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390 Commits (65d72ab7a1c6590bef77f051e7b7c69a49ff43f7)

Author SHA1 Message Date
dellaert 63ca5dcfb0 Merge remote-tracking branch 'origin/develop' into feature/Feature/FixedValues 
Conflicts:
	.cproject
	examples/Pose2SLAMExample_graph.cpp
	examples/SFMExample_SmartFactor.cpp
	examples/SFMExample_SmartFactorPCG.cpp
	gtsam.h
	gtsam/geometry/CameraSet.h
	gtsam/geometry/StereoCamera.cpp
	gtsam/geometry/StereoCamera.h
	gtsam/geometry/tests/testCameraSet.cpp
	gtsam/linear/RegularJacobianFactor.h
	gtsam/linear/tests/testRegularJacobianFactor.cpp
	gtsam/nonlinear/ExpressionFactor.h
	gtsam/nonlinear/expressions.h
	gtsam/slam/JacobianFactorQR.h
	gtsam/slam/JacobianSchurFactor.h
	gtsam/slam/RegularHessianFactor.h
	gtsam/slam/RegularImplicitSchurFactor.h
	gtsam/slam/SmartFactorBase.h
	gtsam/slam/SmartProjectionFactor.h
	gtsam/slam/SmartProjectionPoseFactor.h
	gtsam/slam/tests/testRegularHessianFactor.cpp
	gtsam/slam/tests/testRegularImplicitSchurFactor.cpp
	gtsam/slam/tests/testSmartFactorBase.cpp
	gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
	gtsam_unstable/examples/SmartProjectionFactorExample.cpp
	gtsam_unstable/examples/SmartStereoProjectionFactorExample.cpp
	gtsam_unstable/slam/SmartStereoProjectionFactor.h
	gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
	gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp
 2015-08-31 21:06:37 -07:00
cbeall3 83d02a7f27 Only install (and run) testSerialization.m if GTSAM_WRAP_SERIALIZATION is on. 2015-05-20 22:44:33 -04:00
dellaert cd77ec8fd4 Added triangulation wrapping, tested and works in MATLAB ! 2015-05-03 18:54:17 -07:00
cbeall3 efa266515d Fix for new warning in CMake 3.1. Variables in if statements should be unquoted 2015-02-22 20:06:00 -05:00
dellaert bac79bee12 Merge remote-tracking branch 'origin/develop' into feature/Feature/FixedValues 2015-01-23 04:48:18 +01:00
lvzhaoyang 0f100e8228 add the scale of visualization for covariance matrix 2015-01-22 20:39:02 -05:00
lvzhaoyang cf26dec49e add noise to incremental poses. more realistic 2015-01-22 20:25:01 -05:00
lvzhaoyang fd6b377d4b check under constrained measurement in monocular camera setup 2015-01-22 16:53:36 -05:00
lvzhaoyang 34ae976f6a fix the indeterminant system in stereo case 2015-01-22 15:35:28 -05:00
lvzhaoyang d47e4d4853 changes to monocular camera 2015-01-22 15:00:21 -05:00
lvzhaoyang e74d64c90b add labels 2015-01-22 11:24:43 -05:00
lvzhaoyang fa023aac1a change lightings and add flying through sequence 2015-01-22 00:25:06 -05:00
dellaert 7430d0484b Faster version if no marginals 2015-01-22 02:10:17 +01:00
lvzhaoyang 2627f9a9cd flying camera view changes 2015-01-21 16:18:03 -05:00
lvzhaoyang 5cde63acd2 plot incremental position 2015-01-21 00:14:37 -05:00
lvzhaoyang 47c68f678c generate a flying camera video 2015-01-20 14:06:39 -05:00
lvzhaoyang 73455833fc ploting trajectories animation 2015-01-19 23:56:04 -05:00
lvzhaoyang 1c5cdb830b change of point density to make it plotable 2015-01-19 16:52:48 -05:00
lvzhaoyang b202bbd5f1 add in simulated camera options 2015-01-19 16:18:18 -05:00
dellaert d42391d28d Added test of Cal3Unified and cleaned up a bit 2015-01-15 16:20:22 +01:00
lvzhaoyang 26df490c55 remove dulipcate points in stereo camera set up 2015-01-15 01:20:29 -05:00
lvzhaoyang 27b3b5ebed plot the points covariance 2015-01-15 01:20:29 -05:00
lvzhaoyang 7eec7f7b45 to check single measurement constraint. 2015-01-15 01:20:29 -05:00
lvzhaoyang 3cb1f96371 to make a straight line trajectory 2015-01-15 01:20:29 -05:00
lvzhaoyang 86f580b9ae stereo view works fine. but monocular camera still sufferes from the indeterminant system problem 2015-01-14 00:19:17 -05:00
