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
...
- 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
...
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
...
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.
...
- 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
...
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
...
Recover SLAM serialization test
2020-07-26 23:37:17 +02:00
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
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
...
# 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
...
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
...
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
...
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
...
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
...
Wrap mEstimators
2019-10-10 16:55:26 -04:00
e20494324f
Gaussian Factor Graph unittests and linearization
...
(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
184324a2dc
Check exception type
2019-05-30 16:43:34 -04:00
0e309baab6
Make test with hard constraints
2019-05-30 16:42:50 -04:00
8801de4d63
Pose3 naming convention
2019-05-16 15:06:15 -04:00
70d3c9044d
Fixed ILS error in example
2019-05-15 22:33:22 -04:00
ed721a152a
Example coded, throws ILS
2019-05-15 20:55:16 -04:00
912c091dc9
Resurrected remaining tests and deleted two
2019-05-15 20:33:23 -04:00
110240aa4f
Resurrected lots of elimination tests
2019-05-15 20:10:46 -04:00
464804d8f5
Recovered eliminateOne
2019-05-15 17:40:57 -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
b6abcb04f2
Split off builder, now also used with same parameters in SubGraphSolver
2019-04-14 14:14:48 -04:00
7b6eaa4333
removed unused typedefs
2019-04-13 22:05:49 -04:00
913262b27d
Fixed issue with test with tbb iterators
2019-04-08 16:46:56 -04:00
a7227cab43
Cleaned up formatting
2019-04-07 22:33:58 -04:00
c1c2fd7008
Fixed the tests - key was choosing right ordering
2019-04-07 22:31:27 -04:00
2de0957b2d
Renamed some variables, used subVector as a test
2019-04-07 18:14:53 -04:00
93a7c99f03
Created more unit tests attesting problems with solve.
2019-04-07 13:15:05 -04:00
490a558fe1
Fixed dimension mismatch (on account of three extra dummy factors)
2019-04-07 13:15:05 -04:00
3889b29305
Resurrected tests
2019-04-07 13:15:05 -04:00
3737474d1e
Deprecated all but three constructors.
2019-04-04 09:23:02 -04:00
aaf2ff5689
Resurrected tests
2019-04-04 01:17:47 -04:00
1cdc228d6a
remove trailing spaces
2019-02-11 10:58:34 -05:00
fbcfbf0cdd
Made naming convention in wrapper uniform.
...
2D means Pose2 + Point2
3D means Pose3 + Point3
2018-12-31 11:19:46 -05:00
70f428fed1
Merge branch 'fix/iSAM2' into fix/GenericValue-assignment
...
Added extra update so converges faster, and matches test in Issue #412
Conflicts:
tests/testVisualISAM2.cpp
2018-12-18 14:40:33 -05:00
77f3a9195c
Added an iSAM2 convergence test.
2018-12-18 14:22:44 -05:00
ab0fb0d4a5
Added iSAM2 test to check issue #412
2018-12-18 13:56:38 -05:00
8c221efda2
Fix build for GTSAM_ALLOW_DEPRECATED_SINCE_V4=OFF
2018-11-27 10:54:14 -08:00
79fe89eaa9
Switched to using c++11 braces-style initialization
2018-11-08 17:26:09 -05:00
d86782eebc
Some remaining std::vector stragglers
2018-11-08 12:25:21 -05:00
2aa43e11bd
Use KeyVector everywhere to avoid conversions
2018-11-08 10:10:32 -05:00
566315f47d
Solved overloading
2018-10-02 23:25:27 -04:00
d6edc217ab
Changed several Impl functions to methods in ISAM2 and ISAM2Clique
2018-09-30 14:11:00 -04:00
a31294d777
Modernized, cleaned up, and turned off non-recursive version (fow now) because it has a bug.
2018-09-29 17:52:20 -04:00
1ec15a7345
Incorporate Frank's suggestions for PR #315
2018-09-28 00:47:17 -07:00
bd4ab1598e
Expanded shortcut_overlapping_separator test in testGaussianBayesTreeB to allow for sign reversal in a row of the augmented Jacobian. The joint density does not appear to be affected in the case where the augmented Jacobian row sign is changed, so we should not fail the test if that happens.
2018-09-27 18:19:44 -07:00
16057a2c8e
Unit test, succeeds...
2017-08-08 00:59:33 -07:00
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
d7d35876f1
jacobians for logmap and expmap
2016-10-03 19:11:44 -04:00
249d6b0b1b
Replaced graph.push_back with graph.emplace_shared if needed.
2016-10-01 11:17:41 -04:00
fbe9aac41c
squash local changes on top of gtsam upstream pull from 6/14/2016
2016-06-18 23:13:59 -07:00
a97502f5a1
Resolved all issues with typedefs
2016-06-06 21:57:52 -07:00
41b091e86f
Chasing down more vector() and Point2 default constructor uses
2016-06-06 00:37:49 -07:00
bdbbe0203d
Derive Point2 from Vector2 and deprecate a number of methods
2016-06-05 23:52:04 -07:00
72fe66d468
Removed headers
2016-05-22 14:22:36 -07:00
a464769ce1
Replaced BOOSE_FOREACH with for in tests folder. Tested the changed code locally: successful.
2016-05-20 21:29:02 -04:00
b021ccef36
Global replace of Vector::Ones(1) and Matrix::Ones(1,1) with I_1x1
2016-04-16 12:32:48 -04:00
b6728ef620
Deprecated Vector ones(size_t n). All unit tests pass.
2016-04-15 17:30:54 -04:00
76308a5d46
Deprecated Vector zero(size_t n). All unit tests pass.
2016-04-15 16:54:46 -04:00
aa599d409c
Oops...fixed mistypes. Unit tests pass now.
