31e1a713fc
added unit test on params
2022-02-18 20:23:45 -05:00
ac9eed6444
fix: typo
2022-02-17 23:21:57 -05:00
bac5d4f120
Fix serialization class name
2022-02-16 20:59:26 -05:00
bd487ac1f6
add using...
2022-02-16 16:12:47 -05:00
63b643e0bf
rename again
2022-02-16 15:16:05 -05:00
d2f8041e13
rename
2022-02-16 15:15:29 -05:00
311325cc2f
Fixed another serialization clash
2022-02-16 14:06:58 -05:00
0f951643bd
Adding failing tests for ISAM2 marginalization
2022-02-15 15:45:14 -08:00
325613fc8e
Fix test that used FromMeandAndStddev
2022-02-06 20:48:07 -05:00
9dfe52d0b6
Made reading static named constructors
2022-01-31 13:43:41 -05:00
762e8097bb
nr -> number
2022-01-31 12:46:42 -05:00
3d51989f2e
Deprecated incorrectly named methods
2022-01-31 08:32:44 -05:00
d62033a856
fix namespace collision with symbol_shorthand::X in unit test
2022-01-30 17:38:42 -05:00
3addc8dfff
Merge branch 'develop' into feature/NoiseModelFactorN
2022-01-30 16:26:30 -05:00
a2caa0caf7
Merge pull request #1010 from borglab/feature/subgraph_refactor
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Subgraph API change
2022-01-21 20:59:38 -05:00
640a3b82ef
Use key formatter for dot
2022-01-19 17:24:12 -05:00
75dff3272b
Fix unit tests after default changed
2022-01-19 12:32:22 -05:00
3c804d89b5
add better tests for probPrime and add a fix
2022-01-12 16:50:10 -05:00
910f879a0b
Fix compilation issues
2021-12-30 12:18:49 -05:00
c659336cf8
Removed shared_ptr from Bayes nets and factor graphs
2021-12-30 12:12:54 -05:00
cab0dd0fa1
GraphvizFormatting refactor
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- separate file
- inherit from DotWriter
- made dot/dot/saveGraph the pattern
- deprecated saveGraph(ostream) method
2021-12-20 00:27:40 -05:00
ba3cc85701
avoid inheritance by conditionally defining backwards compatibility types/funcs in NoiseModelFactorN
2021-12-03 06:17:14 -05:00
8fe7e48258
backward compatibility unit tests for NoiseModelFactor4
2021-12-03 00:46:23 -05:00
2aecaf3258
optional jacobian overloads backwards compatibility
2021-12-03 00:39:10 -05:00
81f1d93158
NoiseModelFactorN - fixed-number of variables >6
2021-12-01 16:04:49 -05:00
613b161fd2
Merge pull request #188 from michaelbosse/fix_bug_robust_residuals
2021-11-30 15:06:21 -05:00
582f6914cd
more extra semicolon warnings fixed
2021-11-08 23:07:05 +01:00
27143fc724
Add tests for Lie::interpolate jacobians
2021-10-25 17:15:18 -04:00
de68189559
Merge branch 'develop' into refactor/ExpressionTests
2021-07-19 11:56:58 +02:00
d5890a2d61
update all the tests
2021-07-10 21:03:15 -04:00
650e432f52
update boost::bind usage
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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
2827584f69
add expressions for cross() and dot()
2021-06-11 09:41:26 +02:00
0fe12ec984
resolve some nits
2021-05-12 16:57:27 -04:00
a637737d5e
refactor tests and add comments
2021-05-12 15:36:12 -04:00
d6a3171e67
user can now also set the weights to initialize gnc!
2021-05-10 20:06:31 -04:00
5274abafd0
all tests done!
