2021-04-30 12:58:52 -04:00
4d6eef2c2f
override print methods and update wrapper
2021-04-29 19:43:27 -04:00
f584537412
Improve docs
2021-04-23 10:02:41 -04:00
378b379e56
Compute error in the body frame and fix print()
2021-04-23 09:42:07 -04:00
0313a56734
Add MagPoseFactor
2021-04-22 16:51:47 -04:00
d4eaa15280
rolling shutter projection factor
2021-04-22 08:52:28 +03:00
0a08c19847
added comment
2021-04-04 12:07:10 -04:00
10260253b3
trying to fix CI error
2021-04-03 21:01:53 -04:00
6ae3b80bae
fixed glitch highlighted by CI
2021-04-03 18:10:39 -04:00
413b9d8202
cleanup
2021-04-03 17:59:45 -04:00
53e3de3629
improved naming, formatting, comments
2021-04-03 17:45:02 -04:00
71c528a87d
formatting
2021-04-03 17:37:36 -04:00
038c1c0b8e
added extra unit test
2021-04-03 17:33:12 -04:00
282aa1a0a9
Merge branch 'develop' into feature/smartFactorsWithExtrinsicCalibration
2021-04-03 17:16:04 -04:00
0c865fa52a
removed extra "else"
2021-03-29 23:00:38 -04:00
5677bdb6c1
need to clean up templates and remove 2 redundant lines
2021-03-29 22:58:29 -04:00
2e1ed2c852
1 test to go!
2021-03-28 20:07:29 -04:00
2c1b780a4f
2 tests to go
2021-03-28 20:03:02 -04:00
b10a9d245b
getting ready to enable monocular operation
2021-03-28 18:42:20 -04:00
81aad1977c
works now!!
2021-03-27 23:03:05 -04:00
8ca3d475c8
now I have a working prototype!
2021-03-27 22:28:35 -04:00
8b4a74efff
test still failing
2021-03-26 22:33:15 -04:00
e8db2b6b9b
getting better
2021-03-26 20:04:42 -04:00
1f12f82e01
Fix Rot3::LocalCoordinates runtime error when using Cayley map
2021-03-26 17:29:47 -04:00
ec047ccd08
moving to more appropriate construction of Hessian
2021-03-26 17:25:27 -04:00
a0ff5e3886
Add LocalCoordinates() to ProductLieGroup and remove unnecessary <Eigen/Core> include to reduce compile memory
2021-03-26 14:36:43 -04:00
909b5500f8
Fix incorrect Vector dimension that was causing CI failures
2021-03-26 11:26:27 -04:00
05fad78ce9
Switch to cleaner T::Logmap
2021-03-26 10:09:05 -04:00
74b92efd89
Add constructor tests and extend tests to Pose2
2021-03-26 09:55:25 -04:00
ef2cd5dab5
Fix x/y mismatch in unit tests
2021-03-26 08:59:44 -04:00
b3c828f8d2
amended
2021-03-25 21:42:28 -04:00
7c052ff48a
fixed print, removed cout, test still failing
2021-03-25 21:37:13 -04:00
4df78be0f0
Merge branch 'develop' into feature/smartFactorsWithExtrinsicCalibration
2021-03-22 19:19:23 -04:00
00eee7cd19
removed tests that are not applicable - merging to develop now
2021-03-22 19:18:44 -04:00
d8eeaf9cb3
adding test with single key
2021-03-22 19:16:31 -04:00
4b29c0370d
Prefer localCoordinates over logmap
2021-03-21 20:46:26 -04:00
3d1c170860
fixed optimization test: now we have to (i) allow reuse of same calibration, (ii) enable all other tests, (iii) remove cout
2021-03-21 19:39:37 -04:00
7a30d8b4d4
trying to fix crucial test
2021-03-21 19:34:21 -04:00
483a1995ba
solving key problem
2021-03-21 19:12:40 -04:00
43c9f2ba26
Change mask to indices and update factor docstring
2021-03-21 17:20:43 -04:00
593e6e975d
Correct Jacobian in PartialPriorFactor, modify derived factors for compatibility
2021-03-21 17:10:00 -04:00
e6b7d9f133
Add successful unit test for identity pose
2021-03-20 17:57:10 -04:00
075293cf83
Three examples of failing PartialPriorFactor<Pose3> Jacobians
2021-03-20 17:44:03 -04:00
2dc908c986
working on new sym matrix
2021-03-19 23:09:26 -04:00
6d118da82d
still segfaults
2021-03-14 22:43:53 -04:00
436c8fa436
Merge pull request #711 from borglab/feature/matlab-wrap
2021-03-14 11:13:44 -04:00
e571d2c188
debugging jacobians
2021-03-13 23:49:33 -05:00
2132778edc
pipeline up and running, need to fix Jacobians next, then Schur complement
2021-03-13 22:34:37 -05:00
dbc10ff227
isolated schur complement!