lvzhaoyang 2378d59632 remove the redudant empty cells 2015-01-14 00:08:35 -05:00
lvzhaoyang ea556c71d7 Stereo camera visibility tests passed 2015-01-13 23:36:19 -05:00
lvzhaoyang 4a5d94ea59 test visibility. monocular camera visibility tests passed 2015-01-13 23:25:44 -05:00
lvzhaoyang da06689677 update the stereo model and occlusion detection 2015-01-13 21:21:48 -05:00
lvzhaoyang d62cb440db interface update 2015-01-13 16:33:47 -05:00
lvzhaoyang f4da1f874b get points track and visualize 2015-01-13 11:34:24 -05:00
lvzhaoyang 1094739680 small fix of empty return points values 2015-01-13 02:01:28 -05:00
lvzhaoyang 6ab95f60c2 use circle generator to replace the random data generator. This can fix the indeterminant system error. 2015-01-13 01:32:59 -05:00
lvzhaoyang 10dc767eda change monocular set up and add stereo test. Still under test 2015-01-12 23:27:50 -05:00
lvzhaoyang 678aabce3e add stereo set up 2015-01-12 23:27:21 -05:00
lvzhaoyang 39f5aa499e 2D monocular track. Testing with random data now throws indeterminant linear system exception 2015-01-12 23:27:06 -05:00
lvzhaoyang a8bf2a4da1 function3 add graph measurement and initial estimate 2015-01-12 16:10:49 -05:00
lvzhaoyang b45e81725b an update of function 1&2 cameraFlyingExample. function3&4 in construction 2015-01-11 23:22:42 -05:00
lvzhaoyang 377c462818 cylinderSampling moved to gtsam+ folder 2015-01-11 23:21:59 -05:00
lvzhaoyang d5bebb93d2 plot the visible samples on cylinders 2015-01-11 23:20:50 -05:00
lvzhaoyang 5564aea332 calculate all the visible points from a camera view 2015-01-11 23:20:37 -05:00
lvzhaoyang 9485553d99 random sample cylinders and plot them on the fields 2015-01-09 10:33:53 -05:00
lvzhaoyang 6732beb1b4 a cylinder MATLAB object 2015-01-07 09:56:18 -05:00
dellaert 6b9c21b942 Reinstated 'fix/matlab_examples_wrapper' changes 2014-12-28 18:44:44 +01:00
dellaert c22a2d80d2 Merge (relevant part of) 'fix/matlab_examples_wrapper' into feature/SoundSlam 2014-12-13 21:00:49 +00:00
dellaert 07177662f2 Fixed plotting and and silenced warnings... 2014-12-13 08:16:40 +01:00
lvzhaoyang 6d97b8d3db Small fix of IMUKittiExampleAdvanced. Now the same priorFactor issue 2014-12-08 10:41:52 -05:00
lvzhaoyang b881135f53 fix TransformProjectionFactorExample.m 
But there is a issue that optimizer doesn't generate the trajectory. Will fix it later.
 2014-12-07 00:57:32 -05:00
lvzhaoyang 3943ce0d25 fix TransformProjectionFactorExampleISAM 2014-12-07 00:53:08 -05:00
lvzhaoyang bd2b92b75d Small fix, but now have the same priorFactorVector issue as IMUKittiExampleGPS 2014-12-07 00:50:10 -05:00
lvzhaoyang 9dfd6a10e6 Fix TransformCalProjectionFactorExampleISAM.m 2014-12-07 00:47:03 -05:00
lvzhaoyang 240a9592b9 A wrong commit of last smartRangeFactor.m Now fixed. 2014-12-07 00:41:12 -05:00
lvzhaoyang a8811beb31 Fix testSAMFactors 2014-12-07 00:39:27 -05:00
lvzhaoyang 11e83437e7 fix smartRangeFactorExample.m 2014-12-07 00:36:36 -05:00
lvzhaoyang 2371600c63 fix the plot_projected_landmarks.m project_landmarks.m 2014-12-07 00:31:48 -05:00
lvzhaoyang fa4bfbfbc5 Fix the example data reading, 
but KittiGps_metadata.txt, KittiRelativePose_metadata.txt, KittiRelativePose.txt don't exists in gtsam/examples/data directory
 2014-12-07 00:29:30 -05:00
lvzhaoyang 924a8d6670 Fix plot_projected_landmarks.m project_landmarks.m 
Haven't finish FlightCameraTransformIMU.m, stuck at TransformCalProjectionFactorCal3_S2
 2014-12-07 00:23:17 -05:00
lvzhaoyang 615709dd49 fix MonocularVOExample.m 2014-12-06 23:25:53 -05:00
lvzhaoyang e49c9fa100 1. remove LieVector in IMUKittiExampleGPS.m 2. Add tests the priorFactor in matlab 3. template substition tests in testsClass.cpp 2014-12-04 13:28:20 -05:00
