dellaert
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2f2cc078dc
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Deal with possibility of degenerate E version (M*2 rather than M*3)
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2015-03-04 10:55:39 -08:00 |
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dellaert
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cc4083d33e
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Fixed global replace error
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2015-03-04 10:28:26 -08:00 |
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dellaert
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216b5ae62b
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Fixed a large number of issues in test with switch to PinholePose
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2015-03-04 10:21:58 -08:00 |
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dellaert
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f3c8b1ac9a
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Removed print
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2015-03-04 10:21:32 -08:00 |
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dellaert
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32722fcd83
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Got rid of linking mess, made Pose concept
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2015-03-04 10:21:22 -08:00 |
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dellaert
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bcae38554c
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Fixed formatting
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2015-03-04 10:20:59 -08:00 |
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dellaert
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6fc208b8d2
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Comment out linear solve (throws)
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2015-03-03 22:27:23 -08:00 |
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dellaert
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8e818a4cfd
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Fixed types in debug mode
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2015-03-03 22:24:48 -08:00 |
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dellaert
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c4e1c1fdad
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Excepted cmake line on Mac - generates error
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2015-03-03 19:18:46 -08:00 |
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dellaert
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59ab204f9d
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Merge branch 'TriangulationResult' into feature/SmartFactors3
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2015-03-02 08:54:54 -08:00 |
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dellaert
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ca18c13cd2
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Most factors now work out for sigma=1 and sigma=0.1
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2015-03-02 08:53:07 -08:00 |
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dellaert
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11a6ba412c
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Smore more refactoring to RegularImplicit..
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2015-03-02 08:52:35 -08:00 |
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dellaert
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05fcbe6556
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Augmented and regular information now implemented
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2015-03-01 17:15:42 +01:00 |
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dellaert
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bb58814f1c
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Moved static functions to RegularImplicit and now use templates
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2015-03-01 16:10:48 +01:00 |
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dellaert
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94c70dd7bc
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Now a function
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2015-03-01 15:43:53 +01:00 |
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dellaert
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e30919bc27
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Moved static functions here, templated on measurement dimension Z
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2015-03-01 15:42:21 +01:00 |
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dellaert
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d732a01e03
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Convert to static functions
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2015-03-01 15:03:18 +01:00 |
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dellaert
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b94279f37f
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numKeys -> m
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2015-03-01 14:35:54 +01:00 |
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dellaert
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cee64e3853
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Made sure all refer to the same information matrix
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2015-03-01 14:28:31 +01:00 |
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dellaert
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6a024259e5
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Switched to (i,j) instead of (i1,i2)
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2015-03-01 14:28:13 +01:00 |
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dellaert
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575a06b042
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Added my name
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2015-03-01 14:27:37 +01:00 |
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dellaert
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8fe612ca71
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whitenJacobians
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2015-03-01 14:26:10 +01:00 |
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dellaert
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754e8447b1
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Made tests compile and succeed
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2015-03-01 13:48:47 +01:00 |
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dellaert
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e15231fb3e
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Fixed bug (restored omitted triangulateSafe call)
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2015-03-01 13:48:17 +01:00 |
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dellaert
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0ee6e4beb3
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Merge branch 'NewSmartTests' into TriangulationResult
Conflicts:
gtsam/slam/tests/testSmartProjectionCameraFactor.cpp
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2015-03-01 13:47:28 +01:00 |
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dellaert
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47ea3834df
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Extra tests
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2015-03-01 13:13:31 +01:00 |
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dellaert
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2cc0223624
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Made tests compile with TriangulationResult changes
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2015-03-01 12:06:46 +01:00 |
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dellaert
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bc6069a94b
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Now using TriangulationResult
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2015-03-01 12:06:26 +01:00 |
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dellaert
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83d0bd414d
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Introduced TriangulationResult
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2015-03-01 12:06:16 +01:00 |
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dellaert
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69e56cee1c
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Everything moved to triangulation, PinholeSet eviscerated.
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2015-02-26 15:54:50 +01:00 |
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dellaert
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262b42e829
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Now complete functional triangulateSafe
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2015-02-26 15:33:43 +01:00 |
|
dellaert
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61ba2f080c
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made print virtual
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2015-02-26 15:33:27 +01:00 |
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dellaert
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3b808e644b
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Removed a lot of obsolete code
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2015-02-26 15:01:25 +01:00 |
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dellaert
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0a75da9858
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PinholeSet first draft: a CameraSet that assumes PinholeBase-derived CAMERA: knows how to triangulate. First draft is still imperative, with mutable point_, and that might change.
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2015-02-26 14:50:52 +01:00 |
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dellaert
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b8d39e8aea
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Removed obsolete sharedKs
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2015-02-26 14:19:36 +01:00 |
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dellaert
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be26d99f1e
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Moved to less intrusive spot
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2015-02-26 14:19:22 +01:00 |
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dellaert
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f639ae0d7c
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Ignore generated files
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2015-02-26 13:55:32 +01:00 |
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dellaert
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a375e7b5be
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RADICAL2: The SmartProjectionPoseFactor (soon to be renamed SmartPinholePoseFactor, if it survives at all) now no longer stores shared calibrations. Values expect to contain PinholePoses not Pose3s now. The current state of affairs was simply a bug: one pose could be optimized for several different calibrations. It relied on the user to make sure all measurements for a specific pose to optimize were all given the same shared calibration, which was then stored *millions of times* in the pose factors. Instead, there is now *one* shared calibration per PinholePose unknown.
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2015-02-26 13:55:16 +01:00 |
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dellaert
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a132d959f5
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RADICAL: Got rid of sensor_pose. In the new PinholePose philosophy, this is entirely the responsibility of the CAMERA. Just like PinholePose, we can have a camera class that has a shared extra transform: it is part of the calibration. PinholePose itself is not able to do this, as the calibration is assumed 2D only, but it's easy to create a class and have the correct derivatives in place.
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2015-02-26 12:06:43 +01:00 |
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dellaert
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0bf95ae7f6
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Removed obsolete code, including slow Schur-complement versions
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2015-02-26 11:44:51 +01:00 |
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dellaert
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fd71974ff3
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Got mostly rid of computeEP: just a call to cameras.project2
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2015-02-25 20:52:16 +01:00 |
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dellaert
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850470ef06
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rename of computeJacobians overloads to better reflect functionality
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2015-02-25 19:30:17 +01:00 |
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dellaert
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c5394da29e
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Better print of isotropic
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2015-02-25 19:29:12 +01:00 |
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dellaert
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3d85bf8e1f
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Removed testSmartProjectionFactor.run target
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2015-02-25 19:28:59 +01:00 |
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dellaert
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f7292488c4
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Made RegularImplicitSchurFactor fully functional, and whitened again.
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2015-02-25 14:00:21 +01:00 |
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dellaert
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d7b5156dcc
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rename to reprojectionErrorAfterTriangulation
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2015-02-25 01:14:36 +01:00 |
|
dellaert
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694e6e903c
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Fixed template issue
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2015-02-25 01:00:46 +01:00 |
|
dellaert
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b3d0b1809c
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Fixed some compilation issues
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2015-02-24 21:55:37 +01:00 |
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dellaert
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c4095d2ed9
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Fixed linking
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2015-02-24 14:44:01 +01:00 |
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dellaert
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301e827454
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Switched back to PinholeCamera (though I'm not thrilled)
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2015-02-24 14:23:44 +01:00 |