2021-03-13 21:51:39 -05:00
0161047427
trying to figure out jacobians
2021-03-13 19:19:12 -05:00
8a37a86441
test failure: now we can start computing jacobians
2021-03-13 18:12:12 -05:00
c1da490c2d
got it!
2021-03-13 18:10:03 -05:00
0194e3df94
fixed unit test
2021-03-13 17:55:24 -05:00
f234ad516e
moving to noisy tests
2021-03-13 17:49:08 -05:00
f0b5b244ad
moving to other tests
2021-03-13 17:40:53 -05:00
0c50c963a1
error computation also looks fine!
2021-03-13 17:36:53 -05:00
c965ce6be0
fixed equals
2021-03-13 17:20:39 -05:00
266d8248d0
simple tests are passing, but now we start on the serious ones
2021-03-13 14:03:10 -05:00
273d2da567
compiles and all tests pass!!
2021-03-13 13:54:23 -05:00
f84e1750ea
done factor!
2021-03-13 13:50:47 -05:00
bc8866bd9e
created .h
2021-03-13 13:21:43 -05:00
f7a84ff9f3
added test
2021-03-13 12:46:18 -05:00
f03b12e420
Make matlab wrapping rely completely on the wrap project
2021-03-09 16:10:08 -05:00
b105b8fe95
Merge branch 'develop' of https://github.com/borglab/gtsam into sim3-alignment
2021-03-05 14:38:14 -05:00
98faf54f9b
move unit test out of gtsam unstable
2021-02-24 22:12:00 -05:00
0a2deab5b6
move sim3 to stable version
2021-02-24 17:39:16 -05:00
bbd7ed4f69
Fix typo in using -> typedef conversion
2021-02-24 15:42:58 -05:00
0effe69df2
add sim3 Point3 align to wrapper
2021-02-24 15:26:13 -05:00
f5ff7aa49f
Merge pull request #564 from borglab/fix/planeFactor
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Fix/plane factor
2021-02-22 23:58:14 -05:00
8f18ce931b
Add inline comments on commented-out unit tests
2021-02-20 23:13:43 +00:00
8552752839
Start moving Sim(3) functionality into Python wrapper
2021-02-19 16:08:43 -05:00
5b0bd08e7b
small tidy and fix unit tests
2021-02-16 18:21:53 +00:00
960a3e1d8e
Tidy up comments and use cpplint
2021-02-16 11:48:26 +00:00
7480d149c8
Update documentation on new factor
2021-02-15 15:08:57 +00:00
a62bdd45e8
Add new oriented plane 3 factors with local linearisation point
2021-02-15 13:15:11 +00:00
7f80c906c4
Fix override warnings: modernize-use-override
2021-01-28 23:02:13 -05:00
c073473f5b
Merge branch 'develop' of github.com:borglab/gtsam into fix/warning_in_smart_factor
...
* 'develop' of github.com:borglab/gtsam: (65 commits)
type in test hidden by duplicate test values
auto and reserve fewer
replace sparseJacobian with "fast" version
disambiguate double template >>
fix comment and remove whitespace diff
remove InPlace jacobian from .h file
remove unnecessary function overloads and typedefs
use standard function to check for empty string
fix bug in Pose2 print
formatting
revert Matrix.h
remove templating while maintaining efficiency Templating still used in cpp file for generic-ness, but not exposed anymore
move SparseMatrixBoostTriplets typedef to gfg
add known issues section with info about march=native
Revert "upgrade minimum required Boost version to 1.67."
upgrade minimum required Boost version to 1.67.
populate sparse matrix with `insert` rather than `setFromTriplets` About 5% speed improvement.
eliminate copy/pasta from SparseEigen with generic version of sparseJacobian
more generic sparseJacobianInPlace function
add generic optional parameters to sparseJacobian Also, the unit test changed due to a 0 entry that was previously wrongly included in the b-column of the sparse representation.
