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.
...
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'
...
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
...
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'
...
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
...
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)
...
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,
...
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.
...
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
...
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'
...
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"
...
This reverts commit b08a11ffb27d14487115f20745f1cea17fcc55ee.
2013-07-31 15:26:48 +00:00
b62af20fdc
Revert "Removed extra 'typename'"
...
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'
...
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
d5e721a1d0
Continued work on unordered classes and elimination algorithm
2013-06-06 15:36:11 +00:00
ebcc638ef5
renamed dist to distance (dist still works but now deprecated)
2013-06-05 16:11:36 +00:00
b2d4469cb3
Added missing export tag
2013-06-04 17:34:02 +00:00
1e5f9c742d
Revert "Modified Concurrent Filter to calculate marginals using a "shortcut" that allows constant-time updates during synchronization. Still need to test implementation."
...
This reverts commit f24a4f4668006cfe9a3eeb1658b7df03c74490d5.
2013-05-22 00:05:03 +00:00
8e26da7396
Added matlab version of the Concurrent Filtering and Smoothing example
2013-05-21 21:07:45 +00:00
5f371a4e55
Modified Concurrent Filter to calculate marginals using a "shortcut"
...
that allows constant-time updates during synchronization. Still need to
test implementation.
2013-05-21 21:07:43 +00:00
16c11c70fb
Fixes to compile on Windows
2013-05-21 17:24:49 +00:00
13d3f1cb6e
Updated Fixed-Lag smoother example
2013-05-21 14:57:40 +00:00
77c2e37a4d
remove unused debug variables
2013-05-21 00:03:05 +00:00
03977ba628
Added wrapping of AHRS
2013-05-20 23:28:38 +00:00
1d9000724d
Moved AHRS to gtsam_unstable
2013-05-20 23:16:44 +00:00
1c5061cf3c
Added optional flag to ConcurrentBatchFilter to control relinearization
...
during syncs.
2013-05-17 08:06:06 +00:00
d4ec018d0f
Added constructors to Point2Vector
2013-05-13 20:48:09 +00:00
50866b9a0e
Partial fix for compiling statically on Windows
2013-05-13 18:04:36 +00:00
7d03d3c502
Moved pre-sync code to the update() call for the cuncurrent smoother
2013-05-09 18:59:22 +00:00
93149ae5f2
Updated Concurrent example, forcing a call to smoother.update() between
...
each synchronization
2013-05-09 18:59:20 +00:00
7ad3de6bc0
documentation
2013-05-08 20:10:49 +00:00
32b3eebf07
removed redundant shared_ptr typedefs in Cal3_S2 and Cal3_S2Stereo
2013-05-08 19:21:00 +00:00
9e39df6e88
Added PriorFactor and BetweenFactor with optional sensor pose
...
transformations. Ideally these should simply be the PriorFactor and
BetweenFactor, but more investigation is needed.
2013-05-08 13:23:56 +00:00
f68e301458
Wrapped Inverse Depth Factor variants
2013-05-08 13:23:39 +00:00
54808f6d44
Added several experimental versions of an Inverse Depth Factor
2013-05-08 13:23:35 +00:00
acd6e629e8
Moved older functions back to gtsam_unstable, cleanup. All tests pass. Rearranged summarization wrap interfaces.
2013-05-08 10:13:57 +00:00
81f63bcc0e
Rearranging summarization, now with unit test in gtsam
2013-05-08 10:11:45 +00:00
36e66b2f0b
Fixed synchronization code in ConcurrentBatchFilter such that an empty graph does not trigger a segfault
2013-05-01 20:54:53 +00:00
444ab957c4
a numerical derivative version for DiscreteEulerPoincare'Factor, but currently disabled.
2013-05-01 17:30:21 +00:00
62f6089119
Updated matlab wrapping for moved factors
2013-04-30 17:50:48 +00:00
a069d24374
Moved PoseRotationPrior, PoseTranslationPrior and ReferenceFrameFactor to gtsam.slam
2013-04-30 17:50:47 +00:00
84ababc653
wrap SimpleHelicopter factors and fix a bug in noisemodel dimension
2013-04-30 17:21:42 +00:00
26c63ec122
increase tolerance in TEST( testPoseRTV, Lie )
2013-04-29 23:35:08 +00:00
e4a9c398c8
Factor for Discrete Euler Poincare' equation in SE3 for Simple Helicopter dynamics with correct dertivatives
2013-04-29 17:21:13 +00:00
224be276e4
Added a new summarization convenience function and cleaned up documentation
2013-04-26 18:27:22 +00:00
2b7d173c22
Added include path for generated headers when wrapping
2013-04-25 18:24:41 +00:00
009012005e
Removed VariableIndex from the class members as it was often left in an inconsistent state
2013-04-25 18:12:05 +00:00
1e1dfdd808
Updated BatchFixedLagSmoother to use the latest version of optimization and marginalization code
2013-04-25 18:10:21 +00:00
eeef9eab32
Generating config.h file in CMake with quaternion mode flag, dataset paths. Also added CMake option to use system-installed Eigen, which works by generating a global eigen include file containing the corresponding include paths.
