86d1d42c36
Fix CCOLAMD base cases for 0 and 1 variables
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In both cases there's no need to find out any ordering at all:
- For 0 variables, an empty Ordering is returned.
- For 1 variable, an Ordering with that 1 variable is returned.
2016-08-04 09:22:14 -04:00
e0869719fa
now SmartFactorBase doesn't know about stereoPoint2 (removed also header). The functionality to check if the right pixel is missing has been moved to SmartStereoProjectionFactor, removing the casting.
2016-08-02 22:56:48 -04:00
a93c1e86f2
Merge remote-tracking branch 'origin/feature/heterogeneousSmartFactorNoise' into feature/heterogeneousSmartFactorNoise
2016-08-02 18:50:54 -04:00
e54159c695
Merge branch 'develop' into feature/heterogeneousSmartFactorNoise
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# Conflicts:
# gtsam_unstable/slam/SmartStereoProjectionFactor.h
2016-08-02 18:50:18 -04:00
25bf277cde
Merged in fixSmartFactorExample (pull request #270 )
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added functionalities to smart factors
2016-08-02 11:47:24 -07:00
938454916f
improved test, and slightly loosened tolerance when using MKL
2016-07-31 20:10:31 -04:00
9336c0b8c0
added comment and made variables const when possible
2016-07-31 18:47:30 -04:00
55ccc66de2
added comment
2016-07-31 18:43:35 -04:00
f009633384
exposed point status in smart factors to keep uniformity with mono smart factors
2016-07-31 18:33:58 -04:00
6a21f1b730
adapted stereoSmart factors to use "outlier" and "far point" statuses
2016-07-31 18:31:38 -04:00
0b4927cafe
exposed new degeneracy flags in smart factors (they were already exposed in triangulation and only partially exposed in smart factors)
2016-07-31 18:22:49 -04:00
c9e43e7435
bug fix: added check on whether to modify Jacobians, depending on whether they are boost::none or not
2016-07-29 16:40:30 -04:00
20c13580cc
deleted unused variables in unit test
2016-07-29 16:34:18 -04:00
76353cb10d
fixed bug with smart measurement calling .vector(): Point2 does not admit .vector() for some cmake configuration. Using using casting: more elegant now!
2016-07-29 12:14:09 -04:00
bb32cadfb0
minor fix
2016-07-28 17:20:34 -04:00
50d6532fe1
the ultimate test: smartStereoFactors generalize smartFactors in that they work in the purely monocular case!
2016-07-27 23:48:58 -04:00
b82af4f5cc
got rid of vector() as suggested by Chris
2016-07-26 10:54:07 -04:00
a5138bfb46
included body_P_sensor in smartStereoProjectionPoseFactor!
2016-07-25 22:13:25 -04:00
6c163b0a4d
added test which optimize smartStereoFactor with missing measurements (uR)
2016-07-24 19:07:00 -04:00
b90e224f59
added tests for error and triangulation
2016-07-24 18:56:04 -04:00
cd9b4cd5ab
moved common definitions to base class
2016-07-24 18:31:55 -04:00
f2bec78a58
first implementation of smartStereo with possibly left-only pixel measurements
2016-07-24 18:27:20 -04:00
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
8acc331663
Merge branch 'develop' into fixSmartFactorExample
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# Conflicts:
# gtsam/geometry/triangulation.h
2016-07-24 15:07:28 -04:00
5e9dfdd0b6
deleted example (that I added at some point) since it is identical to SFMExample_SMartFactor
2016-07-24 14:57:59 -04:00
ca18fc2c0a
Merge branch 'develop' into fixSmartFactorExample
2016-07-24 14:43:56 -04:00
4f37edaeb9
added tests to check correct use of landmarkDistanceThreshold and dynamicOutlierRejectionThreshold
2016-07-24 14:42:25 -04:00
97712b39cc
added unit test for get/set triangulation threshold
2016-07-24 14:00:31 -04:00
03fac5cd02
using max reprojection error (rather than average) for outlier rejection during triangulation
2016-07-13 17:04:23 -04:00
34c6527558
Merged in feature/append_flags (pull request #238 )
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Appended flags instead of overwriting
2016-07-12 13:57:35 -07:00
2ae903413a
Merged develop into feature/LPSolver
2016-07-01 16:43:20 -04:00
c98c772017
[TEST] added QPTest. Showcases failure to work on indeterminate linear systems.
2016-07-01 15:42:23 -04:00
15c6aa210b
[TEST] Added Remaining Failing Tests AUG2D CONT-050 HS118 HS268 HS51 HS51 HS53 HS76
2016-07-01 13:02:59 -04:00
ac1a02337e
[TEST] Added Test HS35MOD
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[FEATURE] Added support for FX bounds for QPS Parsing format.
2016-06-29 15:38:00 -04:00
4ba87c59e7
[TEST] Add HS35
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[TEST] Disabled HS118
2016-06-29 15:24:27 -04:00
adb3feeb1e
Forgot to add as a vector instead of a double.
2016-06-29 15:10:36 -04:00
54e7e84c21
[TEST] HS118 no also tests for correctness of actual solution found. Removed debug statements. QPS files with ranges now work correctly.
2016-06-29 15:08:38 -04:00
245e802959
added comment on the function of rankTolerance
2016-06-29 12:34:18 -04:00
66d42a336f
adding 2 more status items for triangulation results: outliers (dynamicOutlierRejection triggered) and farPoint (maxLandmarkDistance triggered)
2016-06-29 12:26:21 -04:00
427d938631
[FEATURE] Raw QP Untested handling of Ranges.
2016-06-28 22:08:01 -04:00
b467e944cf
[TEST] Now includes a test with QPS ranges
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[FEATURE] Parser Reads but doesn't handle ranges in QPS files.
2016-06-28 20:53:59 -04:00
ab045edf07
[BUGFIX] Now handles zero default on QPS files.
2016-06-28 20:39:36 -04:00
c9efb4bbda
[TEST] QP Now correctly handles negative constant values on hessian factors.
2016-06-28 19:51:51 -04:00
c21186c621
Merge branch 'develop'
2016-06-20 13:30:37 -04:00
f3fce5cb1c
Merged in feature/windows-fixes (pull request #268 )
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Windows CMake fix for subdirectories without tests
2016-06-20 11:32:18 -04:00
903d29214b
Merged develop into feature/windows-fixes
2016-06-20 09:01:36 -04:00
aac253e72a
Merged in eigen_3_3_fixes_and_cluster_tree_changes (pull request #267 )
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Eigen fixes and Linear solver improvements from Skydio
2016-06-20 08:19:41 -04:00
36d3c178cb
Attempt at fixing matlab wrapper issues
2016-06-20 01:11:57 -07:00
7849150276
Avoid use of now defuct copy constructor
2016-06-19 12:29:37 -07:00
7543118a77
Switch to size_t
2016-06-19 12:29:17 -07:00
Enrique Fernandez
lcarlone
Frank Dellaert
Chris Beall
Ivan Jimenez
cbeall3
Frank Dellaert