...
2021-01-28 22:49:06 -05:00
241d82dbf7
Fix can be marked override warning
2021-01-22 00:27:32 -05:00
f831bfd62e
add override and formatting
2021-01-19 15:40:37 -05:00
96dc9bfa5a
Fix formatting
2021-01-18 14:48:19 -05:00
5ad65ed46c
Fix formatting
2021-01-18 14:41:59 -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
745e2207a0
Merge pull request #657 from borglab/fix/compiler-warnings
...
Fix warnings
2021-01-05 17:00:01 -05:00
b7584ce362
verbose printing of exceptions
2021-01-05 10:44:26 -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
cb3a766b30
uncomment calibration applications
2020-11-30 13:19:13 -05:00
2703307a43
deprecate SimpleCamera tests
2020-11-30 07:01:58 -05:00
802580eec7
enforce constant term in quadratic to be 0
2020-11-19 12:40:38 -05:00
098e704511
Similarity3 test only for Rot3 Expmap
2020-11-11 22:46:39 -05:00
a8ea6f2bd2
Fixed include error
2020-10-02 16:12:10 -04:00
52518c9b0b
Merge branch 'develop' into fix/LP_QP_stype
2020-10-01 21:37:45 -04:00
eb4f5288e9
Clean up code and tests and use "means"
2020-10-01 12:01:33 -04:00
dc1057f314
Fixed spelling mistake
2020-09-30 15:41:43 -04:00
6b739b17be
Re-formatting and using "add"/"auto" where we can.
2020-09-30 15:38:46 -04:00
c51264ac98
New method "add" as in GaussianFactorGraph
2020-09-30 15:38:25 -04:00
c0fb3a271b
Small formatting changes and removal of test header
2020-09-30 15:38:08 -04:00
2f322310cd
Merge remote-tracking branch 'upstream/develop' into sim3
2020-09-27 20:38:11 -04:00
95724be4ae
Fix quaternions test failure.
2020-09-27 20:36:50 -04:00
9bdcd2caa7
remove all LieScalar/LieVector/LieMatrix references from wrapper
2020-09-26 18:01:26 -04:00
8236d69fa1
Refactor code to increase speed.
2020-09-26 14:09:37 -04:00
e12d3ba197
Change input into centroids.
2020-09-26 12:13:40 -04:00
933565c045
Emphasize Rdb is a vector.
2020-09-26 12:05:17 -04:00
ffd0d5e6b9
Change getXY to calculateScale.
2020-09-26 12:03:10 -04:00
463b634328
Move private func to .cpp.
2020-09-26 11:58:10 -04:00
bf0651b626
Refactor Align with short functions.
2020-09-20 11:45:30 -04:00
66c9a63919
Fix double computation.
2020-09-14 00:20:50 -04:00
a1b73b3776
document and use std::tie
2020-09-08 22:42:09 -04:00
9890744fab
Create AlignGivenR function and refactor code.
2020-08-23 20:43:27 -04:00
4789cd2682
Modify comments and move header file declaration.
2020-08-22 15:20:20 -04:00
e3bf43856d
Merge remote-tracking branch 'upstream/develop' into sim3
2020-08-21 21:13:59 -04:00
a9dd3ed3c7
Add a comment for transformFrom pose.
2020-08-21 21:09:36 -04:00
e00fa5605a
create a helper function to remove repeat code.
2020-08-21 20:53:52 -04:00
9a07a61779
reformat pose3 declaration.
2020-08-21 14:57:29 -04:00
f5611fbc49
Add Compatibility unittest.
2020-08-21 14:54:43 -04:00
e94aae10bf
Replace rotAveraging with gtsam::FindKarcherMean.
2020-08-21 13:51:21 -04:00
9f345bb703
Fixed compilation and removed absolute path.
2020-08-21 11:01:28 -04:00
c80cfe068f
Modify the print function print out format.
2020-08-20 11:47:46 -04:00
362c93bb2b
Change sim3 variable from T to S.
2020-08-19 16:48:05 -04:00
5a6bfed42c
Fix override warning
2020-08-18 23:19:56 -04:00
6f33d00654
Correct variable names and refactor code.
