Jose Luis Blanco Claraco
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2827584f69
|
add expressions for cross() and dot()
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2021-06-11 09:41:26 +02:00 |
yetongumich
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0fe12ec984
|
resolve some nits
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2021-05-12 16:57:27 -04:00 |
|
yetongumich
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a637737d5e
|
refactor tests and add comments
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2021-05-12 15:36:12 -04:00 |
lcarlone
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d6a3171e67
|
user can now also set the weights to initialize gnc!
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2021-05-10 20:06:31 -04:00 |
|
lcarlone
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5274abafd0
|
all tests done!
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2021-05-10 18:23:12 -04:00 |
|
lcarlone
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3ac97c3dbe
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adding knownOutlier input to GNC
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2021-05-10 10:30:32 -04:00 |
akrishnan86
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759dcaa1dd
|
formatting changes
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2021-03-05 00:06:30 -08:00 |
Akshay Krishnan
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a2f99ac71c
|
unit test + fix segfault
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2021-03-05 07:21:38 +00:00 |
Frank Dellaert
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8261326e78
|
Merge pull request #684 from borglab/feature/gncImprovements
changed barcsq to a vector to allow each factor to have a different inlier threshold
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2021-02-03 13:44:21 -05:00 |
Toni
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7f80c906c4
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Fix override warnings: modernize-use-override
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2021-01-28 23:02:13 -05:00 |
|
lcarlone
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a59a12245c
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done with new default noise thresholds!
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2021-01-22 23:24:28 -05:00 |
|
lcarlone
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28b0f0ac8e
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working unit tests: added chi2
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2021-01-22 22:27:47 -05:00 |
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lcarlone
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be86b9b5d7
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changed barcsq to be a vector, such that the user can provide a bound for each factor
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2021-01-22 21:04:28 -05:00 |
Varun Agrawal
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06d8ec289d
|
Merge pull request #633 from borglab/fix/foot-imu
Adds unit test for imu preintegration of a single step
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2021-01-19 21:03:10 -05:00 |
|
Varun Agrawal
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7eeed6dc14
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remove cout statements from testImuPreintegration tests
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2021-01-19 15:47:44 -05:00 |
Russell Buchanan
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07244bbdea
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merge with upstream
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2021-01-19 10:54:52 +00:00 |
|
Russell Buchanan
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bb662f0cb4
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clean up
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2021-01-19 10:49:42 +00:00 |
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Varun Agrawal
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6e46b72742
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add unit test for NonlinearFactor weight with different noise models
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2021-01-06 11:46:49 -05:00 |
lucacarlone
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90e22cf0dd
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Merge pull request #617 from borglab/gnc
Gnc
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2021-01-04 10:04:59 -05:00 |
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lcarlone
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24672385b3
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moved gncLossType outside params
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2020-12-29 21:59:21 -05:00 |
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lcarlone
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dfdd206708
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addressed all except 2 comments by Frank. waiting for inputs on the 2 outstanding issues
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2020-12-28 21:03:20 -05:00 |
|
lcarlone
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eea52766d1
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renamed enum
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2020-12-28 20:49:17 -05:00 |
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lcarlone
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06dfeb7ac5
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moved GncParams to separate file, addressing comments by Frank, 1/n
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2020-12-28 20:43:35 -05:00 |
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lcarlone
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dc5c769e7c
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- fixed stopping conditions
- handled degenerate case in mu initialization
- set TLS as default
- added more unit tests
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2020-12-23 22:08:44 -05:00 |
jingnanshi
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c57174436f
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fix test
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2020-12-22 21:08:42 -05:00 |
|
jingnanshi
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046db8749e
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Fix TLS convergence check
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2020-12-22 13:40:52 -05:00 |
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lcarlone
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cd82a56214
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made function name less ambiguous, added more comments on inlierThreshold
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2020-12-21 22:32:34 -05:00 |
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lcarlone
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0e09f019ef
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fixed templating, added a strict unit test on inlier threshold
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2020-12-21 22:28:07 -05:00 |
|
Varun Agrawal
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fd43d817df
|
save time in CSV, formatting
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2020-12-15 10:50:28 -05:00 |
|
Varun Agrawal
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7f975d194a
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refactored code for testing ImuPreintegration with impact
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2020-12-14 14:32:24 -05:00 |
|
Varun Agrawal
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8b9f917f43
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refactored code for ImuMeasurements
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2020-12-14 14:32:04 -05:00 |
|
Varun Agrawal
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6543fb6c7c
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Merge branch 'develop' into fix/foot-imu
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2020-12-14 13:47:11 -05:00 |
|
Russell Buchanan
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720ac41208
|
Adds unit test for imu preintegration of a single step
|
2020-12-08 15:22:01 +00:00 |
|
jingnanshi
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398c01375e
|
more unit tests
|
2020-12-07 20:20:51 -05:00 |
|
jingnanshi
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594f63d1f6
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test fix
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2020-12-07 17:28:35 -05:00 |
|
jingnanshi
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9caa0d14cf
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mu update test
Separated GM & TLS case
