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70 Commits (68af6d66220a02a0c7ab409c9fabffbf8bf5f14f)

Author SHA1 Message Date
Frank Dellaert a97502f5a1 Resolved all issues with typedefs 2016-06-06 21:57:52 -07:00
yao a0661b3813 Almost done. Still need to figure out how to remove the remaining 3 occurrences. 2016-05-21 12:44:46 -04:00
Jing Dong a2996432ca Merge branch 'develop' into fix/SmartFactorSerialization2 2016-03-30 12:48:12 -04:00
Jing Dong 76a605c5ff more fix of smart factor serialization 2016-03-30 12:33:13 -04:00
Frank 55bebdc72d Got rid of obsolete types and mate FBlocks a mutable cache 2016-02-25 16:53:17 -08:00
dellaert e76f838d2f Prototype cacheing 2016-02-25 09:34:13 -08:00
Jing Dong 6ab909a92c fixed smart factors serialization, add unit tests] 2016-01-13 12:22:58 -05:00
cbeall3 ecb62492fc Make noiseModel_ accessible to derived class: private -> protected 2015-09-29 09:50:31 -04:00
cbeall3 29ad9478f7 Move noise model initialization from add function into constructor. Can only have one noise model per factor anyway 2015-08-26 13:02:39 -04:00
cbeall3 321a7dbb11 call print in Base 2015-08-16 16:34:10 -04:00
Luca f8205bfe02 Merge branch 'develop' into feature/SmartFactors3 
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
Luca 2d9fddbcaa made cameras virtual and simplified pose factor (with Frank) 2015-06-19 15:33:18 -04:00
Luca 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
dellaert 421ad49048 Moved PointCov to CameraSet 2015-03-10 22:08:55 -07:00
dellaert c177ca63ec Fixed infinite loop 2015-03-10 14:43:39 -07:00
dellaert a0470b7e1c Moved all linearize logic into SmartProjectionFactor and removed two subclasses 2015-03-10 12:44:19 -07:00
Thomas Schneider ebf5746987 Fix some serialization warnings. 2015-03-06 16:12:09 +01:00
dellaert 861ee8fef3 Made work with Unit3 2015-03-05 23:22:24 -08:00
dellaert 26f2b33c47 Migrated to non-keyed Fblocks 2015-03-04 23:01:47 -08:00
dellaert 175dae30ec Switched to non-keyed Fblocks 2015-03-04 21:43:40 -08:00
dellaert f2a5e5c683 Case change 2015-03-04 17:21:22 -08:00
dellaert 2f2cc078dc Deal with possibility of degenerate E version (M*2 rather than M*3) 2015-03-04 10:55:39 -08:00
dellaert f3c8b1ac9a Removed print 2015-03-04 10:21:32 -08:00
dellaert 11a6ba412c Smore more refactoring to RegularImplicit.. 2015-03-02 08:52:35 -08:00
dellaert bb58814f1c Moved static functions to RegularImplicit and now use templates 2015-03-01 16:10:48 +01:00
dellaert d732a01e03 Convert to static functions 2015-03-01 15:03:18 +01:00
dellaert b94279f37f numKeys -> m 2015-03-01 14:35:54 +01:00
dellaert 6a024259e5 Switched to (i,j) instead of (i1,i2) 2015-03-01 14:28:13 +01:00
dellaert 8fe612ca71 whitenJacobians 2015-03-01 14:26:10 +01:00
dellaert be26d99f1e Moved to less intrusive spot 2015-02-26 14:19:22 +01:00
dellaert a375e7b5be RADICAL2: The SmartProjectionPoseFactor (soon to be renamed SmartPinholePoseFactor, if it survives at all) now no longer stores shared calibrations. Values expect to contain PinholePoses not Pose3s now. The current state of affairs was simply a bug: one pose could be optimized for several different calibrations. It relied on the user to make sure all measurements for a specific pose to optimize were all given the same shared calibration, which was then stored *millions of times* in the pose factors. Instead, there is now *one* shared calibration per PinholePose unknown. 2015-02-26 13:55:16 +01:00
dellaert a132d959f5 RADICAL: Got rid of sensor_pose. In the new PinholePose philosophy, this is entirely the responsibility of the CAMERA. Just like PinholePose, we can have a camera class that has a shared extra transform: it is part of the calibration. PinholePose itself is not able to do this, as the calibration is assumed 2D only, but it's easy to create a class and have the correct derivatives in place. 2015-02-26 12:06:43 +01:00
dellaert 0bf95ae7f6 Removed obsolete code, including slow Schur-complement versions 2015-02-26 11:44:51 +01:00
dellaert fd71974ff3 Got mostly rid of computeEP: just a call to cameras.project2 2015-02-25 20:52:16 +01:00
dellaert 850470ef06 rename of computeJacobians overloads to better reflect functionality 2015-02-25 19:30:17 +01:00
dellaert f7292488c4 Made RegularImplicitSchurFactor fully functional, and whitened again. 2015-02-25 14:00:21 +01:00
dellaert c4095d2ed9 Fixed linking 2015-02-24 14:44:01 +01:00
dellaert eb28d0ffa8 Restored reprojectionErrors -> reprojectionError 2015-02-24 14:09:35 +01:00
dellaert d091ed3e83 Added reprojectionErrors back in 2015-02-23 20:42:48 +01:00
dellaert d6f54475c3 BIG change: SmartFactorBase and SmartProjectionFactor now templated on CAMERA 2015-02-23 12:43:43 +01:00
dellaert fdbff461f3 Removed D argument from SmartFactorBase - note, branch does not compile now. 2015-02-23 00:08:02 +01:00
dellaert bc0bddf7c6 Removed whitening in Jacobians (which will move). Also, cheirality no longer caught -> will exit by itself if uncaught. 2015-02-22 22:50:11 +01:00
dellaert cdaaee6fce Move Errors to CameraSet 2015-02-22 22:05:42 +01:00
dellaert c9536523bf Some header refactoring 2015-02-22 20:10:18 +01:00
dellaert ac16b7e1d4 Switched to isotropic 2015-02-22 17:50:10 +01:00
dellaert c271874bc2 Starting the change to isotropic 2015-02-22 17:20:03 +01:00
dellaert 7bc0a9df5b Moved regular factors (except implicit) to linear (they are not SLAM-specific) 2015-02-22 15:32:12 +01:00
dellaert 64bb6b77d7 Merged in feature/SmartCT (pull request #107) 
Refactoring of Smart Factors
 2015-02-22 06:14:19 +01:00
dellaert e5017984a1 traits_x -> traits 2014-12-26 16:47:51 +01:00
Mike Bosse 6e5dbcf2a3 flushing out more compilation errors in tests 2014-12-20 11:54:08 +01:00