3a264ecc8c
.cproject from develop
2015-06-23 09:30:59 -04:00
cd6c5ca0bd
using parameters in smart projection factors constructors.. breaking the API, but now is way more elegant
2015-06-19 18:09:39 -04:00
f8205bfe02
Merge branch 'develop' into feature/SmartFactors3
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Conflicts:
gtsam/geometry/CalibratedCamera.h
gtsam/geometry/tests/testCalibratedCamera.cpp
gtsam/geometry/triangulation.h
gtsam/nonlinear/ExpressionFactor.h
gtsam/slam/SmartProjectionFactor.h
gtsam_unstable/slam/SmartStereoProjectionFactor.h
tests/testExpressionFactor.cpp
2015-06-19 16:55:30 -04:00
2d9fddbcaa
made cameras virtual and simplified pose factor (with Frank)
2015-06-19 15:33:18 -04:00
dcce21639f
included new constructors (still commented out)
2015-06-19 14:59:33 -04:00
f1e5c61762
adding parameter structure
2015-06-19 13:10:42 -04:00
917e7c177d
fixed examples
2015-06-19 13:10:34 -04:00
78c8160dc5
all tests pass and it compiles (yuppii!), but if I make check I get errors with isManifold and something that seems unrelated to smart factors. going to merge with develop
2015-06-19 12:06:45 -04:00
fb7bc12c84
most unit tests fixed - 2 to go, now sensor_T_body is in the base class, probably not the best choice
2015-06-19 11:42:51 -04:00
100016e3af
put sensor_T_body in SmartProjectionFactor
2015-06-19 10:39:59 -04:00
756d1d29b7
fixing key unit tests - still failures in the optimization
2015-06-18 17:23:39 -04:00
66083f5e18
included calibration in constructor SmartProjectionPoseFactor
2015-06-18 16:33:17 -04:00
391386a654
revived SmartProjectionPoseFactor. Compiles now, going to fix unit tests now
2015-06-18 16:00:54 -04:00
cfa656c2b9
Merged in feature/prohibitTimingTBB (pull request #158 )
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Prohibit Timing build mode with TBB.
2015-06-17 17:00:36 -04:00
e7d10b8080
Merged in fix/zeroRowInQR (pull request #155 )
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Change in QR factorization
2015-06-17 13:59:28 -07:00
0f02b7d473
Prohibit Timing build mode with TBB. See issue #173
2015-06-17 16:23:27 -04:00
19bc1cd686
Merged in fix/sparse_jacobian_output (pull request #121 )
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fixed sparseJacobian() to use a std::map such that it works with symbol keys
2015-06-17 12:17:59 -04:00
a9339baef0
Merged develop into fix/sparse_jacobian_output
2015-06-17 08:37:55 -07:00
82f6ca64a5
Merge remote-tracking branch 'origin/develop' into fix/zeroRowInQR
2015-06-15 01:09:19 -07:00
b68f763fe7
Merged in feature/LinearSolverCleanup (pull request #148 )
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This has
- Separate Scatter class
- change from updateATA to updateHessian as a virtual method
- Fixed-size BinaryJacobianFactor that overloads updateHessian
- SFM Timing Script that takes BAL files
2015-06-15 01:08:02 -07:00
33e412f2ee
Code review
2015-06-15 01:05:48 -07:00
f523db2d98
IMPORTANT CHANGE/BUGFIX: QR elimination now (I think properly) leaves a row of zeros if the RHS after QR contains a non-zero. A corresponding change in the error calculation makes that Jacobian and Hessian factors now agree on error. I think this was a bug, because it affected the error, but (I think) it only pertained to "empty" JacobianFactors which have no bearing on optimization/elimination.
2015-06-15 00:55:53 -07:00
83171b6096
New example
2015-06-14 23:07:28 -07:00
51433c1ec2
Merged in feature/cleanupBase (pull request #154 )
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Some cleanup in base
2015-06-14 20:42:13 -07:00
75e072396c
Refactored and renamed some internals
2015-06-14 16:05:39 -07:00
15966a65f2
Small reformat
2015-06-14 16:05:18 -07:00
a18875b598
Changed headers to GTSAM-style (near to far)
2015-06-14 16:05:09 -07:00
5771664622
Starting to diagnose issue with lower-left entry of Hessian
2015-06-14 16:01:54 -07:00
7698c52ce9
Created BinaryJacobianFactor template
2015-06-14 15:50:15 -07:00
06902209b0
Fixed bug in hessian scalar computation
2015-06-14 15:19:55 -07:00
30104a114e
More tests with failing example
2015-06-14 15:03:44 -07:00
a94c2e7323
Renamed to BinaryJacobianFactor
2015-06-14 15:02:48 -07:00
9fcd498d6a
BORG formatting
2015-06-14 13:37:51 -07:00
8c22684bbb
Went back to base 1, and used constructors for blocks (cleaner)
2015-06-14 13:02:44 -07:00
df226fc436
No longer store my own matrices but get same performance using block
2015-06-14 12:54:18 -07:00
e045a5e1f7
Added more powerful tests on updateHessian
2015-06-14 12:53:20 -07:00
850501ed52
BORG Formatting
2015-06-14 11:16:54 -07:00
2c99f68ed7
Some formatting/cleanup before fixing bug
2015-06-14 10:56:22 -07:00
4909fef21a
Fixed issue
2015-06-13 20:20:33 -07:00
4e1a0edb0a
Reverted back to vector to avoid troubles w TBB
2015-06-13 20:19:44 -07:00
107ed37e0c
Merge branch 'justKeys' into feature/LinearSolverCleanup
2015-06-13 16:23:45 -07:00
d0775faeba
Save slots to bring cost down from O(n^3) to O(n^2) - again, in theory. In practice, it did seem to help for larger HessianFactors (as expected).
2015-06-13 12:26:10 -07:00
f6575323d6
Sidestep Scatter altogether and just use HessianFactor keys_. In theory, n^3 lookup cost, but in practice (as keys is contiguous memory) just as fast as map.
2015-06-13 12:06:13 -07:00
08f30966dd
Got rid of obsolete getSlots method
2015-06-13 11:03:12 -07:00
6f78e00812
Merge branch 'slotMethod' into feature/LinearSolverCleanup
2015-06-13 09:17:18 -07:00
c8cff296fb
Don't bother making an array
2015-06-13 09:01:13 -07:00
68d9905359
Merged in feature/stereocamera_backproject_addJacobian (pull request #153 )
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Add optional jacobians to StereoCamera backprojection
2015-06-12 17:29:26 -04:00
abe6b9cec6
change 'world' to 'point'
2015-06-12 17:27:36 -04:00
3d18d70d69
change naming for local_point & world_point
2015-06-12 16:55:38 -04:00
8440e3c3b2
cool, a simplified D_local_z jacobian
2015-06-12 16:53:32 -04:00
cbeall3
Luca
Frank Dellaert
Frank Dellaert
zhaoyang