2021-05-10 18:23:12 -04:00
3ac97c3dbe
adding knownOutlier input to GNC
2021-05-10 10:30:32 -04:00
759dcaa1dd
formatting changes
2021-03-05 00:06:30 -08:00
a2f99ac71c
unit test + fix segfault
2021-03-05 07:21:38 +00:00
8261326e78
Merge pull request #684 from borglab/feature/gncImprovements
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changed barcsq to a vector to allow each factor to have a different inlier threshold
2021-02-03 13:44:21 -05:00
7f80c906c4
Fix override warnings: modernize-use-override
2021-01-28 23:02:13 -05:00
a59a12245c
done with new default noise thresholds!
2021-01-22 23:24:28 -05:00
28b0f0ac8e
working unit tests: added chi2
2021-01-22 22:27:47 -05:00
be86b9b5d7
changed barcsq to be a vector, such that the user can provide a bound for each factor
2021-01-22 21:04:28 -05:00
06d8ec289d
Merge pull request #633 from borglab/fix/foot-imu
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Adds unit test for imu preintegration of a single step
2021-01-19 21:03:10 -05:00
7eeed6dc14
remove cout statements from testImuPreintegration tests
2021-01-19 15:47:44 -05:00
07244bbdea
merge with upstream
2021-01-19 10:54:52 +00:00
bb662f0cb4
clean up
2021-01-19 10:49:42 +00:00
6e46b72742
add unit test for NonlinearFactor weight with different noise models
2021-01-06 11:46:49 -05:00
90e22cf0dd
Merge pull request #617 from borglab/gnc
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Gnc
2021-01-04 10:04:59 -05:00
24672385b3
moved gncLossType outside params
2020-12-29 21:59:21 -05:00
dfdd206708
addressed all except 2 comments by Frank. waiting for inputs on the 2 outstanding issues
2020-12-28 21:03:20 -05:00
eea52766d1
renamed enum
2020-12-28 20:49:17 -05:00
06dfeb7ac5
moved GncParams to separate file, addressing comments by Frank, 1/n
2020-12-28 20:43:35 -05:00
dc5c769e7c
- fixed stopping conditions
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- handled degenerate case in mu initialization
- set TLS as default
- added more unit tests
2020-12-23 22:08:44 -05:00
c57174436f
fix test
2020-12-22 21:08:42 -05:00
046db8749e
Fix TLS convergence check
2020-12-22 13:40:52 -05:00
cd82a56214
made function name less ambiguous, added more comments on inlierThreshold
2020-12-21 22:32:34 -05:00
0e09f019ef
fixed templating, added a strict unit test on inlier threshold
2020-12-21 22:28:07 -05:00
fd43d817df
save time in CSV, formatting
2020-12-15 10:50:28 -05:00
7f975d194a
refactored code for testing ImuPreintegration with impact
2020-12-14 14:32:24 -05:00
8b9f917f43
refactored code for ImuMeasurements
2020-12-14 14:32:04 -05:00
6543fb6c7c
Merge branch 'develop' into fix/foot-imu
2020-12-14 13:47:11 -05:00
720ac41208
Adds unit test for imu preintegration of a single step
2020-12-08 15:22:01 +00:00
398c01375e
more unit tests
2020-12-07 20:20:51 -05:00
594f63d1f6
test fix
2020-12-07 17:28:35 -05:00
9caa0d14cf
mu update test
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Separated GM & TLS case
make sure the mu set size is explicitly stated (does not depend on default values)
2020-12-07 16:16:21 -05:00
d0a81f8441
mu initialization test & minor formatting fixes
2020-12-07 16:04:36 -05:00
9903fb91d0
tls done except unit tests
2020-12-07 13:24:49 -05:00
fcf2d31684
moved class to .h
2020-12-05 13:47:40 -05:00
d6f7da73c3
Merge pull request #619 from borglab/fix/zero_translation_avg
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Handling edges with pure rotation in translation averaging
2020-12-01 19:23:41 -08:00
602db46f44
changing test names and adding documentation
2020-12-01 01:33:43 -08:00
cb3a766b30
uncomment calibration applications
2020-11-30 13:19:13 -05:00
2703307a43
deprecate SimpleCamera tests
2020-11-30 07:01:58 -05:00
8d009c2fcf
translation recovery unit tests pass
2020-11-30 00:30:19 -08:00
4bc250e7c0
new test doesnt pass
2020-11-28 23:44:20 -08:00
786d4bbf9a
done - PGO works like a charm!
