386ed2e510
Merge branch 'develop'
...
Conflicts:
gtsam_unstable/slam/SmartFactorBase.h
2014-05-28 18:11:39 -04:00
2699605943
Fix return type mismatch
2014-05-28 11:31:17 -04:00
8806c15b36
fixed possible connectivity issue when smart factors are degenerate
2014-05-23 17:49:42 -04:00
c2705902cb
added dynamic outlier rejection (with unit tests) for smart pose factors
2014-05-22 22:32:12 -04:00
e0500f7b18
added and renamed unit tests
2014-05-22 21:28:00 -04:00
4f91f94d1e
included possibility to linearize to Jacobian for smart Pose factors
2014-05-22 21:27:46 -04:00
b83a996731
Fixed SmartProjectionPoseFactor matlab wrapping
2014-05-13 17:04:16 -04:00
1062e41de3
shut up some warnings on Windows
2014-05-06 22:57:26 -04:00
842554a230
Unit test fixes for quaternion mode and also rotation matrix + full expmap mode.
2014-05-06 20:03:45 -04:00
0450c58d66
silence warning
2014-05-06 12:06:07 -04:00
9373711a85
Finish TSAMFactors
2014-05-06 01:34:56 -04:00
2f180d1d02
Remove using namespace std from header files
2014-05-05 16:35:22 -04:00
0a2385711b
MATLAB wrapping of TSAMFactors
2014-05-05 10:14:56 -04:00
05c1e572b6
Moved TSAMFactors.h from tsam to gtsam
2014-05-05 10:14:36 -04:00
5c420f1aec
added references
2014-05-04 18:16:40 -04:00
92c9e9c0aa
Fixed "unused" warnings
2014-05-03 12:23:49 -04:00
1ed07ca4ed
Moved to unstable
2014-05-03 12:23:20 -04:00
5402f9fa20
Removed smartProjectionPoseFactor from matlab wrapper; it was causing matlab crashes
2014-05-02 11:12:10 -04:00
8dbd7c175c
added SmartProjectionFactor to matlab wrapper
2014-05-01 15:55:37 -04:00
ce13807d10
added script to run and save tests in a simplified way
2014-05-01 12:56:24 -04:00
32e1a8f994
tried some changes for wrapping
2014-05-01 10:48:54 -04:00
2cb448fa24
adding SmartProjectionPoseFactor to wrapper
2014-04-30 16:17:32 -04:00
185c572b5a
removed wrong base class
2014-04-24 11:28:41 -04:00
8c657f8857
slight change in implementation of hessianBlockDiagonal
2014-04-23 19:00:15 -04:00
d9e93f316a
error computation now does not include noise model
2014-04-23 18:43:14 -04:00
2b52bad569
optimized point damping
2014-04-23 15:15:48 -04:00
e56666e85c
fixed print function
2014-04-23 14:53:01 -04:00
37b750411f
added gradientAtZero with raw memory access
2014-04-22 18:38:12 -04:00
dd780e356c
fixed computation of linearized error in implicit schur factors
2014-04-21 18:59:33 -04:00
e232b6085b
wrapping smart factors
2014-04-15 11:06:38 -04:00
bd218feada
Merge branch 'develop'
2014-04-15 10:57:20 -04:00
f63db8859b
addind wrapper for smart factors
2014-04-15 10:56:17 -04:00
926b4c6443
removed temporary variables - minor
2014-04-14 11:41:55 -04:00
6ef11bb297
removed debug statements
2014-04-09 21:14:38 -04:00
4bdefc3f70
removed debug bloks
2014-04-09 21:04:52 -04:00
dc7b5d58c0
implemented efficient update of Hessian matrix via Schur complement
2014-04-09 21:01:03 -04:00
4123053c81
progress on grouping - still seg faults
2014-04-08 18:55:42 -04:00
2908197f1a
Merge branch 'develop'
2014-04-06 14:35:32 -04:00
310fce3be9
last updates from smartFactors project (these files are now removed from that project)
2014-04-06 14:25:46 -04:00
e98b90bd2a
Make building of metis/partition optional via cmake flag
2014-04-04 15:49:04 -04:00
02fc860d9e
add smartfactor base classes, smartProjectionPoseFactor, and its unit test to gtsam_unstable
2014-03-27 13:14:13 -04:00
178b7f29da
clang warnings
2014-03-17 21:56:50 -04:00
9ffc928536
Correct signed vs unsigned comparison warnings
2014-03-17 12:07:54 -04:00
719592258b
Remove unused variable
2014-03-17 12:04:40 -04:00
68297dedb5
Removed unused variable
2014-03-16 16:36:07 -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
9007d1ca72
Copy constructor and return const &
2014-03-06 21:07:54 -05:00
691e9884d7
Const correctness, comments, and templated Eigen blocks (esp. important in integrate)
2014-03-06 21:05:11 -05:00
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
bf1f5037d0
Fixed warning
2014-03-01 20:41:05 -05:00
e9eb706786
Fix conflict
2014-02-24 11:37:43 -05:00
ed8b1eeaa1
Converted another loop to use insert like was fixed in the previous commit (wasn't a problem this time but am matching the style to the other file)
2014-02-24 09:29:30 -05:00
3e0904e250
remove unneeded/wasteful loop
2014-02-23 23:12:25 -05:00
1770f44ad9
Fixed a number of clang warnings
2014-02-23 18:53:48 -05:00
4c5cb4d8ec
Removed some unused code that was causing warnings
2014-02-23 18:51:48 -05:00
485b3b475a
Fixed a typo that disabled the testTriangulation tests.