make sure the mu set size is explicitly stated (does not depend on default values)
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2020-12-07 16:16:21 -05:00 |
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jingnanshi
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d0a81f8441
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mu initialization test & minor formatting fixes
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2020-12-07 16:04:36 -05:00 |
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jingnanshi
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9903fb91d0
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tls done except unit tests
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2020-12-07 13:24:49 -05:00 |
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lcarlone
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fcf2d31684
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moved class to .h
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2020-12-05 13:47:40 -05:00 |
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Akshay Krishnan
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d6f7da73c3
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Merge pull request #619 from borglab/fix/zero_translation_avg
Handling edges with pure rotation in translation averaging
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2020-12-01 19:23:41 -08:00 |
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akrishnan86
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602db46f44
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changing test names and adding documentation
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2020-12-01 01:33:43 -08:00 |
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Varun Agrawal
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cb3a766b30
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uncomment calibration applications
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2020-11-30 13:19:13 -05:00 |
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Varun Agrawal
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2703307a43
|
deprecate SimpleCamera tests
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2020-11-30 07:01:58 -05:00 |
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akrishnan86
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8d009c2fcf
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translation recovery unit tests pass
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2020-11-30 00:30:19 -08:00 |
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akrishnan86
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4bc250e7c0
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new test doesnt pass
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2020-11-28 23:44:20 -08:00 |
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lcarlone
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786d4bbf9a
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done - PGO works like a charm!
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2020-11-27 23:12:26 -05:00 |
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lcarlone
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7699f04820
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correct formatting
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2020-11-27 22:54:51 -05:00 |
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lcarlone
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c4644a0d61
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added functionality to fix weights
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2020-11-27 22:50:41 -05:00 |
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lcarlone
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ef47741881
|
ladies and gents... GNC!
|
2020-11-27 22:22:14 -05:00 |
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lcarlone
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dab00907b9
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added verbosity
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2020-11-27 22:07:16 -05:00 |
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lcarlone
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9e3263f2b1
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yay! only the final monster to go!
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2020-11-27 19:29:42 -05:00 |
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lcarlone
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556fa83e9f
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new constructor test which gets rid of robust loss now passes!
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2020-11-27 19:00:08 -05:00 |
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lcarlone
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7ce0641b43
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working on make graph
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2020-11-27 18:28:31 -05:00 |
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lcarlone
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5db6894b66
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finally I have a way to properly change the noise model!
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2020-11-27 18:25:38 -05:00 |
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lcarlone
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e99188095f
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stuck on conversion of noise model
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2020-11-27 17:14:34 -05:00 |
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lcarlone
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0f07251cf5
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1 test to go
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2020-11-27 16:31:32 -05:00 |
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lcarlone
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7c22c2c402
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simplified small test to make it more understandable
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2020-11-27 16:18:36 -05:00 |
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lcarlone
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52225998fe
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2 tests to go
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2020-11-27 16:10:03 -05:00 |
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lcarlone
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a33c50fcef
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now we have very cool tests!
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2020-11-27 15:46:12 -05:00 |
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lcarlone
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f897fa81a9
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added gnc loop
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2020-11-27 15:14:41 -05:00 |
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lcarlone
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90dd2c7035
|
params parsed correctly
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2020-11-27 13:05:54 -05:00 |
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lcarlone
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ff40590fc3
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added equals in NonlinearOptimizerParams
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2020-11-27 12:59:27 -05:00 |
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lcarlone
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b5d06b5878
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starting to create test and code for gncParams
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2020-11-25 20:11:04 -05:00 |
Frank dellaert
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7e29944f95
|
Initial design
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2020-11-25 11:02:01 -05:00 |
|
Jose Luis Blanco-Claraco
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c5576c534f
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Add iteration hook in non-linear optimizers
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2020-11-08 11:57:47 +01:00 |
Fan Jiang
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e87fd24df1
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Remove offending include
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2020-08-18 10:51:15 -04:00 |
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Frank Dellaert
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b1e3b5495c
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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.
