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326 Commits (2e9b51aff1d3cfe1058616e4cd98a307f6699de5)

Author SHA1 Message Date
lcarlone 10260253b3 trying to fix CI error 2021-04-03 21:01:53 -04:00
lcarlone 038c1c0b8e added extra unit test 2021-04-03 17:33:12 -04:00
lcarlone 282aa1a0a9 Merge branch 'develop' into feature/smartFactorsWithExtrinsicCalibration 2021-04-03 17:16:04 -04:00
lcarlone 5677bdb6c1 need to clean up templates and remove 2 redundant lines 2021-03-29 22:58:29 -04:00
lcarlone 2e1ed2c852 1 test to go! 2021-03-28 20:07:29 -04:00
lcarlone 2c1b780a4f 2 tests to go 2021-03-28 20:03:02 -04:00
lcarlone 81aad1977c works now!! 2021-03-27 23:03:05 -04:00
lcarlone 8ca3d475c8 now I have a working prototype! 2021-03-27 22:28:35 -04:00
lcarlone 8b4a74efff test still failing 2021-03-26 22:33:15 -04:00
Milo Knowles a0ff5e3886 Add LocalCoordinates() to ProductLieGroup and remove unnecessary <Eigen/Core> include to reduce compile memory 2021-03-26 14:36:43 -04:00
Milo Knowles 74b92efd89 Add constructor tests and extend tests to Pose2 2021-03-26 09:55:25 -04:00
Milo Knowles ef2cd5dab5 Fix x/y mismatch in unit tests 2021-03-26 08:59:44 -04:00
lcarlone b3c828f8d2 amended 2021-03-25 21:42:28 -04:00
lcarlone 7c052ff48a fixed print, removed cout, test still failing 2021-03-25 21:37:13 -04:00
lcarlone 4df78be0f0 Merge branch 'develop' into feature/smartFactorsWithExtrinsicCalibration 2021-03-22 19:19:23 -04:00
lcarlone 00eee7cd19 removed tests that are not applicable - merging to develop now 2021-03-22 19:18:44 -04:00
lcarlone d8eeaf9cb3 adding test with single key 2021-03-22 19:16:31 -04:00
lcarlone 3d1c170860 fixed optimization test: now we have to (i) allow reuse of same calibration, (ii) enable all other tests, (iii) remove cout 2021-03-21 19:39:37 -04:00
lcarlone 7a30d8b4d4 trying to fix crucial test 2021-03-21 19:34:21 -04:00
lcarlone 483a1995ba solving key problem 2021-03-21 19:12:40 -04:00
Milo Knowles e6b7d9f133 Add successful unit test for identity pose 2021-03-20 17:57:10 -04:00
Milo Knowles 075293cf83 Three examples of failing PartialPriorFactor<Pose3> Jacobians 2021-03-20 17:44:03 -04:00
lcarlone 2132778edc pipeline up and running, need to fix Jacobians next, then Schur complement 2021-03-13 22:34:37 -05:00
lcarlone dbc10ff227 isolated schur complement! 2021-03-13 21:51:39 -05:00
lcarlone 8a37a86441 test failure: now we can start computing jacobians 2021-03-13 18:12:12 -05:00
lcarlone c1da490c2d got it! 2021-03-13 18:10:03 -05:00
lcarlone 0194e3df94 fixed unit test 2021-03-13 17:55:24 -05:00
lcarlone f234ad516e moving to noisy tests 2021-03-13 17:49:08 -05:00
lcarlone f0b5b244ad moving to other tests 2021-03-13 17:40:53 -05:00
lcarlone 0c50c963a1 error computation also looks fine! 2021-03-13 17:36:53 -05:00
lcarlone c965ce6be0 fixed equals 2021-03-13 17:20:39 -05:00
lcarlone 266d8248d0 simple tests are passing, but now we start on the serious ones 2021-03-13 14:03:10 -05:00
lcarlone 273d2da567 compiles and all tests pass!! 2021-03-13 13:54:23 -05:00
lcarlone f7a84ff9f3 added test 2021-03-13 12:46:18 -05:00
David Wisth 8f18ce931b Add inline comments on commented-out unit tests 2021-02-20 23:13:43 +00:00