2014-02-23 18:50:58 -05:00
efcf58161c
Spelling correction for adjacency, correct unused var warnings and unsigned vs signed int comparision warnings
2014-02-23 17:55:18 -05:00
adeac28527
Graph reduction unit test pass
2014-02-23 17:47:39 -05:00
46c52bc957
Issues with key index versus graph index is source of the problem re heap trashing. Need to verify GenericGraph but seems that properly odering the keys fixes the issues.
2014-02-23 17:42:21 -05:00
2c5c38c855
Unit tests pass using GenericGraph 2D, use of GenericGraph 3D causes heap corruption during prepare graph for some unknown reason
2014-02-23 16:37:09 -05:00
0aa32a748f
Updating to new metis interface. Need to address prepareMetisGraph since its causing core dump on second edgeseparator test
2014-02-21 18:20:43 -05:00
05e42ba452
Test Separator unit test passes. Partially
2014-02-21 11:21:08 -05:00
1ff9309533
Parition builds partially. Computing edge separate is no longer a separate function in METIS. testFindSep fails
2014-02-20 14:36:14 -05:00
f48b8e593c
Move tests to folder
2014-02-20 12:27:58 -05:00
4c86ea1ab5
Merge branch 'develop' of bitbucket.org:gtborg/gtsam into feature/partition
2014-02-20 10:10:04 -05:00
89e6d2f1e8
Removed some commented-out includes
2014-02-18 13:44:25 -05:00
ed4e1a8e57
Merge branch 'develop' of bitbucket.org:gtborg/gtsam into feature/partition
2014-02-17 12:41:09 -05:00
3293df1529
Removed duplicate link libraries during wrap
2014-02-17 00:43:14 -05:00
f283150eb4
Using macro for creating examples to remove cmake code copy/paste
2014-02-13 13:24:14 -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
2e1e4951e1
Merge branch 'develop' of bitbucket.org:gtborg/gtsam into feature/partition
2014-02-09 13:45:41 -05:00
9d2c5888b8
Made cmake slightly nicer when using Xcode - removed a couple unnecessary prints, and removed .run targets when using Xcode since they're not needed and clog up the project view.
2014-02-08 11:14:43 -05:00
5ef681bc4a
Changed Vec() to Vector().
2014-02-05 13:59:21 -05:00
381899640e
Moved TransformBtwRobotsUnaryFactor to gtsam_unstable from svn version.
2014-02-04 14:13:25 -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
1d9aa38a62
Move partition over
2014-01-28 19:38:28 -05:00
fe55148dd7
deleted redundant files for imu factors
2014-01-27 17:38:01 -05:00
38846aaac6
remove FixVector(size_t m, ...)
2014-01-23 19:08:20 -05:00
376892f67f
fix FixVector(size_t m, ...), which also has dangerous behavior
2014-01-23 19:02:24 -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
c4eec5d549
fix Vector_() remained
2014-01-23 02:16:04 -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
848f992b98
fixed two tests that did not pass with Quaternions
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git-svn-id: https://svn.cc.gatech.edu/borg/gtsam/trunk@20414 898a188c-9671-0410-8e00-e3fd810bbb7f
2013-12-21 18:30:46 -05:00
d7dc390130
Particle factor scaffold
2013-12-19 17:14:40 +00:00
880d9a8e3c
Switched to new Eigen built-in special comma initializer
2013-12-16 21:33:12 +00:00
f664df729c
Updated to new wrap functions in gtsam cmake
2013-12-16 21:32:55 +00:00
abbbd02979
reintroduced triangulation.cpp with non-templated functions
2013-12-09 21:28:43 +00:00
5f87cbea7f
New SymmetricBlockMatrix interface - should be safer as all exposed functions use symmetric matrix expressions and the internal uninitialized values below the diagonal are never exposed.
2013-11-26 23:49:53 +00:00
4e2b658588
some excel file I forgot to check in
2013-11-23 19:04:43 +00:00
a27f97dec4
Fix in ConcurrentFilteringAndSmoothing - one elimination call was using the default elimination function instead of the one from the parameters.