2013-04-25 15:57:15 +00:00
5f3238634d
Added missing GTSAM_UNSTABLE_EXPORT tag
2013-04-25 15:57:06 +00:00
38af960c53
removed commented line
2013-04-24 17:34:49 +00:00
1c17065376
Removed unnecessary templated traits from partial pose priors - now uses rotationInterval and translationInterval
2013-04-24 17:34:48 +00:00
124a38f72d
Made unit test local vars/functions in anonymous namespace
2013-04-22 17:44:09 +00:00
cde44b2952
Finally finish implementing the Reconstruction factor for updating the poses of holonomic vehicles using discrete variational integrators (eq. 10 in [Kobilarov09siggraph]). Also, better approximation for the derivative of the inverse expmap wrt the lie algebra in Pose3. Test with numericalderivative.
2013-04-22 08:34:40 +00:00
c1f14d60be
Purged unused code
2013-04-19 12:16:18 +00:00
201ca3da9e
Removed debug print statement
2013-04-19 12:16:04 +00:00
3eade960b8
Fixed bugs in marginal generation. It is possible that the marginalization will be "perfect", resulting in no marginal factor. However, a factor was being created anyway.
2013-04-19 12:13:43 +00:00
541d416c84
comment for VelocityConstraint3::evaluateError
2013-04-17 21:25:15 +00:00
494885bf1d
factors for the pendulum discrete mechanics in position-momentum form to use with variational integrator
2013-04-16 19:07:59 +00:00
37d244e49b
fix bug in PendulumFactor2's jacobian
2013-04-16 02:17:19 +00:00
6a139bd0f8
Factors for the simple Pendulum dynamics for being used with explicit/implicit/sympletic Euler integrators as in [Stern06siggraph]
2013-04-15 21:31:47 +00:00
c2fb82b935
Added matlab wrapping for Fixed-Lag Smoothers and Concurrent Filters and Smoothers
2013-04-15 19:54:46 +00:00
f216e97a15
Modified the getter method in the FixedLagSmoother base class to follow general GTSAM conventions
2013-04-15 17:53:33 +00:00
41238572c1
Extended the Concurrent Filtering and Smoothing example to include a delayed loop closure
2013-04-15 16:07:40 +00:00
693a0f991a
Added the Filter<->Smoother synchronization back into the example
2013-04-12 13:05:52 +00:00
f3007f5013
Moved the pre-sync code back into the presync() function call. This allows the Filter and Smoother to synchronize properly even when no call to smoother.update() has been made.
2013-04-12 13:05:20 +00:00
34d7742d95
Added first version of a Concurrent Filtering and Smoothing example
2013-04-12 12:53:34 +00:00
03db2b7e55
Modified comments
2013-04-12 12:53:05 +00:00
460a428c97
Provided default parameters for concurrent batch filter and smoother constructors
2013-04-12 12:52:29 +00:00
1c738123b9
Fixed inconsistency between odometry measurements and initializations
2013-04-12 12:51:22 +00:00
5087e4eabc
Modified Fixed-Lag Smoothing example to call iSAM2 multiple times to recover the same solution as batch
2013-04-11 21:10:32 +00:00
321de2f701
Removed debugging check from IncrementalFixedLagSmoother and added work around for tree reordering
2013-04-11 20:55:55 +00:00
c902908115
Added 'examples' folder to gtsam_unstable
2013-04-11 20:47:25 +00:00
95e97c2dfc
Changed the default 'enforceConsistency' flag to true in the Batch Fixed-Lag Smoother to match the incremental version
2013-04-11 20:07:58 +00:00
d44a9e3b75
Removed unused code from Concurrent Batch Filter unit test
2013-04-11 19:16:52 +00:00
f963aeb401
Completed rewrite of synchronization functions for the Concurrent Batch Filter
2013-04-11 19:16:15 +00:00
04d595dec1
Started re-implementing the synchronization functions for the Concurrent Filter
2013-04-11 12:43:42 +00:00
634a4c5ef9
Updated Concurrent Smoother for changes in the base class synchronization
2013-04-11 12:42:45 +00:00
0a459549f8
Updated synchronization interface to require the smoother and filter to track their own separator keys and values
2013-04-11 12:42:09 +00:00
08e6d8860b
wrap VelocityConstraint3
2013-04-11 12:07:42 +00:00
72325d673d
simple 3-way factor velocity constraint with LieScalar
2013-04-10 22:02:21 +00:00
1952337e23
Removed unused code from Concurrent Batch Smoother
2013-04-10 21:08:52 +00:00
dce575cb73
Refactored synchronization code for Concurrent Batch Smoother
2013-04-10 15:22:28 +00:00
e4b452473e
Removed variable index from equal test in ConcurrentBatchFilter
2013-04-10 15:21:50 +00:00
5cd020080b
Added marginalization code and unit tests to ConcurrentBatchFilter
2013-04-10 12:47:55 +00:00
ed560aa13a
Updated unit tests for changes in the Concurrent Filtering and Smoothing classes. Currently the synchronization tests are disabled.