2020-11-27 23:12:26 -05:00
7699f04820
correct formatting
2020-11-27 22:54:51 -05:00
c4644a0d61
added functionality to fix weights
2020-11-27 22:50:41 -05:00
ef47741881
ladies and gents... GNC!
2020-11-27 22:22:14 -05:00
dab00907b9
added verbosity
2020-11-27 22:07:16 -05:00
9e3263f2b1
yay! only the final monster to go!
2020-11-27 19:29:42 -05:00
556fa83e9f
new constructor test which gets rid of robust loss now passes!
2020-11-27 19:00:08 -05:00
7ce0641b43
working on make graph
2020-11-27 18:28:31 -05:00
5db6894b66
finally I have a way to properly change the noise model!
2020-11-27 18:25:38 -05:00
e99188095f
stuck on conversion of noise model
2020-11-27 17:14:34 -05:00
0f07251cf5
1 test to go
2020-11-27 16:31:32 -05:00
7c22c2c402
simplified small test to make it more understandable
2020-11-27 16:18:36 -05:00
52225998fe
2 tests to go
2020-11-27 16:10:03 -05:00
a33c50fcef
now we have very cool tests!
2020-11-27 15:46:12 -05:00
f897fa81a9
added gnc loop
2020-11-27 15:14:41 -05:00
90dd2c7035
params parsed correctly
2020-11-27 13:05:54 -05:00
ff40590fc3
added equals in NonlinearOptimizerParams
2020-11-27 12:59:27 -05:00
b5d06b5878
starting to create test and code for gncParams
2020-11-25 20:11:04 -05:00
7e29944f95
Initial design
2020-11-25 11:02:01 -05:00
c5576c534f
Add iteration hook in non-linear optimizers
2020-11-08 11:57:47 +01:00
e87fd24df1
Remove offending include
2020-08-18 10:51:15 -04:00
b1e3b5495c
Some behavior changes.
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- 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
9bcdbe8b78
Merge pull request #463 from borglab/feature/sfm_binary_measurement
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Update translation averaging to use vector of binary measurements instead of map
2020-08-13 09:35:22 -04:00
ae5956bd10
changes with passing unit tests
2020-08-05 00:18:42 -07:00
09bb25498f
Merge branch 'develop' into dellaert/issue420
2020-07-31 16:45:03 -04:00
947479e9de
Add variadic-template N-ary ExpressionFactor
2020-07-28 16:20:38 +02:00
85c576cc47
Merge pull request #432 from borglab/fix/recover-slam-serialization-test
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Recover SLAM serialization test
2020-07-26 23:37:17 +02:00
0198c648e3
Fix all new gcc warnings/errors: make explicit virtual/override methods.
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Rules are:
- use "virtual" in base classes only.
- use "override" in all derived classes.
2020-07-26 11:20:42 +02:00
a4b95d273f
recover SLAM serialization test
2020-07-25 18:07:25 +02:00
05f50eae40
Fix minor bugs
2020-07-24 03:10:03 -05:00
30703ccb6a
Removed all deprecated code w Stephanie...
2020-07-22 17:32:25 -04:00
eb1a2b8fb3
modified test
2020-07-12 14:31:29 -04:00
0e6dc6a016
Merge branch 'develop' of github.com:borglab/gtsam into feature/1dsfm
2020-06-29 20:05:56 -07:00
fee226a1de
fix SfmData naming
2020-06-24 22:43:55 -07:00
3d42e4e76a
Formatting only
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# Conflicts:
# gtsam/nonlinear/NonlinearOptimizer.cpp
# tests/testPCGSolver.cpp
2020-05-21 14:50:02 -04:00
98b8d6b4f3
Move to its own compilation unit
2020-05-12 19:37:33 -04:00
7910f00c2c
Optimization works!