2020-08-17 17:58:45 -04:00
1d6392dc88
Initial migration
2020-08-17 17:13:10 -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
58ec261cd7
Fix GTSAM_TYPEDEF_POINTS_TO_VECTORS.
2020-08-16 13:00:27 -04:00
7cfcbff4db
Update doc.
2020-08-10 08:37:39 -04:00
8dd9ff5c52
Improve code quality.
2020-08-10 08:25:42 -04:00
e6b1599063
Fix document.
2020-08-10 08:25:21 -04:00
8425957e3f
Finish Sim3 align and transformFrom functions.
2020-08-09 21:53:35 -04:00
269dea3a24
Merge pull request #422 from borglab/dellaert/issue420
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Dellaert/issue420
2020-08-02 16:16:01 -04:00
e22c24eff5
Removed superfluous size, added doxygen partitions
2020-08-01 15:43:21 -04:00
09bb25498f
Merge branch 'develop' into dellaert/issue420
2020-07-31 16:45:03 -04:00
1b77579810
fix return copy
2020-07-26 20:20:14 -04:00
ced6eac7e2
remove useless Planning test
2020-07-26 20:20:14 -04:00
ccbdb40c93
fix warnings on incorrect for range reference bindings
2020-07-26 20:20:14 -04:00
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
30703ccb6a
Removed all deprecated code w Stephanie...
2020-07-22 17:32:25 -04:00
0ee4e3b77e
Add more documentation and clang-format
2020-06-20 09:45:24 +10:00
c422815b94
Update incorrect test name
2020-06-20 09:03:17 +10:00
0a44315a7f
Add Pose3-Point3 factor
2020-06-20 08:46:06 +10:00
5801ab079d
rename libmetis -> libmetis-gtsam to avoid collision with system libs
2020-06-01 16:20:56 -04:00
71f4bb3019
Use GNUInstallDirs to make install destination directories configurable
2020-05-31 21:52:00 -04:00
0af2277dc9
Merge pull request #303 from acxz/boost-timer
...
update calls from boost timer
2020-05-10 13:24:04 -04:00
93b4081c7f
update timing to use internal timing.h api
2020-05-09 21:29:08 -04:00
89c6bd6af1
fix sign-compare warning
2020-05-07 11:47:34 -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
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
76b29b78af
Prefer C++11 nullptr
2020-04-06 23:31:05 +02:00
9361d5b491
Merge pull request #260 from borglab/fix/cmake-wrapper-warnings
...
Fixed some wrapper warnings
2020-03-29 19:26:58 -04:00
0c2890b815
Merge pull request #252 from borglab/feature/TOA
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Time of arrival measurements
2020-03-25 16:41:02 -04:00
1cfcd2075a
Style and dates
2020-03-25 08:59:58 -04:00
ca4daa0894
Merge pull request #258 from borglab/deprecate-simplecamera
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Replace SimpleCamera with PinholeCameraCal3_S2
2020-03-23 08:08:18 -04:00
d2d5ce1166
Eigen alignment
2020-03-22 12:46:25 -04:00
cd318b2295
Python example and necessary wrapper gymnastics
2020-03-18 17:36:42 -04:00
2e75ffd01d
C++ example
2020-03-18 17:28:18 -04:00
f3865539c6
Refactor TOAFactor and test
2020-03-18 15:44:33 -04:00
2087075ee7
Transitioned toa method to a functor
2020-03-17 14:34:11 -04:00
8e81890f9b
eradicated last vestiges of boost/random in gtsam_unstable
2020-02-28 07:21:54 -08:00
d9923fc3cc
replaced/appended all calls to SimpleCamera with PinholeCameraCal3_S2
2020-02-21 19:42:55 -05:00
7d3b3f1172
Fix use of non-standard array of non-constant length
2019-12-28 23:39:54 +01:00
d76fc052b0
fix missing include
2019-12-20 10:06:15 +01:00
ed7f949385
Merge pull request #156 from borglab/fix/boost-optional
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boost::optional<const Ordering &>
2019-11-13 14:32:07 -05:00
4ac78953ae
Merge pull request #163 from michaelbosse/fix/variable_slots_bug
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Fix bug when constructing VariableSlots
2019-11-10 13:42:17 +08:00
fab3b01756
updates from code review
2019-11-09 19:49:59 -08:00
8572cd17ad
Fix bug when constructing VariableSlots
...
from a GaussianFactorGraph that has null factors.
