48c7e49e84
Merge branch 'origin/feature/2.4.0/EssentialMatrixConstraint'
2014-01-05 17:16:13 -05:00
5f8bb217d7
Moved implementation to .cpp file
2014-01-05 16:54:35 -05:00
832a6fe5c7
New "between factor" that is agnostic about scale.
2014-01-05 16:46:22 -05:00
3cd45be423
Named constructor FromPose3, with Jacobians
2014-01-05 16:26:19 -05:00
fd9805c64f
Named constructor FromPoint3, with optional Jacobian
2014-01-05 16:25:47 -05:00
2acffe885e
normalize
2014-01-05 16:25:14 -05:00
651dd3e931
Added a unit test for EssentialMatrixFactor3 with LevenbergMarquardt optimization
2014-01-04 11:59:57 -05:00
f8fbfaea50
Use precisions_ where possible
2014-01-04 10:14:59 -05:00
aa6aee1157
Fixed two "unused" warnings
2014-01-04 10:14:22 -05:00
902c48d4f1
Fixed small comment
2014-01-04 09:46:52 -05:00
d8b68c6fab
Merged in feature/2.4.0/extrinsicE (pull request #2 )
...
A third factor for essential matrices, now with an extrinsic calibration (rotation only)
2014-01-03 23:18:08 -05:00
fe3177c257
Extra constructor with calibration, unit tested
2014-01-03 23:12:04 -05:00
4f81d110f1
Moved new class EssentialMatrixFactor3 into header
2014-01-03 22:22:48 -05:00
861bd148e9
evaluateError Jacobians now implemented and unit tested
2014-01-03 22:17:05 -05:00
5ae65d3f3a
Derivatives of rotate work (at least, part that matters: not yet with respect to rotation)
2014-01-03 19:54:43 -05:00
b839387028
Evaluation works
2014-01-03 18:10:06 -05:00
5002f3da8a
Moved to header as friend function
2014-01-03 17:49:45 -05:00
d6864b0478
Rotate, without derivatives
2014-01-03 17:46:36 -05:00
4b538d9648
Conjugation
2014-01-03 17:45:45 -05:00
3afc4eb651
Merged in feature/2.4.0/precisions (pull request #1 )
...
Better noise model for updateAtA using precisions
2014-01-03 17:23:05 -05:00
18dfd70295
Removed excess baggage, and added templated constructor with calibration parameter
2014-01-03 16:08:38 -05:00
f54861f851
Made it more clear that Rotation constructor takes columns.
2014-01-03 15:56:45 -05:00
29085b94a2
Check invsigmas and precisions indeed infinity in case of constrained models
2014-01-02 18:38:47 -05:00
6f64b20a5b
The precisions are used many many times in HessianFactor::updatATA, so I added them to the NoiseModel. The invsigmas are no longer optional and hence do not cause extra allocation at every invocation. Same with precision: returns const &
2014-01-02 18:05:44 -05:00
c394f9a601
Disabled non-working smartfactors test
2014-01-02 17:32:31 -05:00
01dbca8ce1
Use Rot3 and Sphere2 random constructors to generate random E
2013-12-26 14:00:07 -05:00
a47f0a30da
Use Sphere2::Random to generate a random Rot3
2013-12-26 13:59:44 -05:00
dc8236805f
Generating random directions. Somewhat clumsy use of forward declaration, issue #19 applies as well.
2013-12-26 13:59:15 -05:00
e038fa4e6a
Do calibrate of pA in constructor (needs to happen only once)
2013-12-24 17:26:13 -05:00
606b9dce5c
Fixed bug: first point (pA) had to be calibrated and it was not.
2013-12-24 17:14:28 -05:00
707c745aad
Created second example
2013-12-24 16:47:30 -05:00
5f534aaa95
Merge branch 'origin/refineE'
2013-12-24 01:29:46 -05:00
e6a64ec5b2
Cleaned up derivatives somewhat more
2013-12-24 01:25:52 -05:00
adac9d209f
Fixed unit test (baseline of test-case was not 1, corrected for it)
2013-12-24 01:25:13 -05:00
708665ca04
Moved new factor to header; Still fails!
2013-12-24 00:52:24 -05:00
bba8368218
Added clone, minimization test; converges, but not to grund truth (which has high error)
2013-12-24 00:48:33 -05:00
d6edd1db07
Sanitized/collapsed derivatives
2013-12-24 00:36:54 -05:00
44d03e638e
Tedious derivatives, but right from the start!
2013-12-24 00:19:08 -05:00
92c1398cd2
Checked evaluation and calculation
2013-12-23 22:29:09 -05:00
ce7cf524ea
Initial unit test
2013-12-23 19:36:24 -05:00
3b4fd765ec
Merged wrap improvements back from develop branch
2013-12-23 14:41:49 -05:00
b4344cfe16
gitinspector stats
2013-12-23 13:16:17 -05:00
2601b2ad00
Merged changes from the trunk back into examples. Mostly just Vector inits and some new examples.
2013-12-23 01:41:17 -05:00
2778f2fe39
clone methods
2013-12-23 01:05:39 -05:00
5f6f4ac05a
Added a calibrate call for homogeneous coordinates
2013-12-22 21:29:32 -05:00
736e79169d
Cherry-picked devlop fixes into 2.4:
...
Fixed warning in Release mode
Added default constructor
Added .gitignore with build directory in there
Disabled GTSAM_USE_SYSTEM_EIGEN flag until patches are incorporated into Eigen
2013-12-22 16:04:47 -05:00
c149642c33
Added cmake subdirectory without history (at SVN r20364)
2013-12-22 13:08:01 -05:00
b64fa98e89
Removed cmake submodule
2013-12-22 13:07:43 -05:00
0dc1eac55c
Merged changes from the trunk back into navigation and slam. Needed some data files for tests, as well.
...
git-svn-id: https://svn.cc.gatech.edu/borg/gtsam/branches/2.4@20423 898a188c-9671-0410-8e00-e3fd810bbb7f
2013-12-21 18:34:23 -05:00
bd3126f7b4
Merged changes from the trunk back into geometry. This triggered Eigen merge, as well as Vector/Matrix in base. Next up: slam, unstable.
...
git-svn-id: https://svn.cc.gatech.edu/borg/gtsam/branches/2.4@20422 898a188c-9671-0410-8e00-e3fd810bbb7f
2013-12-21 18:34:23 -05:00
Frank Dellaert
Frank Dellaert
Frank Dellaert
Richard Roberts
Frank Dellaert