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
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."
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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"
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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
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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
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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
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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
Vadim Indelman
Luca Carlone
Zsolt Kira
Richard Roberts
Chris Beall
Alex Cunningham
Frank Dellaert
Kyel Ok
Stephen Williams
Duy-Nguyen Ta