2019-11-09 17:05:42 -08:00
4877bdb4f3
Caught some stragglers using boost::optional<Ordering>
2019-10-20 03:20:14 -04:00
1733f3ac98
convert all optional Ordering to function overloads
...
compiles and passes tests, but some potentially code-breaking changes in:
Marginals.h - order of arguments had to change since `factorization` has a default value
EliminatableFactorGraph.h - marginalMultifrontalBayesNet and marginalMultifrontalBayesTree no longer accept `boost::none` as a placeholder to specify later arguments
Notes:
EliminateableFactorGraph.h - `orderingType` is no longer needed in function overloads that specify ordering, but I left it for the time being to avoid potential code breaking
2019-10-20 01:15:20 -04:00
38982ae4aa
changed function name and made it static
2019-10-18 00:23:06 +08:00
dcb82920ea
fix default parameters in constructor of IncrementalFixedLagSmoother.h
2019-10-17 21:32:21 +08:00
a614e5efa1
Merge pull request #115 from borglab/fix/absolute-value
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C++11 Absolute Value
2019-09-19 07:45:40 -04:00
ff1f37c26f
replaced fabs with c++11 std::abs
2019-09-18 18:30:26 -04:00
4949d6988c
Fix compilation of PartialPriorFactor
2019-09-07 15:48:30 -04:00
438b4ff014
more DLL warnings & errors fixed
2019-07-18 11:09:08 +02:00
52b0579a9b
Consistent dllexport.h across gtsam & gtsam_unstable
2019-07-18 08:22:41 +02:00
e28fb84fef
Added document explaining GTSAM_EXPORT usage rules
2019-07-15 11:43:54 -04:00
7f43054c37
Refactor build flags via CMake target properties
...
Also:
- Allow users to edit cmake target build options in the cache variables.
- We had to add project() commands for gtsam and gtsam_unstable,
the PROJECT_SOURCE_DIR changed, but the root GTSAM_SOURCE_DIR instead.
- Ensure use of standard C++11 (no extensions)
2019-06-15 23:09:54 +02:00
da09428110
Merge pull request #67 from borglab/feature/housekeeping
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Housekeeping
2019-06-15 13:53:02 -04:00
b8292399d6
renamed all READMEs to README.md and updated markdown syntax
2019-06-13 17:26:07 -04:00
5017f3e774
Merge remote-tracking branch 'origin/develop' into fix/38_SmartRangeExamples-2
2019-06-12 18:21:53 -04:00
5b686d3ec3
Fixed warning
2019-06-12 15:33:25 -04:00
6bcbfe2c67
Tightened odometry sigmas to avoid ILS
2019-06-11 20:42:54 -04:00
c007c7715c
Duplicate measurements are disallowed -> leads to duplicate keys in JacobianFactor
2019-06-11 20:42:35 -04:00
30644e9590
Fix file handling (removed absolute paths)
2019-06-11 20:41:56 -04:00
692959f0f3
Fix for issue #38 (gcc specific issue, but fix works for all)
2019-06-11 20:41:56 -04:00
0a95ac292f
Removed useless typedef, add empty()
2019-06-01 17:34:24 -04:00
a1096a6f3b
Fix bug: iSAM2 won't update() with smart factors
2019-05-27 12:26:54 +02:00
77d56cb2eb
Add iSAM2+Stereo factor unit test to reveal bug #10
...
fix test
2019-05-27 12:26:53 +02:00
22d9b162d2
Fix more clang issues with FactorIndices
2019-05-18 20:51:00 -07:00
5fe891a1c3
Change FastVector<size_t> to FactorIndices to make clang happy
2019-05-18 19:47:58 -07:00
67b65f9845
Merge remote-tracking branch 'origin/develop' into feature/improvementsIncrementalFilter
2019-05-17 22:19:27 -04:00
e8d76b7e8e
Using auto
2019-05-16 22:29:50 -04:00
8801de4d63
Pose3 naming convention
2019-05-16 15:06:15 -04:00
b2e5dadcdb
Merge branch 'develop' of https://bitbucket.org/gtborg/gtsam into fix/trailing_whitespaces
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# 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
e6c1ad8d04
Moved visitor inside parser unit.