David Wisth 5b0bd08e7b small tidy and fix unit tests 2021-02-16 18:21:53 +00:00
David Wisth 960a3e1d8e Tidy up comments and use cpplint 2021-02-16 11:48:26 +00:00
David Wisth 7480d149c8 Update documentation on new factor 2021-02-15 15:08:57 +00:00
David Wisth a62bdd45e8 Add new oriented plane 3 factors with local linearisation point 2021-02-15 13:15:11 +00:00
David 0ee4e3b77e Add more documentation and clang-format 2020-06-20 09:45:24 +10:00
David c422815b94 Update incorrect test name 2020-06-20 09:03:17 +10:00
David 0a44315a7f Add Pose3-Point3 factor 2020-06-20 08:46:06 +10:00
alescontrela 93ba522582 Remove any unnecessary PriorFactor.h includes 2020-04-12 13:42:02 -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
Frank Dellaert 0c2890b815
Merge pull request #252 from borglab/feature/TOA 
Time of arrival measurements
 2020-03-25 16:41:02 -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
Frank Dellaert f3865539c6 Refactor TOAFactor and test 2020-03-18 15:44:33 -04:00
Frank Dellaert 2087075ee7 Transitioned toa method to a functor 2020-03-17 14:34:11 -04:00
Frank Dellaert 8e81890f9b eradicated last vestiges of boost/random in gtsam_unstable 2020-02-28 07:21:54 -08:00
Varun Agrawal d9923fc3cc replaced/appended all calls to SimpleCamera with PinholeCameraCal3_S2 2020-02-21 19:42:55 -05:00
Frank Dellaert c007c7715c Duplicate measurements are disallowed -> leads to duplicate keys in JacobianFactor 2019-06-11 20:42:35 -04:00
Jose Luis Blanco Claraco a1096a6f3b Fix bug: iSAM2 won't update() with smart factors 2019-05-27 12:26:54 +02:00
Jose Luis Blanco Claraco 77d56cb2eb Add iSAM2+Stereo factor unit test to reveal bug #10 
fix test
 2019-05-27 12:26:53 +02:00
Frank Dellaert 8801de4d63 Pose3 naming convention 2019-05-16 15:06:15 -04:00
Duy-Nguyen Ta 1cdc228d6a remove trailing spaces 2019-02-11 10:58:34 -05:00
Frank Dellaert 2aa43e11bd Use KeyVector everywhere to avoid conversions 2018-11-08 10:10:32 -05:00
Sean Bowman b04c0bb15d Fix memory alignment issues 2018-07-13 14:31:02 -04:00
Luca Carlone fbb9d3bdda Merged in feature/heterogeneousSmartFactorNoise (pull request #271) 
Feature/heterogeneoussmartfactornoise

Approved-by: Chris Beall
Approved-by: Jing Dong
 2017-03-12 05:50:08 +00:00
Yao Chen 249d6b0b1b Replaced graph.push_back with graph.emplace_shared if needed. 2016-10-01 11:17:41 -04:00
lcarlone edcf94591d added functions to get/set smart stereo parameters with unit test 2016-08-06 23:27:54 -04:00
lcarlone a93c1e86f2 Merge remote-tracking branch 'origin/feature/heterogeneousSmartFactorNoise' into feature/heterogeneousSmartFactorNoise 2016-08-02 18:50:54 -04:00
lcarlone e54159c695 Merge branch 'develop' into feature/heterogeneousSmartFactorNoise 
# Conflicts:
#	gtsam_unstable/slam/SmartStereoProjectionFactor.h
 2016-08-02 18:50:18 -04:00
Luca 938454916f improved test, and slightly loosened tolerance when using MKL 2016-07-31 20:10:31 -04:00
Luca 6a21f1b730 adapted stereoSmart factors to use "outlier" and "far point" statuses 2016-07-31 18:31:38 -04:00
Luca 20c13580cc deleted unused variables in unit test 2016-07-29 16:34:18 -04:00
lcarlone 50d6532fe1 the ultimate test: smartStereoFactors generalize smartFactors in that they work in the purely monocular case! 2016-07-27 23:48:58 -04:00