2013-11-21 15:42:17 +00:00
0608e9a05b
Added support for MKL in Eigen and fixed several errors and warnings within Eigen when using MKL
2013-11-18 19:23:23 +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
ec78d54f37
Removed old Index typedef and IndexFormatter
2013-11-08 16:35:28 +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
5a71336ddd
Fixed a compile error with Clang 5.0 on OS Mavericks
2013-10-30 12:15:43 +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
788f69c00e
Add header for size_t since gcc requires
2013-10-28 18:07:19 +00:00
b88e15e694
Faster variant of DSFMap, if not as elegant.
2013-10-27 03:45:12 +00:00
d1a62b0cc1
Killed other variants
2013-10-27 02:50:47 +00:00
f4b7ab54b0
Several DSFMap variants
2013-10-27 02:18:42 +00:00
5e29bc5b67
Return set partitions from DFSMap
2013-10-26 22:22:31 +00:00
14ab4f6355
Quadratic growth in nr images to be expected.
2013-10-26 20:21:10 +00:00
b80859211c
Timing DSF variants: functional DSF is faster than in-place, but both way slower than DSFMap, which in turn is slower than DSFBase
2013-10-26 20:14:01 +00:00
4e68feff37
Small improvements
2013-10-26 20:12:49 +00:00
48dd3cb769
DSF with Map, allows more general types
2013-10-26 17:57:03 +00:00
19966fe112
Added pairwise matching example
2013-10-26 16:08:18 +00:00
fccdc46180
Fixed some compile errors related to rename
2013-10-25 19:16:15 +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
11edeca3e3
removed example that was moved to smartFactors_ceres
2013-10-23 19:28:39 +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
de55dc0d66
Fix Vector_() to Vec() in gtsam_unstable/slam
2013-10-22 04:56:01 +00:00
87f9a2ab03
Fix Vector_() to Vec() in gtsam_unstable/nonlinear
2013-10-22 04:35:21 +00:00
2a178515b3
Fix Vector_() to Vec() in gtsam_unstable/examples
2013-10-22 04:30:13 +00:00
6587f9781c
Fix Vector_() to Vec() in gtsam_unstable/dynamics
2013-10-22 04:22:50 +00:00
b8ce816de2
2013-10-21 22:00:12 +00:00
d57f61e5ab
removing include which no longer exists
2013-10-21 18:23:00 +00:00
6e7302283e
moved smart factors for smartFactors_ceres
2013-10-21 15:35:23 +00:00
8b68c71614
2013-10-20 02:20:07 +00:00
5bf761a67a
minor changes to BAL example
2013-10-19 23:07:16 +00:00
a1402018ca
added computePoints functionality in smartFactorsCreator
2013-10-19 22:42:51 +00:00
92f0bb64b2
added tests on smartHessianFactor with Cal3Bundler
2013-10-19 22:00:43 +00:00
796d9c7a67
added functionalities in dataset.cpp (writeBALfromValues) and BAL example
2013-10-19 20:28:20 +00:00
916d730fce
Updated BAL example with readBAL functionality (work in progress)
2013-10-19 02:05:51 +00:00
de5f8ee354
templated calibration object in triangulateDLT
2013-10-19 02:05:49 +00:00
aa1f1582f5
KITTItoBALConverted checked in
2013-10-19 00:57:01 +00:00
d5790376d7
cleaning (2)
2013-10-18 23:15:47 +00:00
81c183199a
cleaning and removing useless things
2013-10-18 23:14:34 +00:00
f7e90bbe86
temporary disabled -
2013-10-18 06:17:01 +00:00
1400498b72
Back to old calibration
2013-10-18 04:31:14 +00:00
7901e0d795
Switch to Cal3Bundler
2013-10-18 04:01:07 +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
06812ed964
intermediate changes (work in progress)
2013-10-18 01:25:18 +00:00
3a139587ee
minor changes
2013-10-17 01:18:22 +00:00
12b19b6ca9
added input arguments for BAL testing
2013-10-16 23:17:29 +00:00
b95c1c14e4
minor adds
2013-10-16 02:50:57 +00:00
6f6061c6c2
fixed make check
2013-10-16 00:58:41 +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
aa3729b098
Running, but to test
2013-10-15 19:16:39 +00:00
c27f4f6bcb
added possibility to read initialization from file in ProjectionFactorCreator
2013-10-15 19:16:38 +00:00
575e5b1693
Cosmetic corrections
2013-10-15 19:16:35 +00:00
16af82dc86
support multivalue variables
2013-10-15 18:25:05 +00:00
9bff152dbe
add template on triangulation
2013-10-15 18:01:06 +00:00
4f2d233e67
added test on Hessian
2013-10-15 14:57:48 +00:00
b77f7f77a4
created infrastructure for testing BAL datasets
2013-10-15 02:02:53 +00:00
44ae90f523
added SmartHessianProjection factor: allows different calibrations and noises for the cameras
2013-10-14 22:33:15 +00:00
0ad2dc6f81
removed "using" from header
2013-10-12 21:08:27 +00:00
223da3e34f
fixed DiscreteBayesNet::sample.