2019-04-26 14:47:54 -04:00
31556ff981
Cleaned up QPSVisitor and fixed KeyVector compile issue on Ubuntu
2019-04-24 20:10:23 -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
7b6eaa4333
removed unused typedefs
2019-04-13 22:05:49 -04:00
97de0e3c82
Compilation fixes
2019-04-11 10:49:45 -04:00
99aa09ce54
Merged in jlblancoc/gtsam/index-type-for-factors (pull request #409 )
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Type for Factor indices, dual to "Key"
2019-04-08 23:07:02 +00:00
4fb718a943
prefer auto in range for loops
2019-04-09 00:29:31 +02:00
285ebd7dbd
Type for Factor indices, dual to "Key"
...
This avoids a couple of confusing uses of KeySet to refer to lists of
Factors, and makes code more readable where formerly using size_t to
index factors.
2019-04-08 09:08:43 +02:00
1304d26e81
exit()-> throw ( Closes #427 )
2019-04-07 23:59:53 +02:00
140c666c41
Moved DSFMap to gtsam
2019-04-04 09:22:22 -04:00
970664b928
Merged develop into feature/improvementsIncrementalFilter
2019-03-25 13:26:20 -04:00
fe3741e466
Fix broken file
2019-03-07 14:25:05 -05:00
f4bf0d5b0b
Update unstable.h file to match upstream
2019-03-07 14:23:11 -05:00
9a3d517925
Make documentation on .cpp file more specific
2019-03-06 17:49:40 -05:00
7d2e4d2e64
Fix warning message in the unit tests/examples
2019-03-06 17:47:34 -05:00
93fd884aa7
Implement and add example
2019-02-27 04:37:02 -05:00
dbc0799765
Init uncomment of fixed lag smoother
2019-02-27 01:57:39 -05:00
1cdc228d6a
remove trailing spaces
2019-02-11 10:58:34 -05:00
de420692a5
Change again to getISAM2Result, wo get it is ambiguous
2019-01-29 16:12:19 -05:00
9ea90b5b45
port to target-based compile options and definitions
...
This also fixes CMake warnings on Windows
2019-01-24 10:35:26 +01:00
23df961b5e
Udpate comment for factorsToRemove
2019-01-21 18:10:40 -05:00
4cfe84e523
Rename factorToRemove to factorsToRemove
2019-01-21 18:03:38 -05:00
8e7e5aaf5c
Specify that member ISAM2Result refers to struct
2019-01-21 16:56:38 -05:00
642f839b7d
Refactor getISAM2Result to ISAM2Result, and return const &
2019-01-21 16:15:56 -05:00
80a827457e
Move implementation of print function for Result to .cpp
2019-01-21 16:13:32 -05:00
8039ed94af
Merge branch 'develop' of bitbucket.org:gtborg/gtsam into feature/improvementsIncrementalFilter
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* 'develop' of bitbucket.org:gtborg/gtsam: (43 commits)
metis: rely on global BUILD_SHARED_LIBS"
missing GTSAM_BUILD_STATIC_LIBRARY flags
Fix testExpression
attempt to fix alignment error in expression factors
Fix alignment crash in numerical derivative with march=native
Imported TBB targets; update gtsam_unstable cmake
git ignore qtcreator IDE files
fixed typo in description
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.
type in filename....
another comment update
little typo in a comment
expression example of estimating trajectory, landmarks and sensor-body-transform simultaneously
Update LICENSE to enumerate all dependencies in gtsam/3rdparty
Added extra types included by Jacob Thomson in (declined) PR #269
Cleaned up Pose3 unit test, added unit test for adjoint.
Added adjoint operators etc.
Adding adjoint and adjoint transpose functions
Switching to METIS ordering fixes out of memory error for large examples.
Added example by Wenqiang Zhou given in issue #369
...
2019-01-15 17:53:28 -05:00
0b1791583f
missing GTSAM_BUILD_STATIC_LIBRARY flags
2019-01-11 00:31:21 +01:00
87888f7bc3
Imported TBB targets; update gtsam_unstable cmake
2019-01-08 00:44:49 +01:00
fbcfbf0cdd
Made naming convention in wrapper uniform.