2013-04-09 21:48:48 +00:00
0b5c07e543
Starting to clean up and refactor the Concurrent Filtering and Smoothing classes. Currently the synchronization is disables, as is the marginalization in the filter.
2013-04-09 21:24:05 +00:00
35cebaa873
Moved inertial nav factors and unit tests to gtsam/navigation
2013-04-09 20:04:10 +00:00
b68fee7b00
Fixed bug in hessian_equal in testConcurrentBatchFilter
2013-04-09 19:53:59 +00:00
ed90b00edf
Updated ConcurrentBatchSmoother to use LinearContainerFactors
2013-04-09 15:48:53 +00:00
4f064be4fa
Updated synchronization code for CConcurrent Filter
2013-04-09 15:39:24 +00:00
244ea20f9c
Clean-up.
2013-04-08 22:49:55 +00:00
4c6a460fa0
Fixed bugs in tic-toc statements for Concurrent Filter and Smoother
2013-04-08 17:42:26 +00:00
7c362b2cbd
Loosened unit test thresholds slightly to account for roundoff error on some systems
2013-04-05 19:12:46 +00:00
dd18366a2f
Loosened unit test thresholds slightly to account for roundoff error on some systems
2013-04-05 19:09:51 +00:00
b9820550e2
Added DLL export tags to new code
2013-04-05 19:06:28 +00:00
67e36febf2
Added DLL export annotations on new code
2013-04-01 19:29:53 +00:00
f773a34834
Renamed experimentalMarginalizeLeaves to marginalizeLeaves and added comment
2013-03-26 20:46:08 +00:00
233c8aa7bb
Moved summarization functions
2013-03-23 20:19:43 +00:00
f45c5c5f44
Actually installing headers from unstable/linear
2013-03-23 20:19:42 +00:00
a2bc0f8ae5
Fixing wrapped typedefs
2013-03-23 20:19:40 +00:00
045072746d
Cleaning up extraneous namespace references
2013-03-23 20:19:39 +00:00
da334ed8a2
Added linear tools (including summarization) from MastSLAM
2013-03-23 20:19:36 +00:00
a0b55c3ff7
Moved additional wrap definitions
2013-03-23 20:19:32 +00:00
3c2e037b16
Moved geometry components from MastSLAM for Pose3Upright, BearingS2, SimWall2D and SimPolygon2D
2013-03-23 20:19:30 +00:00
458707ed45
Small changes for Qualifier 2013 Scheduling
2013-03-19 18:05:13 +00:00
396732ff6a
Only call iSAM2 marginalize function if there are actually keys to marginalizae out
2013-03-18 22:28:14 +00:00
9e1a07fcec
Added debugging function to IncrementalFixedLagSmoother
2013-03-18 21:39:07 +00:00
f03be70770
Updated iSAM2 Marginalize call for the latest version of GTSAM
2013-03-18 21:32:43 +00:00
a54d177202
Added dll export tags and updated cmake scripts so that GTSAM can build as a shared library on windows
2013-03-13 18:56:21 +00:00
6111c099ab
Improved build of shared vs static GTSAM libraries - now possible to build either one or both, executables link to the shared if it is being build, or otherwise to the static. Also removed separate shared/static CMake flags for gtsam_unstable, now uses the same GTSAM_BUILD_SHARED and GTSAM_BUILD_STATIC as gtsam.