2013-10-12 20:23:04 +00:00
939f694b33
first converged loopy belief test
2013-10-12 20:06:02 +00:00
9ad033fc45
Added unit tests on projectPointAtInfinity and backprojectPointAtInfinity. Fixed error projectPointAtInfinity. Deleted projectPointAtInfinity
2013-10-12 19:29:07 +00:00
71039164b2
Added "using namespace boost::assign" to allow use of +=
2013-10-12 17:15:36 +00:00
b51a8380c4
added boost include
2013-10-12 16:21:15 +00:00
8be7363a01
refactor and add more comments
2013-10-12 15:27:37 +00:00
b161a106c7
loopy belief in progress
2013-10-12 05:49:11 +00:00
35924f6055
disable printing
2013-10-11 21:59:36 +00:00
2570492fa6
disable printing
2013-10-11 21:58:09 +00:00
a5f1d68099
fix scheduling examples by adding the default key index ordering in Scheduler.
2013-10-11 21:55:31 +00:00
19d64460ba
check in fail DiscreteBayesNet::sample unittest.
2013-10-11 19:07:16 +00:00
8add3de3c2
fix compilation errors in unstable discrete examples
2013-10-11 19:01:12 +00:00
1531abd285
fix testCSP by using the default key ordering.
2013-10-11 17:48:44 +00:00
bf11f93cee
revive unstable discrete. testCSP still fails, but looks like the solution is valid. See comments in file.
2013-10-11 17:42:30 +00:00
9639660685
Added GenericProjectionFactorCreator. Both smart and generic projection factors now work (again) in batch mode. Incremental not tested yet.
2013-10-11 01:59:36 +00:00
1a8a670870
Fixed bugs in new version since creator class is used: Get number of landmarks from creator object,
...
replace ensureHasOrdering with direct COLAMD call.
Current Smart Projection factor version works in batch mode
2013-10-10 20:21:40 +00:00
e799c9ffa9
tabs converted to two spaces
2013-10-10 17:52:57 +00:00
121e71431a
SmartFactorsCreator + initial fix in kitti example
2013-10-09 17:13:19 +00:00
426b4d79cf
testSmartProjectionFactor - disabled
2013-10-08 14:28:50 +00:00
444df1958a
Kitti test not working
2013-10-06 18:17:35 +00:00
d049dd38c6
Incremental mode in Smart Factors (not working yet with standard ProjectionFactors)
2013-10-06 18:17:32 +00:00
83182b05ca
Second method for landmark-first ordering: Provide a constrained ordering with landmarks in group 1 and poses in group 2
2013-10-04 14:25:19 +00:00
cc724134a6
Added ability to run both smart and projection factor version (for comparison)
...
For projection factor version, we can specify a landmark-first ordering
2013-10-04 13:47:24 +00:00
43d56b120a
From Hmf6_unordered: getISAM2 and variables Reeliminated/Relinearized (d97dcacf186900d12003c399e7fe55e03ca34e3f)
2013-10-03 19:52:05 +00:00
0c7b2ec062
From Hmf6_unordered: Public isam2 - to be changed (10834edc1698d941be3203e8e6bea0bd4a573443)
2013-10-03 19:52:01 +00:00
bf40956592
Merged from Hmf6_unordered 970392249a8c50153f24594c9c81acb740cedd06
2013-10-03 19:51:56 +00:00
4996db5023
Fix in running incremental optimization on Kitti
2013-10-03 18:02:25 +00:00
4d31dd99f3
Hopefully fixed the mex build flags
2013-10-03 16:50:14 +00:00
a6dd4c0464
testing on kitti
2013-09-30 20:39:55 +00:00
441dcec64e
added unit test for selective relinearization
2013-09-28 21:25:08 +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
7560a1f6e3
Typo fixed
2013-09-27 16:06:36 +00:00
e10a0a0650
bool to disable selective relinearization
2013-09-26 23:09:50 +00:00
8168d4a186
commented test
2013-09-26 23:09:48 +00:00
22ccd4b4b4
update to smartFactor
2013-09-26 23:09:47 +00:00
b04d2f1512
ICRA version of Kitti dataset processing
2013-09-26 20:36:57 +00:00
d440901920
Fixed quoting on include paths for building the toolbox so that the toolbox builds again
2013-09-26 18:12:32 +00:00
70a448f43e
Efficient implementation of Selective Linearization
2013-09-26 15:07:56 +00:00
73e72a98bd
Selective relinearization
2013-09-26 01:06:55 +00:00
9f68c04792
Initial implementation of selective relinearization
2013-09-20 20:19:58 +00:00
c310bafc8a
ISAM2 option, increased num poses
2013-09-14 03:10:10 +00:00
0e5069c26c
Added toy example on SmartRangeFactors
2013-09-14 00:21:10 +00:00
5dc138aa09
wrap important bits of SmartRangeFactor
2013-09-13 21:00:48 +00:00
14e65ce607
Matrix initialization bug fix
2013-09-13 18:26:39 +00:00
7413b50da1
Support for running on entire kitti dataset.