2020-05-12 19:37:33 -04:00
83a0f51587
Moved TranslationFactor prototype into sfm directory
2020-05-12 19:37:33 -04:00
652302f5ad
Running optimization
2020-05-12 19:37:33 -04:00
d8f3ca46a4
Added initalizeRandomly
2020-05-12 19:37:33 -04:00
146f411a99
Built TranslationFactor class and partially completed TranslationRecovery class
2020-05-12 19:37:33 -04:00
5abe293cdf
Setup and simulateMeasurements
2020-05-12 19:37:33 -04:00
03910d725e
Merge branch develop
2020-04-12 13:47:24 -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
9887d4467c
Replace push_back with emplace_shared. Address PR feedback.
2020-04-10 21:32:19 -04:00
b266287cca
Add addPrior method to NonlinearFactorGraph and corresponding unit test.
2020-04-10 13:01:26 -04:00
b622262acf
printError(): allow custom factor filter
2020-04-10 00:35:53 +02:00
76b29b78af
Prefer C++11 nullptr
2020-04-06 23:31:05 +02:00
669ffd0a05
Merge pull request #235 from borglab/feature/robust_unit_tests
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Add More Unit Tests for Robust Noise Models
2020-04-04 14:03:28 -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
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
4babfe2491
Remove redundant params
2020-03-03 17:39:28 -05:00
3c0671ba8d
Removed commentted out and print-s
2020-03-01 19:38:57 -05:00
e312abdbf0
Add More Unit Tests for Robust Noise Models
2020-03-01 15:22:19 -05:00
d9923fc3cc
replaced/appended all calls to SimpleCamera with PinholeCameraCal3_S2
2020-02-21 19:42:55 -05:00
a99610b77a
make code match comments when creating Pose3 noiseModel instances
2020-01-04 16:57:22 -08:00
e40a500859
Update test cases for new preferred syntax
2019-10-28 17:43:56 -04:00
8e62a1405e
deprecated functions for backwards compatibility
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also removed some edits that were tangential to the PR.
2019-10-28 17:41:16 -04:00
4877bdb4f3
Caught some stragglers using boost::optional<Ordering>
2019-10-20 03:20:14 -04:00
1733f3ac98
convert all optional Ordering to function overloads
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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
a4ac57c5b8
Merge pull request #117 from borglab/feature/wrap-mestimator-weight
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Wrap mEstimators
2019-10-10 16:55:26 -04:00
e20494324f
Gaussian Factor Graph unittests and linearization
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(with Python bindings)
2019-10-09 15:58:57 -04:00
3eb8e3d9bc
fixed function declarations which use globally declared noise models
2019-09-25 23:02:21 -04:00
65b309e5cd
renamed global variables in smallExample.h and added optional noise model parameters
2019-09-25 20:04:32 -04:00
07b670423d
Fixed exception type for TBB path
2019-06-11 13:40:29 -04:00
3ab9a1e3cc
Made detail handling more explicit in update
2019-06-03 14:12:10 -04:00
8b01b81027
Split up relinearize again for clarity
2019-06-02 00:41:17 -04:00
42b5f81633
Now using add_factors
2019-06-01 18:03:29 -04:00
4b405728a7
Get rid of deprecated LieScalar
2019-06-01 17:34:24 -04:00
ecacda68c0
Further refactored pushNewFactors
2019-06-01 17:34:24 -04:00
1a29ab5533
Refactored iSAM2::update to reveal what is changed when
2019-06-01 17:34:24 -04:00
lcarlone
Andre Nguyen
Frank Dellaert
Frank Dellaert
Frank Dellaert
Grady Williams
Gerry Chen
Varun Agrawal
Jose Luis Blanco Claraco
acxz
yetongumich
akrishnan86
Akshay Krishnan
Toni
Russell Buchanan
lucacarlone
jingnanshi
Fan Jiang
Jose Luis Blanco-Claraco
Frank Dellaert
alescontrela
Fan Jiang
Peter Mullen
Gerry Chen