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2020-08-15 13:05:58 -04:00 |
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Frank Dellaert
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9bcdbe8b78
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Merge pull request #463 from borglab/feature/sfm_binary_measurement
Update translation averaging to use vector of binary measurements instead of map
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2020-08-13 09:35:22 -04:00 |
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akrishnan86
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ae5956bd10
|
changes with passing unit tests
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2020-08-05 00:18:42 -07:00 |
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Frank Dellaert
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09bb25498f
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Merge branch 'develop' into dellaert/issue420
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2020-07-31 16:45:03 -04:00 |
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Jose Luis Blanco-Claraco
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947479e9de
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Add variadic-template N-ary ExpressionFactor
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2020-07-28 16:20:38 +02:00 |
Jose Luis Blanco-Claraco
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85c576cc47
|
Merge pull request #432 from borglab/fix/recover-slam-serialization-test
Recover SLAM serialization test
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2020-07-26 23:37:17 +02:00 |
|
Jose Luis Blanco Claraco
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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.
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2020-07-26 11:20:42 +02:00 |
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Jose Luis Blanco Claraco
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a4b95d273f
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recover SLAM serialization test
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2020-07-25 18:07:25 +02:00 |
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Varun Agrawal
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05f50eae40
|
Fix minor bugs
|
2020-07-24 03:10:03 -05:00 |
|
Frank dellaert
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30703ccb6a
|
Removed all deprecated code w Stephanie...
|
2020-07-22 17:32:25 -04:00 |
|
yetongumich
|
eb1a2b8fb3
|
modified test
|
2020-07-12 14:31:29 -04:00 |
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akrishnan86
|
0e6dc6a016
|
Merge branch 'develop' of github.com:borglab/gtsam into feature/1dsfm
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2020-06-29 20:05:56 -07:00 |
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akrishnan86
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fee226a1de
|
fix SfmData naming
|
2020-06-24 22:43:55 -07:00 |
|
Frank dellaert
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3d42e4e76a
|
Formatting only
# Conflicts:
# gtsam/nonlinear/NonlinearOptimizer.cpp
# tests/testPCGSolver.cpp
|
2020-05-21 14:50:02 -04:00 |
Frank Dellaert
|
98b8d6b4f3
|
Move to its own compilation unit
|
2020-05-12 19:37:33 -04:00 |
|
Frank Dellaert
|
7910f00c2c
|
Optimization works!
|
2020-05-12 19:37:33 -04:00 |
|
Frank Dellaert
|
83a0f51587
|
Moved TranslationFactor prototype into sfm directory
|
2020-05-12 19:37:33 -04:00 |
|
Frank Dellaert
|
652302f5ad
|
Running optimization
|
2020-05-12 19:37:33 -04:00 |
|
Frank Dellaert
|
d8f3ca46a4
|
Added initalizeRandomly
|
2020-05-12 19:37:33 -04:00 |
|
Frank Dellaert
|
146f411a99
|
Built TranslationFactor class and partially completed TranslationRecovery class
|
2020-05-12 19:37:33 -04:00 |
|
Frank Dellaert
|
5abe293cdf
|
Setup and simulateMeasurements
|
2020-05-12 19:37:33 -04:00 |
alescontrela
|
03910d725e
|
Merge branch develop
|
2020-04-12 13:47:24 -04:00 |
|
alescontrela
|
211119b00e
|
Replace addPrior<> with addPrior
|
2020-04-12 13:10:09 -04:00 |
|
alescontrela
|
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 |
|
alescontrela
|
f4525b51e4
|
Change PriorFactor includes from gtsam/slam to gtsam/nonlinear
|
2020-04-10 22:26:22 -04:00 |
|
alescontrela
|
9887d4467c
|
Replace push_back with emplace_shared. Address PR feedback.
|
2020-04-10 21:32:19 -04:00 |
|
alescontrela
|
b266287cca
|
Add addPrior method to NonlinearFactorGraph and corresponding unit test.
|
2020-04-10 13:01:26 -04:00 |
|
Jose Luis Blanco Claraco
|
b622262acf
|
printError(): allow custom factor filter
|
2020-04-10 00:35:53 +02:00 |
|
Jose Luis Blanco Claraco
|
76b29b78af
|
Prefer C++11 nullptr
|
2020-04-06 23:31:05 +02:00 |
|
Frank Dellaert
|
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 |
|
Varun Agrawal
|
ca4daa0894
|
Merge pull request #258 from borglab/deprecate-simplecamera
Replace SimpleCamera with PinholeCameraCal3_S2
|
2020-03-23 08:08:18 -04:00 |
|
Varun Agrawal
|
75d5409d78
|
follow Google style guide naming convention for Sfm related data structs
|
2020-03-06 18:02:51 -05:00 |
|
Varun Agrawal
|
719975022c
|
consistent naming scheme for SfM_Data
|
2020-03-06 17:56:32 -05:00 |
Fan Jiang
|
4babfe2491
|
Remove redundant params
|
2020-03-03 17:39:28 -05:00 |