...
Cleaned up prints, added gathering of statistics (# variables, triangulation failures, etc.)
2013-09-13 13:22:43 +00:00
35327d0d56
Added incremental version using the normal Projection Factor.
...
Supports initialization both using read-in landmark poses or triangulation.
2013-09-11 14:02:41 +00:00
a8d1072a02
Further optimization with another ~9% speed improvement.
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Don't retriangulate on linearize if previous triangulation involved same poses
Added noalias in non-blockwise portion
Added exception handling for project() function
2013-09-10 15:15:24 +00:00
b3d500f58c
Added optional flag_bump_up_near_zero_probs.
2013-08-29 22:43:09 +00:00
86d21aaa05
Added optional flag_bump_up_near_zero_probs.
2013-08-29 22:42:33 +00:00
141958123a
Working version of rotation only smart factor
2013-08-28 17:37:58 +00:00
df36ee643a
Added option to start with an M step.
2013-08-28 16:56:57 +00:00
0422b9cfef
degenerate case in smart vision factor
2013-08-28 16:07:58 +00:00
633220a9dd
degenerate case in SmartProjectionFactor
2013-08-28 16:07:56 +00:00
19ddf3f228
minor speedup
2013-08-28 14:47:57 +00:00
bf8621aa3a
Added some state that is returned/passed in to smart projection factor to support smart re-linearization
...
Fixed bug in batch example that did not add last set of measurements in file
Created incremental version that reads measurements as they come, associates with a smart factor (or creates new one), and optimizes.
Last example achieves same results on 200-pose example as batch example.
2013-08-28 12:31:56 +00:00
138a7ea28c
minor fixes - removed unnecessary boost optional
2013-08-27 17:48:59 +00:00
f779736380
Fixed failed test, which resulted from removal of feature allowing one to pass a landmark in to constructor
2013-08-26 12:46:13 +00:00
e6d5c2bf73
updated to the new gtsam version.
2013-08-23 18:15:28 +00:00
6ab49e95da
Added cref_list_of.
2013-08-23 18:12:59 +00:00
e439a298b8
disabled until debugging is done.
2013-08-23 16:18:18 +00:00
3b7670c5aa
added TransformBtwRobotsUnaryFactorEM.
2013-08-23 15:24:46 +00:00
77e02a332e
Added TransformBtwRobotsUnaryFactorEM. May need to move to MAST later.
2013-08-23 15:24:16 +00:00
f6402916d6
added flag_bump_up_near_zero_probs_.
2013-08-23 15:22:50 +00:00
ca3956adc1
minor changes.
2013-08-23 15:21:50 +00:00
930c537991
Added TBB include directories when compiling matlab wrapper
2013-08-22 21:44:14 +00:00
0466e606b0
Added try/catch for triangulation exception
...
Optimizations resulting in about 6-7% improvement
Added methods returning keys and other information needed to create generic projection factors
Code cleanup
2013-08-21 01:35:13 +00:00
ae958ad0f5
Fixed testConcurrentIncrementalFilter
2013-08-19 22:07:32 +00:00
568335d21f
In progress fixing filter/smoother unit tests
2013-08-19 21:33:13 +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
4b12d6f794
Moved Symbol and LabeledSymbol to inference as they are no longer specific to nonlinear optimization
2013-08-19 15:32:16 +00:00
f9dcf31c2b
Fixing examples and some tests for gtsam_unstable/nonlinear. testConcurrentIncrementalFilter doesn't compile and is disabled, testIncrementalFixedLagSmoother is enabled and builds, but fails.
2013-08-19 15:32:08 +00:00
fe860be33f
SmartProjectionFactor: Added add(measured, poseKey) method to incrementally add views to the same landmark.
...
Added unit test for new method and way of creating factor.