lcarlone a5138bfb46 included body_P_sensor in smartStereoProjectionPoseFactor! 2016-07-25 22:13:25 -04:00
Luca 6c163b0a4d added test which optimize smartStereoFactor with missing measurements (uR) 2016-07-24 19:07:00 -04:00
Luca b90e224f59 added tests for error and triangulation 2016-07-24 18:56:04 -04:00
Luca cd9b4cd5ab moved common definitions to base class 2016-07-24 18:31:55 -04:00
Luca 3c15ef5d1e great simplification in stereo triangulation: converting stereo into a set of monocular cameras, then proceed as in the monocular case 2016-07-24 16:11:07 -04:00
Alex Hagiopol b6728ef620 Deprecated Vector ones(size_t n). All unit tests pass. 2016-04-15 17:30:54 -04:00
Alex Hagiopol 76308a5d46 Deprecated Vector zero(size_t n). All unit tests pass. 2016-04-15 16:54:46 -04:00
Frank Dellaert 652edb6e61 Merged in fix/DeprecateMatrixFunctions (pull request #243) 
Fix/deprecatematrixfunctions
 2016-04-12 23:53:42 -07:00
Alex Hagiopol 70b2aab352 Deprecated all inline functions in Matrix.h. 2016-04-11 15:11:29 -04:00
dellaert a3b66a94ea Cleaned up Double_ problems 2016-04-10 19:01:14 -07:00
Frank 0372a959ee Many small improvements, bug-fixes, and tests 2016-02-24 11:01:19 -08:00
dellaert 1c920967d9 No more use of vector() or default constructor 2016-02-12 00:06:07 -08:00
dellaert 56dbf487ee Fixed more default constructor calls 2016-02-11 23:31:17 -08:00
Frank 94ccf98985 Avoid default constructor in tests 2016-02-11 19:01:54 -08:00
Frank Dellaert 4d93a33f61 Static methods should be uppercase. 2016-01-26 23:09:58 -08:00
cbeall3 29ad9478f7 Move noise model initialization from add function into constructor. Can only have one noise model per factor anyway 2015-08-26 13:02:39 -04:00
cbeall3 0503df31fa Relax tolerance to 1e-6 for MKL/quaternion test, and fix up documentation a bit. 2015-08-25 12:14:52 -04:00
Chris Beall 6a5147b5b5 Merged in fix/SmartStereo (pull request #181) 
Fix/smartstereo
 2015-08-25 09:51:59 -04:00
cbeall3 c8df985e2f Relax test tolerance a bit for quaternion mode 2015-08-19 07:30:14 -04:00
cbeall3 1727b60728 Fixed and cleaned up unit test 2015-08-19 00:11:35 -04:00
cbeall3 fd1e41a9e6 remove calibration template from SmartStereoProjectionPoseFactor 2015-07-28 15:12:02 -04:00
cbeall3 db64b48fda tests pass 2015-07-28 14:48:53 -04:00
cbeall3 7ae31bd8e7 delete some unused stuff 2015-07-20 11:43:57 -04:00
cbeall3 b5a978c534 improve dynamic outlier rejection test 2015-07-19 21:01:14 -04:00
cbeall3 fcc9ac2669 remove extra cout 2015-07-19 20:39:34 -04:00
cbeall3 36c652ac40 remove monocular triangulation hack and make tests pass again 2015-07-19 20:37:16 -04:00
cbeall3 bd4dd84933 huge refactor. Compiles again, but triangulation still broken, SmartStereo test fails 2015-07-15 16:53:04 -04:00
cbeall3 fb4dd81c4d refactoring: step 1 2015-07-15 12:58:03 -04:00
Frank Dellaert 30435da070 Moved BearingRangeFactor to SAM 2015-07-12 18:57:26 -07:00
Frank Dellaert 7ff3e11efd removed redundancy in naming 2015-07-09 11:29:32 -07:00
Frank Dellaert 3b16ad2967 Moved deprecated headers into subdirectory 2015-07-09 11:14:39 -07:00
Frank Dellaert 377b90941b switch to Rodrigues everywhere 2015-07-05 16:11:04 -07:00