dellaert
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cf5f859679
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Boost optional for sensor pose
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2015-08-24 15:15:57 -07:00 |
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Frank Dellaert
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9e71ad793b
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Merged in enriquefernandezperdomo/gtsam/add_dcs_robust_kernel (pull request #180)
Add DCS robust kernel
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2015-08-21 13:41:31 -07:00 |
Christian Forster
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3ce789e577
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Fix computation of bias covariance from continous-time noise density (issue #252).
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2015-08-21 18:00:00 +02:00 |
Enrique Fernandez
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b9c63ef5df
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Fix and optimize DCS
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2015-08-20 16:03:56 -04:00 |
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Enrique Fernandez
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44ae7bfe01
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Fix generalized Geman-McClure
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2015-08-20 16:03:56 -04:00 |
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Enrique Fernandez
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6cdc1de268
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Use fabs in Huber condition
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2015-08-20 15:45:12 -04:00 |
cbeall3
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8b4228fa56
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Make smart parameters public. Now easier to set, and it's sufficient for this to be const within the smart factor itself!
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2015-08-19 10:58:35 -04:00 |
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cbeall3
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c8df985e2f
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Relax test tolerance a bit for quaternion mode
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2015-08-19 07:30:14 -04:00 |
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cbeall3
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1727b60728
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Fixed and cleaned up unit test
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2015-08-19 00:11:35 -04:00 |
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Enrique Fernandez
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47d787b478
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Add DCS & Geman-McClure unit tests
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2015-08-18 22:46:36 -04:00 |
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Enrique Fernandez
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2969d61519
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Add Geman-McClure robust kernel
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2015-08-18 22:46:36 -04:00 |
|
Enrique Fernandez
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7d256ff2fb
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Add DCS robust kernel
DCS (Dynamic Covariance Scaling) from Robust Map Optimization (Agarwal13icra)
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2015-08-18 22:46:36 -04:00 |
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cbeall3
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1279038c77
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Add Stereo triangulation comparison with expression factor
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2015-08-16 20:29:23 -04:00 |
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cbeall3
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d9ae402168
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fix TriangulationFactor bug (for stereo camera), and add new unit tests and comparisons
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2015-08-16 18:14:19 -04:00 |
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cbeall3
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321a7dbb11
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call print in Base
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2015-08-16 16:34:10 -04:00 |
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Chris Beall
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2146eb1b45
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Merged in enriquefernandezperdomo/gtsam/fix_load2D_modelInFile (pull request #179)
Fix use model in file, in load2D
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2015-08-11 21:17:37 -04:00 |
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Enrique Fernandez
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fdacba92c5
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Fix use model in file, in load2D
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2015-08-11 15:25:35 -04:00 |
Duy-Nguyen Ta
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2d251c6411
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make one MC test passed by using non-zero random seeds and increasing the number of samples
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2015-08-10 21:03:21 -04:00 |
Luca
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90ea83aa38
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printing covariance
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2015-08-10 19:30:25 -04:00 |
|
Luca
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7bb819437f
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added comments
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2015-08-10 19:29:55 -04:00 |
|
dellaert
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7fc1befdca
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Two different random seeds for better Monte-Carlo
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2015-08-09 11:43:26 -07:00 |
|
dellaert
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a3032fe367
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Params::print, and comments
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2015-08-09 11:23:34 -07:00 |
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dellaert
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887c0d8f59
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Added .cpp file and a print for parameters
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2015-08-09 11:23:12 -07:00 |
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dellaert
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9af69254b2
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Refactored arm correction but there is still a difference in regression values. Did I introduce a bug?
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2015-08-04 08:31:47 -07:00 |
|
dellaert
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3ae998d31d
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Renamed to make frame clear
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2015-08-04 07:32:10 -07:00 |
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dellaert
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18d0966630
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more Monte Carlo
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2015-08-01 17:21:34 -07:00 |
|
dellaert
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b8f05e1e35
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More tests
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2015-08-01 17:21:15 -07:00 |
|
dellaert
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f8df938b30
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New naming, old derivative code
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2015-08-01 17:17:23 -07:00 |
|
dellaert
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7224162e60
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More Monte Carlo...
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2015-07-31 21:04:16 -07:00 |
|
dellaert
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b26bfb27ac
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Removed F/G tests: derivatives no longer matched and are checked at a lower level anyways.
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2015-07-31 15:42:22 -07:00 |
|
dellaert
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7901077a7a
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refactoring F and G
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2015-07-31 15:32:16 -07:00 |
|
dellaert
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8aca431913
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const update method
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2015-07-31 15:31:45 -07:00 |
|
dellaert
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325ede23fe
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BIG: switch to NavState delta pose
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2015-07-31 15:08:12 -07:00 |
|
dellaert
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e3d36da188
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Switched argument order
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2015-07-31 13:33:23 -07:00 |
|
dellaert
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628a4cc4cc
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Removed inheritance from PreintegratedRotation
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2015-07-31 11:43:53 -07:00 |
|
dellaert
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dd468ab495
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Inlined rotation part
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2015-07-31 11:31:01 -07:00 |
|
dellaert
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c40ffa0174
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Some more documentation
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2015-07-31 06:37:39 -07:00 |
|
dellaert
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3cdf8973d4
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Monte Carlo analysis
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2015-07-30 22:50:06 -07:00 |
|
dellaert
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91eeede05a
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Better documentation, and conditional evaluation of derivatives
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2015-07-30 21:55:40 -07:00 |
|
dellaert
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2ad50ab86e
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More efficient derivatives
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2015-07-30 09:48:00 -07:00 |
|
dellaert
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cefc441fba
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bodyVelocity and working update derivatives
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2015-07-30 09:39:25 -07:00 |
|
dellaert
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13f8935c52
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update prototype
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2015-07-30 08:05:39 -07:00 |
|
dellaert
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9c35c931f6
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Modernized test
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2015-07-29 21:53:18 -07:00 |
|
dellaert
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7149b8ee42
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Avoid duplicate calculation of D_acc_R
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2015-07-29 21:21:03 -07:00 |
|
dellaert
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e5ace26d5f
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Split method in const and non-const part
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2015-07-29 21:04:11 -07:00 |
|
dellaert
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d0467c53dd
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Use PreintegratedRotation::integrateMeasurement
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2015-07-29 20:40:19 -07:00 |
|
dellaert
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aebe8161dd
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Strengthened AHRS tests
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2015-07-29 16:14:42 -07:00 |
|
dellaert
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0b4919e099
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Refactoring of integrateMeasurement to reduce copy/paste
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2015-07-29 15:49:03 -07:00 |
|
dellaert
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75cc3020eb
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Fixed all but sensor_pose error
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2015-07-29 12:01:22 -07:00 |
|
dellaert
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2a9e1db4cb
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Merge branch 'feature/cleanup_ImuFactor' into noiseModelMixup
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2015-07-29 11:54:16 -07:00 |