Fixed missing negative when calculating b for non-blockwise version of Schur complement
2013-08-18 02:18:32 +00:00
09c4d8b712
Disabled testBetweenFactorEM because it is in progress for debugging
2013-08-16 21:57:49 +00:00
ce9e9b4a91
Added "TODO: correct?" comments
2013-08-16 21:16:07 +00:00
192962d96f
Fixed a couple problems in converted ConcurrentIncrementalFilter and ConcurrentIncrementalSmoother
2013-08-16 21:16:06 +00:00
68c6bf4a38
Added CMake code and preprocessor macros so that everything works without TBB and falls back on single-threading
2013-08-16 20:26:07 +00:00
2d413e05c6
Removed functions largely supersceded by newer bayes tree functionality
2013-08-16 16:32:19 +00:00
0212bbc30d
Fixed some unit tests
2013-08-16 04:11:02 +00:00
3701dc6322
Changes in CFS for unordered (still work in progress)
2013-08-15 22:12:09 +00:00
6337a65ce7
Updated Incremental Smoother to unordered
2013-08-15 22:12:07 +00:00
591a43a343
Added TBB linking flags to wrap build script
2013-08-15 17:44:17 +00:00
e4f65eacf8
Updating ConcurrentIncrementalSmoother/Filter to work with unordered (work in progress)
2013-08-14 19:12:24 +00:00
0514ad39c6
Smart projection factor working on Kitti
2013-08-14 19:12:23 +00:00
d7e6f43fa7
Updated to work with unordered GTSAM
2013-08-14 19:12:21 +00:00
4dfa2506ab
ConcurrentFilterAndSmoother updated and working with the unordered version of GTSAM
2013-08-13 22:30:08 +00:00
16b4f0fe8b
Moved ImuFactor and CombinedImuFactor into main gtsam, and moved InertialNavFactor family into gtsam_unstable.
2013-08-13 21:04:31 +00:00
5d0f8399ed
Fixed gtsam_unstable matlab wrapper
2013-08-12 22:26:37 +00:00
175965a6bf
Merged from branch 'branches/unordered'
2013-08-12 21:52:43 +00:00
13d829687c
Merged from branch 'trunk'
2013-08-12 21:49:59 +00:00
d9c9682f6e
Merge branch 'svn/trunk'
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Conflicts:
gtsam_unstable/slam/BetweenFactorEM.h
gtsam_unstable/slam/tests/testBetweenFactorEM.cpp
2013-08-12 21:47:36 +00:00
b34b6cc9ee
Added warning if triangulation fails
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Added ability to pass in landmark position directly, thereby avoiding triangulation
Added test that compares GenericProjectionFactor and SmartProjectionFactor for 1 iteration using
both GaussNewton and LM optimization. These tests also fail, until we find the problem/bug.
2013-08-12 21:44:54 +00:00
f1c9322d37
Removed old VerticalBlockView and SymmetricBlockView (replaced with VerticalBlockMatrix and SymmetricBlockMatrix)
2013-08-12 21:41:05 +00:00
6cba528671
Fixed include path
2013-08-12 18:21:27 +00:00
7a027be7e5
Fixed unit tests compiling on windows
2013-08-12 16:25:13 +00:00
87a7c56c88
Switched to square root of covariance norm.
2013-08-12 16:11:48 +00:00
14931bcc7d
improved tests a little. basic 3 landmark test with smart projection factor fails!
2013-08-12 14:40:57 +00:00
ea3ca54cba
"Fixed" more unit tests
2013-08-11 19:01:06 +00:00
517a5037a7
Enabled more unit tests and either fixed them or have them print a "disabled" message during make check
2013-08-11 18:41:08 +00:00
f4d816dcf8
Disabled testSmartProjectionFactor and made print message about this
2013-08-11 18:40:57 +00:00
f240327f24
Fixed testIMUSystem and BetweenFactorEM
2013-08-11 18:40:47 +00:00
0db8e446d5
Disabled gtsam_unstable/nonlinear filters and smoothers
2013-08-11 18:40:39 +00:00
4585fd1caa
Merge branch 'svn/trunk'
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Conflicts:
gtsam/navigation/tests/testInertialNavFactor_GlobalVelocity.cpp
gtsam/nonlinear/ISAM2.cpp
gtsam/nonlinear/ISAM2.h
gtsam/slam/tests/testBetweenFactor.cpp
gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp
gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp
gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp
gtsam_unstable/slam/SmartProjectionFactor.h
2013-08-11 18:16:56 +00:00
f41d4b879b
Added the ability to remove factors from ConcurrentIncrementalFilter
2013-08-10 17:16:47 +00:00
34a3a6ea49
Added the ability to remove factors from the ConcurrentBatchFilter
2013-08-10 17:16:38 +00:00
ebc6a66c3a
Updated to the marginal factor calculation in BatchFixedLagSmoother to
...
