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9031 Commits (00da6d3f81f095f1093746d7b314c01b2c6f358c)

Author SHA1 Message Date
Mike Bosse 447ebd1233 fixed bug in operator - for ImuBias 2015-03-03 16:53:15 +01:00
alexhagiopol d8468567b2 MOre bloat reduction and header ordering. 2015-03-02 20:19:59 -05:00
krunalchande 0fafffb02e Made functional correctMeasurementsByBiasAndSensorPose 2015-03-02 17:04:19 -05:00
krunalchande 04cf6686b4 Better noise values, little cleanup 2015-03-02 16:55:58 -05:00
krunalchande 77f69146f6 Unit test that fails! Bias estimated is opposite in direction for test bodyPSensorWithBias! 
Not equal:
expected:
.biasAcc [0 0 0]
expected:
.biasGyro [   0 0.01    0]
actual:
.biasAcc [-0.00012  3.6e-16  0.00015]
actual:
.biasGyro [-3.7e-18    -0.01 -3.6e-18]
 2015-03-02 15:14:05 -05:00
dellaert 59ab204f9d Merge branch 'TriangulationResult' into feature/SmartFactors3 2015-03-02 08:54:54 -08:00
dellaert ca18c13cd2 Most factors now work out for sigma=1 and sigma=0.1 2015-03-02 08:53:07 -08:00
dellaert 11a6ba412c Smore more refactoring to RegularImplicit.. 2015-03-02 08:52:35 -08:00
dellaert 05fcbe6556 Augmented and regular information now implemented 2015-03-01 17:15:42 +01:00
dellaert bb58814f1c Moved static functions to RegularImplicit and now use templates 2015-03-01 16:10:48 +01:00
dellaert 94c70dd7bc Now a function 2015-03-01 15:43:53 +01:00
dellaert e30919bc27 Moved static functions here, templated on measurement dimension Z 2015-03-01 15:42:21 +01:00
dellaert d732a01e03 Convert to static functions 2015-03-01 15:03:18 +01:00
dellaert b94279f37f numKeys -> m 2015-03-01 14:35:54 +01:00
dellaert cee64e3853 Made sure all refer to the same information matrix 2015-03-01 14:28:31 +01:00
dellaert 6a024259e5 Switched to (i,j) instead of (i1,i2) 2015-03-01 14:28:13 +01:00
dellaert 575a06b042 Added my name 2015-03-01 14:27:37 +01:00
dellaert 8fe612ca71 whitenJacobians 2015-03-01 14:26:10 +01:00
dellaert 754e8447b1 Made tests compile and succeed 2015-03-01 13:48:47 +01:00
dellaert e15231fb3e Fixed bug (restored omitted triangulateSafe call) 2015-03-01 13:48:17 +01:00
dellaert 0ee6e4beb3 Merge branch 'NewSmartTests' into TriangulationResult 
Conflicts:
	gtsam/slam/tests/testSmartProjectionCameraFactor.cpp
 2015-03-01 13:47:28 +01:00
dellaert 47ea3834df Extra tests 2015-03-01 13:13:31 +01:00
dellaert 2cc0223624 Made tests compile with TriangulationResult changes 2015-03-01 12:06:46 +01:00
dellaert bc6069a94b Now using TriangulationResult 2015-03-01 12:06:26 +01:00
dellaert 83d0bd414d Introduced TriangulationResult 2015-03-01 12:06:16 +01:00
Frank Dellaert b2dcf35e77 Merged in feature/Similarity (pull request #117) 
Sim3 Support
 2015-02-26 23:33:37 +01:00
Paul Drews 6faa881de6 Make the code prettier. 2015-02-26 15:10:59 -05:00
dellaert 69e56cee1c Everything moved to triangulation, PinholeSet eviscerated. 2015-02-26 15:54:50 +01:00
dellaert 262b42e829 Now complete functional triangulateSafe 2015-02-26 15:33:43 +01:00
dellaert 61ba2f080c made print virtual 2015-02-26 15:33:27 +01:00
dellaert 3b808e644b Removed a lot of obsolete code 2015-02-26 15:01:25 +01:00
dellaert 0a75da9858 PinholeSet first draft: a CameraSet that assumes PinholeBase-derived CAMERA: knows how to triangulate. First draft is still imperative, with mutable point_, and that might change. 2015-02-26 14:50:52 +01:00
dellaert b8d39e8aea Removed obsolete sharedKs 2015-02-26 14:19:36 +01:00
dellaert be26d99f1e Moved to less intrusive spot 2015-02-26 14:19:22 +01:00
dellaert f639ae0d7c Ignore generated files 2015-02-26 13:55:32 +01:00
dellaert 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
dellaert a132d959f5 RADICAL: Got rid of sensor_pose. In the new PinholePose philosophy, this is entirely the responsibility of the CAMERA. Just like PinholePose, we can have a camera class that has a shared extra transform: it is part of the calibration. PinholePose itself is not able to do this, as the calibration is assumed 2D only, but it's easy to create a class and have the correct derivatives in place. 2015-02-26 12:06:43 +01:00
dellaert 0bf95ae7f6 Removed obsolete code, including slow Schur-complement versions 2015-02-26 11:44:51 +01:00
dellaert fd71974ff3 Got mostly rid of computeEP: just a call to cameras.project2 2015-02-25 20:52:16 +01:00
Paul Drews 5c40d62b56 Fixed accidentally deleted function 2015-02-25 14:20:26 -05:00
dellaert 850470ef06 rename of computeJacobians overloads to better reflect functionality 2015-02-25 19:30:17 +01:00
dellaert c5394da29e Better print of isotropic 2015-02-25 19:29:12 +01:00
dellaert 3d85bf8e1f Removed testSmartProjectionFactor.run target 2015-02-25 19:28:59 +01:00
Frank Dellaert 3b28dcab6a Merged in feature/LieMatrixDeprication (pull request #115) 
Fix deprecation warnings
 2015-02-25 17:08:41 +01:00
Paul Drews abfcfa1a17 Merged 'develop'. 2015-02-25 11:00:46 -05:00
Paul Drews 9991ae04f3 Fixed unit tests 2015-02-25 10:59:25 -05:00
dellaert f7292488c4 Made RegularImplicitSchurFactor fully functional, and whitened again. 2015-02-25 14:00:21 +01:00
Paul Drews 8a88f101db Fix deprecation warnings 2015-02-24 21:58:17 -05:00
dellaert d7b5156dcc rename to reprojectionErrorAfterTriangulation 2015-02-25 01:14:36 +01:00
dellaert 694e6e903c Fixed template issue 2015-02-25 01:00:46 +01:00