2013-03-13 18:17:39 +00:00
eacbaeb84d
Updated incremental version of the fixed lag smoother to use the in-development iSAM2 marginalize functionality
2013-03-05 20:54:00 +00:00
60d3ba2d0e
Added and incremental fixed-lag smoother using new iSAM2 marginalization functionality, and created a common base class for all fixed-lag smoother implementations.
2013-02-27 20:23:47 +00:00
2b27c14dac
Fixed compile errors on windows
2013-02-24 19:09:52 +00:00
6fef6cf7d5
Added Fixed Lag Smoother and Concurrent Filtering and Smoothing to gtsam_unstable
2013-02-19 21:37:17 +00:00
bc16edd2ac
Added Equivalent IMU factor to gtsam_unstable
2013-02-19 21:24:44 +00:00
8fc5ab527d
Comments only - appear to be unnecessary variables?
2013-02-14 20:42:14 +00:00
542d396d3b
Missing qualifying namespace on sqrt in InertialNavFactor_GlobalVelocity.h
2013-02-05 21:52:51 +00:00
6572400bc3
Improved handling of Boost shared libraries on Windows
2013-02-04 21:28:39 +00:00
4f5b9f2074
added imu factor (global velocity)
2013-01-24 21:01:10 +00:00
880d98e068
Chain test on Cholesky
2012-12-11 19:14:39 +00:00
7851d5553b
Updated MATLAB cholesky scaling experiment
2012-12-11 19:14:36 +00:00
879417cb0d
more documentation and cleanup: missed a file
2012-11-29 18:20:39 +00:00
6b67238dd3
more documentation and cleanup
2012-11-29 18:19:28 +00:00
ca16f341f9
Changed badscale to a more reasonable value in Cholesky scaling test
2012-11-26 19:21:13 +00:00
60f29fde15
MATLAB tests for Cholesky scaling and preconditioning
2012-11-23 23:24:58 +00:00
237da8b3a7
Moved LinearContainerFactor to gtsam/nonlinear and removed the now-redundant LinearizedFactor from gtsam_unstable
2012-11-21 19:41:24 +00:00
cba120c96d
LinearContainerFactor now includes ability to "relinearize" when supplied with an original linearization point
2012-11-21 19:02:13 +00:00
00b12c7dc1
Added simple matrix-math eliminate and shortcut functions, and a simple matrix-math test of the feasibility of correcting root shortcut joint marginals.
2012-10-29 15:52:02 +00:00
c3f38349b4
Fixed include paths for matlab modules
2012-10-28 20:48:17 +00:00
f9494679d2
Added optional derivatives to 'inverse' and 'compose' for variable type 'PoseRTV'
2012-10-22 17:31:41 +00:00
89b50e7679
Renamed tic -> gttic and toc -> gttoc to avoid conflict with PCL tic/toc
2012-10-02 20:18:41 +00:00
c44f8f7f80
Fixed examples from timing statement change (missed)
2012-10-02 18:49:48 +00:00
4876cc7ff7
Revamped timing statements - much easier to use, exception-safe (see email to frankcvs list)
2012-10-02 18:36:39 +00:00
4297d24c96
changed tabs to spaces for consistent indentation in all of GTSAM
2012-10-02 14:40:07 +00:00
1985758d35
Updated interfaces and wrapped LinearContainerFactor
2012-09-21 14:19:57 +00:00
0ef12f2f20
Moved in reference frame factor from MastSLAM
2012-09-19 02:23:43 +00:00
f272a07e29
Moved DummyFactor to gtsam_unstable from MastSLAM - allows for adding sufficient connectivity for solvers to operate
2012-09-18 17:48:18 +00:00
49a952d237
more doxygen fixes
2012-09-07 19:12:02 +00:00
9e960b4589
doxygen fixes
2012-09-07 18:54:12 +00:00
6c2f213091
1. use DSFVector for spanning tree in SubgraphSolver
...