dellaert 3c97c33755 Fixed test 2014-12-01 11:25:16 +01:00
dellaert 3cffb73155 Added MATLAB tests 2014-11-30 10:36:52 +01:00
dellaert b7dc6b3687 Fixed many utilities and examples 2014-11-14 00:51:11 +01:00
dellaert 4fb83694a7 Fixed gtsam_test (except serialize) 2014-11-13 23:59:51 +01:00
cbeall3 6bf13d914e documentation and minor cleanup 2014-07-25 17:11:28 -04:00
cbeall3 f848ce882f print landmark number 2014-07-25 17:11:13 -04:00
cbeall3 5b9954ab11 Simulation for concurrent IMU, camera, IMU-camera transform estimation during flight with known landmarks 2014-07-25 15:44:31 -04:00
cbeall3 52a090d1c1 Working version with between factor and added principal point estimation plot 2014-07-18 11:10:47 -04:00
cbeall3 5f3217ccf8 plot condition number 2014-07-11 08:58:45 -04:00
cbeall3 46f04bdc4e configurable number of steps 2014-07-03 11:48:28 -04:00
cbeall3 584743e106 added stdev on fx fy 2014-07-02 18:47:44 -04:00
cbeall3 e8f3a7e459 Concurrent calibration now also with IMU 2014-07-02 15:49:12 -04:00
cbeall3 8bc87e8f4f Transform + Calibration examples and factor 2014-07-01 16:33:23 -04:00
cbeall3 a34dff1397 Merge remote-tracking branch 'origin/feature/new_imu_factors' into develop 2014-06-20 13:32:34 -04:00
dellaert 3b10f61e5c utilities.localToWorld 2014-05-27 00:42:03 -04:00
dellaert 499f2f2918 Small comments in examples (and timing of marginals) 2014-05-25 17:47:12 -04:00
dellaert c2e748b362 This example stopped working: now fixed 2014-05-25 17:46:47 -04:00
dellaert 852e1e1f2f Drastic speedup of plotting 2014-05-25 17:46:30 -04:00
dellaert 1762825c28 Forgot to update docs 2014-05-25 11:17:49 -04:00
dellaert ab4bb159e8 Unit tests for new routines (and they *failed* at first, as I had a bug) 2014-05-25 11:15:49 -04:00
dellaert 87c386d77f Fast creation of large key sets from within MATLAB 2014-05-25 02:03:33 -04:00
djensen3 950e95b015 Fixed error with IMU+Camera 2014-05-15 15:57:22 -04:00
djensen3 e5d4fe3aaf replaced identity rotations with ground truth rotations 2014-05-15 13:21:35 -04:00
djensen3 d0905e65ce Working on smart projection factors for consistency tests 2014-05-15 10:01:53 -04:00
djensen3 49b3836c49 added infrastructure for SmartProjectionPose3Factors 2014-05-08 15:27:32 -04:00
dellaert 779d6ad2af Added utilities to Contents.m 2014-05-06 00:23:34 -04:00
dellaert 3b1f947909 Renamed to test 2014-05-05 11:29:02 -04:00
dellaert 9409357fe7 Works, but is really a test, not an example 2014-05-05 11:26:16 -04:00
dellaert f5e0a7f2b1 ignore 2014-05-05 10:15:23 -04:00
dellaert 0a2385711b MATLAB wrapping of TSAMFactors 2014-05-05 10:14:56 -04:00
dellaert 219b2b4db7 Updated to 3.0 2014-05-03 15:50:38 -04:00
djensen3 ce13807d10 added script to run and save tests in a simplified way 2014-05-01 12:56:24 -04:00
djensen3 862f5c7af3 changed timestep to make IMU measurements more realistic. removed noise model from IMU type 2 constructor 2014-04-29 15:46:43 -04:00
djensen3 5391de77e0 working on IMU biases 2014-04-24 17:01:08 -04:00
djensen3 20eeb90682 Removed noise from pose prior for non-BetweenFactors. Added saving figures as .png 2014-04-24 10:24:44 -04:00
djensen3 c1ab0053eb fixed bug with IMU bias. added option to delay start of GPS factors 2014-04-23 16:06:03 -04:00
djensen3 87f9e5bb2c completed GPS factors 2014-04-23 14:45:17 -04:00
djensen3 2ab81ae997 working on GPS factors 2014-04-23 12:39:47 -04:00
djensen3 13d47fcee4 added IMU type 2 with noise 2014-04-23 08:58:50 -04:00
djensen3 5abf0b01ea Added option for constant IMU bias 2014-04-17 22:21:22 -04:00
Luca 26c296603f fixed use of 2nd order integration in matlab wrapper 2014-04-17 16:23:29 -04:00