be more efficient
2013-08-10 17:16:31 +00:00
12d003229a
Fixed missing '}'
2013-08-10 17:16:19 +00:00
c33c6e2c70
Added unit tests for Concurrent Incremental Filter and Smoother
2013-08-10 17:15:48 +00:00
915dc98bd2
Updated unit tests for Concurrent Batch Filter and Smoother
2013-08-10 17:15:38 +00:00
f656e93202
Created Concurrent Incremental Filter and Smoother
2013-08-10 17:15:31 +00:00
663c598591
Updated Concurrent Batch Filter and Smoother to the latest versions
2013-08-10 17:15:20 +00:00
1dc0e6192b
Added accessor functions for internal data structures to
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IncrementalFixedLagSmoother
2013-08-10 17:15:03 +00:00
bb4ad176da
Needed std::
2013-08-09 18:50:15 +00:00
1eae17561d
Taking ImuFactor noise model automatically from preintegrated measurement covariance
2013-08-09 18:50:14 +00:00
c03172aca3
add prior on second camera
2013-08-09 15:31:15 +00:00
369e69b0d2
actually set everything to zero to turn factor off during linearization
2013-08-09 15:28:57 +00:00
8d9dcfbfc2
Fixed problem with pixel_sigma (2-dimensional only)
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Added switch to determine if normal GenericProjectionFactor or SmartProjectionFactor is used
2013-08-09 14:52:26 +00:00
5b7d7b3793
Closer to building and tests running
2013-08-08 20:45:44 +00:00
b0c96f9bf6
unwhitenedError.
2013-08-08 20:14:12 +00:00
27cabb62f1
added unwhitenedError to BetweenFactorEM.
2013-08-08 20:13:39 +00:00
4a4e16485c
Making more things in gtsam_unstable compile
2013-08-08 20:08:54 +00:00
883c870dff
Removed unnecessary summarization files in gtsam_unstable, restricted compilation of gtsam_unstable for components needing iSAM2 - core gtsam_unstable library builds
2013-08-08 20:08:52 +00:00
5af82c4042
SmartProjectionFactor example: Cleaned up some code, added comments,
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changed some of the LM parameters. Switched to use smaller kitti
dataset for now.
2013-08-08 17:16:23 +00:00
579e0931dc
Fixed different issues with EM.
2013-08-08 15:12:21 +00:00
b3ea3f9465
lines added to testSmartProjectionFactor
2013-08-08 14:30:26 +00:00
6dd67a13fd
Changed to optimize entire graph instead of sub-graphs
2013-08-08 14:20:08 +00:00
a82262cf99
Included noise model and f term in SmartProjectionFactor
2013-08-08 14:00:26 +00:00
159f9eee1e
Added SmartProjectionFactorExample_kitti.cpp.
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Currently loads kitti dataset after processing by VO code (stereo_factors.txt and camera_poses.txt)
Creates graph after N landmarks have been seen, runs it through SmartProjectionFactor
Verification of output is still needed; LM seems to optimize but poses don't seem to change.
2013-08-08 03:11:42 +00:00
f423d6f2a8
SmartProjectionFactor: More cleanup, added more tests, added some timing
2013-08-07 23:32:40 +00:00
d33f435eab
Added BetweenFactorEM with 2 indicator variables.
2013-08-07 15:25:00 +00:00
c2f5adc7d0
Cleaned up code: Removed commented out code, added debug condition
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If debug is enabled, both blockwise and full implementations are performed and then compared
2013-08-07 13:05:08 +00:00
e2f8dd866d
Merge branch 'svn/trunk'
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Conflicts:
gtsam/linear/GaussianBayesTree.cpp
gtsam/linear/GaussianBayesTree.h
gtsam/linear/VectorValues.h
gtsam/linear/tests/testVectorValues.cpp
gtsam_unstable/nonlinear/sequentialSummarization.cpp
2013-08-06 18:33:24 +00:00
2d60d2cdfa
Fixed more unit tests
2013-08-06 18:04:40 +00:00
e39d100b6a
Made most global unit tests compile, includes dogleg, iterative, kalman filter, etc
2013-08-06 13:44:22 +00:00
482c5df647
updates in SmartProjectionFactor: first working version with full and block version producing the same results (non-optimized)
2013-08-05 22:34:31 +00:00
ede0805fac
Global find+replace to remove Ordered
2013-08-05 22:31:44 +00:00
cb7eb1b510
Find+replace Ordered headers
2013-08-05 22:31:33 +00:00
09643929fd
Making some tests compile
2013-08-05 22:31:26 +00:00
628d4e0d77
Disabled discrete for the time being
2013-08-05 22:30:52 +00:00
2e085ace91
Changes in SmartProjectionFactor
2013-08-05 19:25:08 +00:00
5518007317
adding test with regular projection factors for comparison, and bug fixes in SmartFactor test.
2013-08-05 17:58:32 +00:00
d1de6b29a9
adding 3 camera, 3 landmark test
2013-08-05 15:50:19 +00:00
39ec641c4a
Modifications to SmartProjectionFactor and unit test: work in progress
2013-08-05 15:09:03 +00:00
d1419a3d11
Added SmartProjectionFactor (+unit tests)
2013-08-02 23:35:39 +00:00
f273b8f915
Removed extra 'typename'
2013-08-02 16:04:29 +00:00
34dc67c1af
Brought some relevant changes from aspn-imu-factor branch (is correct this time)
2013-08-02 16:04:17 +00:00
424ef0728f
Changed a filename to avoid having multiple object files of the same name in the library
2013-08-01 16:54:44 +00:00
2705d85fa7
Merged from branch 'trunk'
2013-07-31 18:55:15 +00:00
ed79432a69
Added MultiProjectionFactor, invoving n views (camera poses) observing a single landmark: work in progress
2013-07-31 18:02:56 +00:00
34998b3435
Added missing export tag
2013-07-31 15:36:39 +00:00
321a286f02
Revert "Brought some relevant changes from aspn-imu-factor branch"
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This reverts commit b08a11ffb27d14487115f20745f1cea17fcc55ee.