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2D means Pose2 + Point2
3D means Pose3 + Point3
2018-12-31 11:19:46 -05:00
f4d1fec558
Fix compiler error in GenericGraph when GTSAM_ALLOW_DEPRECATED_SINCE_V4=OFF
2018-12-19 11:08:52 -08:00
570f41409c
Merge branch 'develop' into feature/improvementsIncrementalFilter
2018-12-18 22:01:39 +01:00
7371097d6d
Make FindSeparator-inl.h compile with recent versions of boost
2018-12-15 15:16:49 -08:00
f21a431427
Make gtsam_unstable/partition compile again, and actually build when GTSAM_SUPPORT_NESTED_DISSECTION=ON
2018-12-14 14:53:03 -08:00
895da61f05
Fix remaining FastVector errors for gcc + tbb + Ubuntu in tests
2018-11-08 16:18:51 -08:00
79fe89eaa9
Switched to using c++11 braces-style initialization
2018-11-08 17:26:09 -05:00
2aa43e11bd
Use KeyVector everywhere to avoid conversions
2018-11-08 10:10:32 -05:00
2d9d3af8e8
Made a bit more readable with Ivan
2018-11-06 13:39:05 -05:00
e00c84227f
Remove hessian factor hack.
2018-11-05 18:10:05 -05:00
b05bd66ba2
Fix the Jacobian factor constructor to work with the last QP tests.
2018-11-05 17:52:55 -05:00
f8c13a862d
Remove Unused Tests and QPS Files.
2018-11-05 16:45:43 -05:00
df025e68eb
Style improvements and comments.
2018-11-04 16:16:13 -05:00
b851c498b7
Fix parser to initialize values correctly.
2018-11-04 13:10:14 -05:00
45d3b99b26
Merge remote-tracking branch 'origin/develop' into feature/LPSolver
2018-11-01 16:24:56 -04:00
658ec8c17b
Merge develop into fix/Unit3
...
# Conflicts:
# gtsam_unstable/slam/SmartRangeFactor.h
2018-10-12 23:40:20 -04:00
6c09d8681c
Fixed warning in SmartRangeFactor.h
2018-10-12 19:10:18 -04:00
7da4824568
Fixed remaining lint errors
2018-10-09 10:25:47 -04:00
560ee010c2
Fixed uninitialized problem
2018-10-09 10:25:47 -04:00
a34a9b8ff1
Fixed remaining lint errors
2018-10-09 08:46:30 -04:00
e1466b2609
Fixed uninitialized problem
2018-10-09 08:45:42 -04:00
4abb7dae6d
Used aligned container
2018-09-27 10:40:44 -04:00
b04c0bb15d
Fix memory alignment issues
2018-07-13 14:31:02 -04:00
0c0478382b
Merge branch 'develop' into feature/improvementsIncrementalFilter
2018-02-17 20:39:20 -05:00
6d2973ff0a
Merge branch 'develop' into feature/improvementsIncrementalFilter
2017-10-14 23:35:17 -04:00
973b2337a2
make unstable build again
2017-08-15 11:16:13 -04:00
1521a7e8ef
compile cython using the manual 2-step process
...
This is to leverage all compile and linking flags within the cmake build system.
http://cython.readthedocs.io/en/latest/src/reference/compilation.html#compiling-from-the-command-line
2017-05-24 23:55:15 +08:00
993c282905
Add build dependency to ensure cython wrapper is built after cpp library
2017-05-22 16:30:50 -04:00
c42cebc037
Configure __init__.py based on setting of GTSAM_BUILD_UNSTABLE.
2017-04-07 00:29:27 -07:00
dda8e31934
fix comment
2017-03-26 00:13:27 -04:00
87443621c4
make gtsam_unstable_cython_wrapper dependent on gtsam_cython_wrapper.
2017-03-20 17:16:17 -04:00
d18e638b08
cython wrap unstable
2017-03-18 15:52:08 -04:00
fbb9d3bdda
Merged in feature/heterogeneousSmartFactorNoise (pull request #271 )
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Feature/heterogeneoussmartfactornoise
Approved-by: Chris Beall
Approved-by: Jing Dong
2017-03-12 05:50:08 +00:00
bd67779f74
Merged in feature/variadic-emplace_back (pull request #274 )
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Feature/variadic emplace_back
Approved-by: Jing Dong
2017-03-12 05:19:15 +00:00
efd966b45a
Move print methods to cpp files wherever possible
2016-11-01 15:11:57 -04:00
60f556e513
Replaced graph.push_back with graph.emplace_shared if needed.
