e6ff03f73e
jacobians and errors are well tested now
2021-07-21 16:31:45 -04:00
4669213618
jacobians are good to go!
2021-07-21 16:19:44 -04:00
5d55e153f0
yay! error test passes!
2021-07-21 15:10:10 -04:00
6f8d639ab8
finding best way to test RS errors
2021-07-21 14:46:52 -04:00
306393a18c
solidified add and equal
2021-07-21 14:30:55 -04:00
30f304e733
started serious testing: all tests pass for now
2021-07-21 13:58:47 -04:00
02d2d97a8e
added nice test on cheirality exception - done with projectionFactorRollingShutter
2021-07-20 23:04:52 -04:00
a480b2dcfc
all tests are passing!
2021-07-20 22:05:36 -04:00
0d1c3f16ef
everything working out so far with the tests
2021-07-20 21:29:56 -04:00
a204f6d508
amended
2021-07-20 20:46:43 -04:00
00387b32cd
setting up .h and tests - compiles and tests pass.
2021-07-19 15:30:53 -04:00
cd1d4b4df5
added templates for factors
2021-07-19 14:38:26 -04:00
d5890a2d61
update all the tests
2021-07-10 21:03:15 -04:00
650e432f52
update boost::bind usage
...
use <boost/bind/bind.hpp> instead of deprecated <boost/bind.hpp>
use boost::placeholders:: scope in appropriate files
remove and add <boost/bind/bind.hpp> in appropriate files
2021-06-16 00:56:43 -04:00
9392bfd1c1
Move MagPoseFactor to gtsam
2021-06-08 18:25:33 -04:00
554009741c
Merge pull request #752 from miloknowles/feature/mag_pose_factor
2021-06-03 11:09:02 -04:00
378b379e56
Compute error in the body frame and fix print()
2021-04-23 09:42:07 -04:00
0313a56734
Add MagPoseFactor
2021-04-22 16:51:47 -04:00
0a08c19847
added comment
2021-04-04 12:07:10 -04:00
10260253b3
trying to fix CI error
2021-04-03 21:01:53 -04:00
038c1c0b8e
added extra unit test
2021-04-03 17:33:12 -04:00
282aa1a0a9
Merge branch 'develop' into feature/smartFactorsWithExtrinsicCalibration
2021-04-03 17:16:04 -04:00
5677bdb6c1
need to clean up templates and remove 2 redundant lines
2021-03-29 22:58:29 -04:00
2e1ed2c852
1 test to go!
2021-03-28 20:07:29 -04:00
2c1b780a4f
2 tests to go
2021-03-28 20:03:02 -04:00
81aad1977c
works now!!
2021-03-27 23:03:05 -04:00
8ca3d475c8
now I have a working prototype!
2021-03-27 22:28:35 -04:00
8b4a74efff
test still failing
2021-03-26 22:33:15 -04:00
a0ff5e3886
Add LocalCoordinates() to ProductLieGroup and remove unnecessary <Eigen/Core> include to reduce compile memory
2021-03-26 14:36:43 -04:00
74b92efd89
Add constructor tests and extend tests to Pose2
2021-03-26 09:55:25 -04:00
ef2cd5dab5
Fix x/y mismatch in unit tests
2021-03-26 08:59:44 -04:00
b3c828f8d2
amended
2021-03-25 21:42:28 -04:00
7c052ff48a
fixed print, removed cout, test still failing
2021-03-25 21:37:13 -04:00
4df78be0f0
Merge branch 'develop' into feature/smartFactorsWithExtrinsicCalibration
2021-03-22 19:19:23 -04:00
00eee7cd19
removed tests that are not applicable - merging to develop now
2021-03-22 19:18:44 -04:00
d8eeaf9cb3
adding test with single key
2021-03-22 19:16:31 -04:00
3d1c170860
fixed optimization test: now we have to (i) allow reuse of same calibration, (ii) enable all other tests, (iii) remove cout
2021-03-21 19:39:37 -04:00
7a30d8b4d4
trying to fix crucial test
2021-03-21 19:34:21 -04:00
483a1995ba
solving key problem
2021-03-21 19:12:40 -04:00
e6b7d9f133
Add successful unit test for identity pose
2021-03-20 17:57:10 -04:00
075293cf83
Three examples of failing PartialPriorFactor<Pose3> Jacobians
2021-03-20 17:44:03 -04:00
2132778edc
pipeline up and running, need to fix Jacobians next, then Schur complement
2021-03-13 22:34:37 -05:00
dbc10ff227
isolated schur complement!