2013-07-31 15:26:48 +00:00
b62af20fdc
Revert "Removed extra 'typename'"
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This reverts commit 04fd69f56c1e1cbd934a54aeb415e2cf2132d236.
2013-07-31 15:26:46 +00:00
90cf73d4a7
Removed extra 'typename'
2013-07-31 15:25:05 +00:00
7345b40feb
Brought some relevant changes from aspn-imu-factor branch
2013-07-31 15:25:03 +00:00
201a7bfda5
adding triangulation function needed by new Schur complement factor
2013-07-30 18:52:06 +00:00
3ade190128
Renamed old classes to "Ordered" and removed "Unordered" name from new classes
2013-07-29 23:55:40 +00:00
b5c530d080
Merge branch 'svn/trunk'
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Conflicts:
CMakeLists.txt
2013-07-09 17:54:06 +00:00
ecb24ebd06
Fixes to include path ordering and boost libraries
2013-07-09 15:43:55 +00:00
d7767188b3
Merged from branch 'trunk'
2013-07-01 13:11:15 +00:00
f3aa2fde53
Fixed compile error
2013-06-25 17:22:45 +00:00
0837eab8f5
Scripts to test (still not working so-well) smart range factor
2013-06-25 17:13:02 +00:00
31a9319fca
Merge branch 'trunk'
2013-06-24 19:30:29 +00:00
bad9373aec
Merge branch 'trunk'
2013-06-24 19:30:24 +00:00
26df712592
Put new unit test global variables into anonymous namespaces. Removed dll export tag from SmartRangeFactor since it is a header-only class.
2013-06-24 19:30:00 +00:00
39910717d6
Picked the winner
2013-06-24 16:25:02 +00:00
34db300802
Fixed n<3 Jacobians
2013-06-24 16:18:48 +00:00
3383e52c5f
Split unit tests....
2013-06-24 16:02:17 +00:00
43fe036c32
Made more efficient by adding errors -> Jacobians back to 1*3, always. This is big savings if a landmark is seen from many poses.
2013-06-24 15:57:03 +00:00
aea4f31096
Fixed Jacobians, optimization works
2013-06-24 15:31:13 +00:00
123657e3d0
Merged from branch 'trunk'
2013-06-24 15:28:16 +00:00
b7dbcefa8b
simplified measurements_ to vector
2013-06-24 12:15:01 +00:00
4b412b0a4b
keys and Jacobians
2013-06-24 12:07:21 +00:00
40bc7070ff
Example in unstable, to use SmartRangeFactor
2013-06-24 12:06:47 +00:00
d041c5b8a8
Split up circle intersection code into three routines that are used in SmartRangeFactor
2013-06-24 08:24:56 +00:00
5f5e481394
AHRS mechanization small efficiency change (in progress)
2013-06-21 00:21:18 +00:00
e7334b89bd
Rebasing...
2013-06-20 17:08:30 +00:00
5ae4f21517
Added missing dll export tags to new functions
2013-06-20 16:05:23 +00:00
456d1b5cf7
Cleanup: moving old serialization function to gtsam_unstable, renaming matlab serializaion test
2013-06-19 17:50:09 +00:00
45b5389f8a
Serialized more classes in gtsam and gtsam_unstable
2013-06-19 17:50:07 +00:00
8f9d5ec2e2
Merge branch 'trunk'
2013-06-17 21:15:57 +00:00
d85c773f7c
Changes in AHRS - flat trim initialization added, some comments by Frank, aidingAvailablitiy function
2013-06-14 21:18:22 +00:00
9e3bfdc4f8
comments only
2013-06-11 14:36:54 +00:00
083e0c849e
Switched to templated version of liquefy() to allow for use with non-default clique types
2013-06-11 14:36:53 +00:00
83a1483e9f
Adding unit tests and a bugfix for liquefying bayes tree function
2013-06-11 14:36:52 +00:00
361682c485
Working on a test for liquefy
2013-06-11 14:36:51 +00:00
Luca
cbeall3
djensen3
dellaert
Andrew Melim
jing
Richard Roberts
vindelman3
Frank Dellaert
Luca Carlone
Jing Dong
Chris Beall
Pablo Fernandez Alcantarilla
Zsolt Kira
Duy-Nguyen Ta
Alex Cunningham
Vadim Indelman
Stephen Williams
Kyel Ok