2. move DSFVector from unstable to stable
3. create Dummy.cpp to prevent base_unstable degenerate
2012-09-05 15:03:35 +00:00
d3b5c463ed
Fixed initialization bug
2012-09-03 17:22:09 +00:00
d8e0a95890
Small bug-fixes for managing linearization points
2012-09-03 03:06:08 +00:00
891fb2e038
comments only
2012-09-03 00:50:24 +00:00
2285b14c5f
Alternate matrix operation
2012-09-03 00:39:02 +00:00
878c79f265
Reworked PoseRotationPrior with better tests and no dependence on PartialPriorFactor
2012-08-27 16:51:52 +00:00
6b14e652ff
Fixed bug in equality check
2012-08-27 01:40:11 +00:00
12290dc7b2
Added linearization points to LinearContainerFactor. Fixed bug with localCoordinates() in Values
2012-08-27 01:11:37 +00:00
f9c3af7e3d
Fixed bug in key assignment
2012-08-26 04:16:47 +00:00
c60fc3ca2a
Relegated the PartialPriorFactor to gtsam_unstable
2012-08-24 21:39:56 +00:00
519ad72139
Made explicit instantiations in header file inline to avoid duplicate definition
2012-08-22 22:40:39 +00:00
9962a66e7c
Added utility functions for converting graphs with LinearContainerFactors, added direct order() to avoid the need to fake linearize.
2012-08-21 18:48:04 +00:00
bac1faa68e
Added ordering-less negate()
2012-08-20 18:28:19 +00:00
0aa72c986e
wrapped RelativeElevationFactor
2012-08-20 14:25:10 +00:00
e488871ffd
Fixed compile problem in toolbox for PoseTranslationPrior. Added planar tests.
2012-08-20 14:25:09 +00:00
3794c2a7b7
Reworked PoseTranslationPrior so that it actually works now
2012-08-20 14:25:07 +00:00
4fb9f3b39e
Moved RelativeElevationFactor from MastSLAM
2012-08-20 14:25:04 +00:00
83a853f6f1
Removed use of EasyFactorGraph
2012-08-04 19:48:52 +00:00
6f0c0fc7c5
Merged from branch 'trunk'
2012-08-03 21:09:59 +00:00
84924ad663
Removed remaining reference to slam namespace headers
2012-08-03 21:02:39 +00:00
d93aac12d0
Fixed ambiguous sqrt/atan errors
2012-08-03 21:02:37 +00:00
711b28ae01
Merge remote-tracking branch 'svn/trunk' into remove_slam_namespaces
...
Conflicts:
matlab/examples/Pose2SLAMExample_graph.m
2012-08-03 21:02:27 +00:00
73d64d04a8
Removed unused make targets, changed wrap structure for PosePartialPriors
2012-08-03 19:49:26 +00:00
b211c1070d
Rearranged the inverse depth factor/camera, created a gtsam_unstable/geometry folder - run cmake to find the new/moved files
2012-08-02 20:47:16 +00:00
4c836c6e3a
Wrapped Pose[Translation|Rotation]Factor
2012-08-02 19:57:10 +00:00
93d9023a61
added InverseDepth factor based on Montiel/Civera's paramaterization. MOntiel06rss, Civera08tro
2012-08-02 19:27:36 +00:00
e2e780de4d
Removed SLAM namespaces from testLinearizedFactor
2012-07-23 22:51:18 +00:00
46b2971e45
Removed imu dynamics example slam namespace
2012-07-22 18:49:07 +00:00
4b772b43cf
Simplified include handling in wrap: no more default includes, includes are not associated with a class or a namespace.
2012-07-17 18:30:02 +00:00
e9f710a1ac
More flexible handling of includes in wrap - can now use multiple includes both at the namespace and class levels, and namespace includes do not override the default class-name includes of their enclosed classes.
2012-07-17 15:51:35 +00:00
e4f74354ca
Wrapped factors in gtsam_unstable and updated PoseRTV
2012-07-13 21:55:05 +00:00
6c9608752e
Small cleanups / fixes in handling of compile options
2012-07-13 21:55:00 +00:00
191d73df0b
Simplified matlab wrapper cmake options
2012-07-13 21:54:52 +00:00
e337ab8b1d
Merge branch 'master' into wrap_mods_local
2012-07-10 18:36:21 +00:00
da5c924d58
Merged from branch 'trunk'
2012-07-06 18:37:55 +00:00
1abf81052f
Removed unused test file - linear containers to appear in MastSLAM
2012-07-06 14:48:25 +00:00
ce4968d498
Wrap cmake options to more easily link with additional libraries
2012-07-05 14:04:55 +00:00
14c384c0dd
wrap flags for gtsam_unstable
2012-07-05 14:04:53 +00:00
b33713a02e
Merge branch 'master' into new_wrap_local
...