2016-10-01 11:45:44 -04:00
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
7b35501709
Merged develop into feature/LPSolver
2016-09-12 11:06:04 -04:00
8877e3de4d
Removed hessian symmetrization trick from the QPSolver.
2016-09-09 10:27:01 -04:00
41b840485e
Added symmetrization trick to avoid problems with manifold optimization.
2016-09-04 15:34:33 -04:00
b1215a1678
Disabled tests with unusable augmented information matrix.
...
Fixed test by increasing error tolerance.
2016-09-04 15:18:53 -04:00
1337ac8ab0
added method to access isam2 results in incremental fixed lag smoother
2016-08-24 14:19:02 -04:00
b6c2ab6664
Merge branch 'feature/heterogeneousSmartFactorNoise' into feature/improvementsIncrementalFilter
2016-08-16 19:08:31 -04:00
2a6d372b0a
Merge branch 'develop' into feature/heterogeneousSmartFactorNoise
2016-08-16 18:54:18 -04:00
c1b00e28b1
created SmartFactorParams class collecting common parameters in smartProjectionFactor and smartStereoProjectFactor classes. This largely reduced copy-paste. SmartStereoProjectionParams is now a typedef
2016-08-14 18:54:00 -04:00
ad984807bf
Merge branch 'feature/heterogeneousSmartFactorNoise' into feature/improvementsIncrementalFilter
2016-08-06 23:28:48 -04:00
edcf94591d
added functions to get/set smart stereo parameters with unit test
2016-08-06 23:27:54 -04:00
ab1f6562c8
Fixes compile errors when using BOOST version 1.61.0
2016-08-06 00:59:07 -04:00
38fd695228
Fixed compile error on BOOST 1_60_0
2016-08-05 22:34:38 -04:00
359a61a547
added print function to FixedLagSmoother::Result struct
2016-08-05 16:04:54 -04:00
fc799abad7
Merge branch 'feature/heterogeneousSmartFactorNoise' into feature/improvementsIncrementalFilter
2016-08-05 00:04:20 -04:00
fd9bd43cb0
added remove functionality in BatchIncrementalSmoother with test
2016-08-04 23:54:34 -04:00
b59a58278b
fixed unit test!
2016-08-04 23:38:39 -04:00
4e8968e3f5
starting to add remove functionality in fixedLagSmoothers, test does not pass..
2016-08-04 18:46:26 -04:00
e0869719fa
now SmartFactorBase doesn't know about stereoPoint2 (removed also header). The functionality to check if the right pixel is missing has been moved to SmartStereoProjectionFactor, removing the casting.
2016-08-02 22:56:48 -04:00
a93c1e86f2
Merge remote-tracking branch 'origin/feature/heterogeneousSmartFactorNoise' into feature/heterogeneousSmartFactorNoise
2016-08-02 18:50:54 -04:00
e54159c695
Merge branch 'develop' into feature/heterogeneousSmartFactorNoise
...
# Conflicts:
# gtsam_unstable/slam/SmartStereoProjectionFactor.h
2016-08-02 18:50:18 -04:00
938454916f
improved test, and slightly loosened tolerance when using MKL
2016-07-31 20:10:31 -04:00
9336c0b8c0
added comment and made variables const when possible
2016-07-31 18:47:30 -04:00
f009633384
exposed point status in smart factors to keep uniformity with mono smart factors
2016-07-31 18:33:58 -04:00
6a21f1b730
adapted stereoSmart factors to use "outlier" and "far point" statuses
2016-07-31 18:31:38 -04:00
20c13580cc
deleted unused variables in unit test
2016-07-29 16:34:18 -04:00
lcarlone
Frank Dellaert
Varun Agrawal
lucacarlone
Akash Patel
Milo Knowles
Frank Dellaert
yotams
John Lambert
David Wisth
John Lambert
Toni
alexma3312
Fan Jiang
ss
Jose Luis Blanco Claraco
Bernd Pfrommer
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Jose Luis Blanco-Claraco
Fan Jiang
Michael Bosse
Gerry Chen
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Clark Taylor
Frank Dellaert
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Duy-Nguyen Ta
Jeremy Aguilon
Duy-Nguyen Ta
Chris Beall
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AndreiCostinescu
Sean Bowman
Yao Chen
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Yao Chen