2016-04-11 16:04:24 -04:00
379ad8b3d2
Fixed incorrect replacement of Vector.h's ones(n) with Matrix::Ones(m,n).
2016-04-11 15:25:08 -04:00
70b2aab352
Deprecated all inline functions in Matrix.h.
2016-04-11 15:11:29 -04:00
026a0f59fe
Deprecated repeat() in Vector.h.
2016-03-11 23:10:18 -05:00
fad9462661
A better solution through typedef of FactorIndices -> FastVector<size_t>
2016-02-25 23:51:01 -08:00
8e6baf9e7e
Fixed Point3 constructor
2016-02-24 14:44:05 -08:00
0372a959ee
Many small improvements, bug-fixes, and tests
2016-02-24 11:01:19 -08:00
5afdc24ca7
Merged in feature/typedefPoint3 (pull request #225 )
...
Point3 -> Vector3
2016-02-18 11:13:33 -08:00
a283938b47
A minimal traits example
2016-02-16 10:23:02 -08:00
1c920967d9
No more use of vector() or default constructor
2016-02-12 00:06:07 -08:00
c781ca46db
Merge remote-tracking branch 'origin/feature/evenFasterExpressions' into feature/typedefPoint3
2016-02-11 22:39:39 -08:00
5c3dd7914b
Removed checks on sizeof(Record) as non-portable.
2016-02-11 22:36:03 -08:00
94ccf98985
Avoid default constructor in tests
2016-02-11 19:01:54 -08:00
a19aa793d7
Cleaned up a number of Point3/Rot3 related uses
2016-02-08 17:31:32 -08:00
063e0a47ee
Moved functors to Matrix.h, without Expression sugar
2016-02-01 09:13:25 -08:00
cb93c2bfc1
Multiplying with the inverse of a matrix function
2016-01-31 20:11:17 -08:00
e6521703e6
Derivative of multiplying with inverse of matrix
2016-01-31 16:26:36 -08:00
d1271fd9d5
Fixed product retract/localCoordinates and corresponding tests
2015-07-16 23:48:56 -07:00
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
5052eb2c64
cleaning up
2015-07-11 18:31:36 -07:00
7ff3e11efd
removed redundancy in naming
2015-07-09 11:29:32 -07:00
3b16ad2967
Moved deprecated headers into subdirectory
2015-07-09 11:14:39 -07:00
aa1fae41a9
Added testcase mixing binary and ternary cases
2015-07-09 00:53:40 -07:00
a923086a00
Removed print statements
2015-07-09 00:42:48 -07:00
20b669bed6
Refined testcase even more for debugging
2015-07-09 00:40:21 -07:00
2bc0d580e7
Slightly changed example, debugging output
2015-07-08 23:29:21 -07:00
f7c5f0cb79
Moved test to tests/ExpressionFactor
2015-07-08 22:50:24 -07:00
f9b5bc2936
Loosened test thresholds for Rot3/Pose3 expmap path
2015-07-05 14:02:18 -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
d415cffd4b
Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3
2015-06-23 22:41:33 -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
48c3f5813b
removed printing
2015-06-22 00:35:21 -07:00
b546a1f0a7
Use front/back
2015-06-21 14:39:56 -07:00
5237c74928
Strengthened test and now checks problemSize_
2015-06-21 14:36:23 -07:00
c3811a5488
Fixed machine-dependent outcome
2015-06-21 11:40:47 -07:00
6727ae9ae5
salvaged old test
2015-06-20 23:50:03 -07:00
08f6f58af7
Merge remote-tracking branch 'origin/feature/reducedBloat' into feature/CeresDefaults
2015-06-20 19:15:14 -07:00
128bac616c
Globally replaced FastSet<Key> with KeySet.
2015-06-20 18:38:25 -07:00
9359ad70e2
Merge remote-tracking branch 'origin/feature/reducedBloat' into feature/CeresDefaults
2015-06-20 16:22:06 -07:00
5719ba27fa
Reducing header bloat by introducing new ThreadSafeException header.
2015-06-20 15:28:25 -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
879e66a63a
TWo default param sets
2015-06-18 09:51:22 -07:00
1ae0f256a1
Moved test to right place (geometry tests should not be relying on optimization code, and this was a test of the factor, not pinholecamera)
2015-06-07 20:25:35 -07:00
6a67ea86af
Made testLie a bit stronger
2015-05-26 01:53:58 -07:00
8939adc799
Moved ProductLieGroup to its own header
2015-05-25 23:49:41 -07:00
512e373530
ProductLieGroup prototype
2015-05-25 22:42:05 -07:00
111d0d39dd
Got rid of CRTP
2015-05-25 20:51:50 -07:00
8582357976
test Product
2015-05-25 18:30:53 -07:00
88d8543f12
Moved to tests
2015-03-06 08:48:01 -08:00
ebf5746987
Fix some serialization warnings.
2015-03-06 16:12:09 +01:00
8a88f101db
Fix deprecation warnings
2015-02-24 21:58:17 -05:00
64bb6b77d7
Merged in feature/SmartCT (pull request #107 )
...
Refactoring of Smart Factors
2015-02-22 06:14:19 +01:00
lcarlone
jingnanshi
Varun Agrawal
Russell Buchanan
Akshay Krishnan
akrishnan86
Frank dellaert
Jose Luis Blanco-Claraco
Fan Jiang
Frank Dellaert
Jose Luis Blanco-Claraco
yetongumich
Frank Dellaert
alescontrela
Fan Jiang
Peter Mullen
Gerry Chen
Duy-Nguyen Ta
Duy-Nguyen Ta
Chris Beall
Mike Sheffler
Yao Chen
Jing Dong
Yao Chen
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