60f0c4e51f
Tested local ENU coordinates
2014-01-25 20:32:22 -05:00
94e045e864
Convert to UTM
2014-01-25 19:45:10 -05:00
32455c3817
Geocentric coordinates test
2014-01-25 19:28:55 -05:00
088d85d8ba
Now links properly
2014-01-25 19:28:37 -05:00
bcb13ec4e6
Expected result
2014-01-25 18:28:45 -05:00
ee018ecbee
Added unit test scaffold, but no idea how to link
2014-01-25 18:22:23 -05:00
ddaf473e28
Added GeographicLib in 3rdparty
2014-01-25 15:38:59 -05:00
d3a61a9bb6
Merge branch 'support/2.4.0/mergeDevelop'
2014-01-25 11:10:24 -05:00
a606d0eab9
EssentialMatrixFactor
2014-01-25 11:09:20 -05:00
05625ff25e
Sphere2 and EssentialMatrix
2014-01-25 10:21:58 -05:00
f01ee3b5d9
MATLAB changes from develop
2014-01-25 10:18:58 -05:00
0464b38ca0
Merged changes from develop
2014-01-25 10:07:34 -05:00
6be91a2df2
Merge branch 'feature/2.4.0/templatedEF'
...
Adds CALIBRATION template argument to a second constructor
Resolved Conflicts (with Jing):
gtsam/slam/EssentialMatrixFactor.h
gtsam/slam/tests/testEssentialMatrixFactor.cpp
2014-01-24 17:26:03 -05:00
f675dc3bd4
ignore .DS_Store
2014-01-24 16:03:58 -05:00
a3a37131a1
Moved streaming to implementation file
2014-01-22 01:05:32 -05:00
6c9fd16ce8
Moved streaming to header
2014-01-22 01:03:40 -05:00
1eafec036b
added testEssentialMatrix.run
2014-01-22 00:59:55 -05:00
fafa3326f3
Streaming implemented with test
2014-01-22 00:59:22 -05:00
fd188a4978
Development of templated factors
2014-01-22 00:37:21 -05:00
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
dellaert
Frank Dellaert
Frank Dellaert