Conflicts:
.cproject
gtsam.h
2012-06-30 20:04:12 +00:00
f68ba93f3d
Dep checking for cmake
2012-06-30 01:34:04 +00:00
0fe2d527f9
Fixed warnings due to discrete. GTSAM now Wall-safe?
2012-06-22 21:45:36 +00:00
d5fbfcb7b7
Create and load CMake exports and config files
2012-06-19 22:06:40 +00:00
82482e61fc
Make unique IDs
2012-06-15 03:52:50 +00:00
9d3bb30bc2
Dummy object for Andrew to play with
2012-06-15 01:01:25 +00:00
d36b8b63e7
Added versions of partial priors for parts of poses - useful for GPS or inertial priors. Added interval interface to Pose2 and Pose3.
2012-06-14 20:00:51 +00:00
6fd2ac7f86
move iterative.* back to stable. add a template-style nonlinear iterative solver
2012-06-12 14:19:01 +00:00
94560fcc45
Fixed factor equals
2012-06-10 19:55:01 +00:00
b602e75a99
Removed the use of the ADD_CLONE_NONLINEAR_FACTOR macro, documented instances of clone() in factors
2012-06-09 21:06:06 +00:00
3d2c3aff05
Moved all Simulated* example domains and smallExample to the tests folder so they are no longer installed
2012-06-09 20:15:44 +00:00
f45c236585
Isolated exception case for use of Symbol.key(), removed use of Symbol in several tests. Removed "using namespace xxx" in header
2012-06-09 19:17:15 +00:00
5b08dde1f3
Include -inl.h as is now custom
2012-06-09 18:50:29 +00:00
734a18b02e
old spcg solver fixed
2012-06-09 02:42:45 +00:00
913160462a
in the middle of resurrecting spcg
2012-06-08 16:45:16 +00:00
1913640d2c
Qualified more namespaces after removing using namespace from headers
2012-06-08 14:34:03 +00:00
d188ed2e1a
Removed using namespace in header files
2012-06-08 14:33:59 +00:00
a23127a315
Removed using namespace in header files
2012-06-08 14:33:36 +00:00
14c38918c0
Store flags for the library targets
2012-06-07 20:42:13 +00:00
61c7e8760b
Fixed linking problem with gtsam_unstable/nonlinear
2012-06-07 18:48:40 +00:00
111ef8a0f0
Moved LinearizedFactor from MastSLAM, started on a test for LinearContainerFactor
2012-06-07 18:16:37 +00:00
8ba08135b2
Disambiguated sqrt function
2012-06-07 16:12:57 +00:00
8e39e6b656
Fixed doxygen warnings
2012-06-07 04:54:40 +00:00
ecd5862a90
Fixed build problems on windows
2012-06-07 04:54:06 +00:00
19542c27d5
gtsam_unstable build script tweaks for windows
2012-06-07 04:53:52 +00:00
fd3b1d1cb5
comments
2012-06-07 02:19:26 +00:00
81b577eb59
Fixed compile error in gtsam_unstable
2012-06-07 02:11:16 +00:00
87a705468d
Removed unnecessary tests/examples, consolidated utility functions
2012-06-06 13:04:47 +00:00
55ff10a1c2
Updated old timing statements in discrete examples and reenabled the examples
2012-06-06 12:51:44 +00:00
74138787e8
testPoseRTV no longer fails when using quaternions - still should add full analytical derivatives, however.
2012-06-06 12:44:06 +00:00
8037c44b17
fix CMakeLists to generate correct paths to gtsam lib for MEX, both in command line and make_gtsam.m
2012-06-06 09:35:19 +00:00
0f079b70f2
Disabled two examples until timing fixed
2012-06-06 04:29:14 +00:00
ad3b431c4d
Moved building of wrap libraries to a cmake macro and moved install for matlab components to the appropriate folder
2012-06-05 18:05:00 +00:00
02ce40546f
Changed names of cmake flags to be more intuitive, fixed include/library path issues for building the mex binaries
2012-06-05 17:20:19 +00:00
cc2351da68
Fixed documentation for wrap
2012-06-04 21:14:47 +00:00
2c82a01d9a
Fixed mex command for gtsam_unstable
2012-06-04 21:05:00 +00:00
Richard Roberts
Jing Dong
Frank Dellaert
Luca Carlone
Andrew Melim
Chris Beall
Pablo Fernandez Alcantarilla
Zsolt Kira
Duy-Nguyen Ta
Alex Cunningham
Vadim Indelman
Stephen Williams
Kyel Ok
Yong-Dian Jian