2021-03-13 21:51:39 -05:00
8a37a86441
test failure: now we can start computing jacobians
2021-03-13 18:12:12 -05:00
c1da490c2d
got it!
2021-03-13 18:10:03 -05:00
0194e3df94
fixed unit test
2021-03-13 17:55:24 -05:00
f234ad516e
moving to noisy tests
2021-03-13 17:49:08 -05:00
f0b5b244ad
moving to other tests
2021-03-13 17:40:53 -05:00
0c50c963a1
error computation also looks fine!
2021-03-13 17:36:53 -05:00
c965ce6be0
fixed equals
2021-03-13 17:20:39 -05:00
266d8248d0
simple tests are passing, but now we start on the serious ones
2021-03-13 14:03:10 -05:00
273d2da567
compiles and all tests pass!!
2021-03-13 13:54:23 -05:00
f7a84ff9f3
added test
2021-03-13 12:46:18 -05:00
8f18ce931b
Add inline comments on commented-out unit tests
2021-02-20 23:13:43 +00:00
5b0bd08e7b
small tidy and fix unit tests
2021-02-16 18:21:53 +00:00
960a3e1d8e
Tidy up comments and use cpplint
2021-02-16 11:48:26 +00:00
7480d149c8
Update documentation on new factor
2021-02-15 15:08:57 +00:00
a62bdd45e8
Add new oriented plane 3 factors with local linearisation point
2021-02-15 13:15:11 +00:00
0ee4e3b77e
Add more documentation and clang-format
2020-06-20 09:45:24 +10:00
c422815b94
Update incorrect test name
2020-06-20 09:03:17 +10:00
0a44315a7f
Add Pose3-Point3 factor
2020-06-20 08:46:06 +10:00
93ba522582
Remove any unnecessary PriorFactor.h includes
2020-04-12 13:42:02 -04:00
211119b00e
Replace addPrior<> with addPrior
2020-04-12 13:10:09 -04:00
aa3ac32235
Change all old cases of graph.emplace_shared<PriorFactor<...>>(...) and graph.add(PriorFactor<...>(...)) to graph.addPrior<...>(...). Removed unnecessary PriorFactor.h includes.
2020-04-11 20:09:54 -04:00
f4525b51e4
Change PriorFactor includes from gtsam/slam to gtsam/nonlinear
2020-04-10 22:26:22 -04:00
0c2890b815
Merge pull request #252 from borglab/feature/TOA
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Time of arrival measurements
2020-03-25 16:41:02 -04:00
ca4daa0894
Merge pull request #258 from borglab/deprecate-simplecamera
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Replace SimpleCamera with PinholeCameraCal3_S2
2020-03-23 08:08:18 -04:00
f3865539c6
Refactor TOAFactor and test
2020-03-18 15:44:33 -04:00
2087075ee7
Transitioned toa method to a functor
2020-03-17 14:34:11 -04:00
8e81890f9b
eradicated last vestiges of boost/random in gtsam_unstable
2020-02-28 07:21:54 -08:00
d9923fc3cc
replaced/appended all calls to SimpleCamera with PinholeCameraCal3_S2
2020-02-21 19:42:55 -05:00
c007c7715c
Duplicate measurements are disallowed -> leads to duplicate keys in JacobianFactor
2019-06-11 20:42:35 -04:00
a1096a6f3b
Fix bug: iSAM2 won't update() with smart factors
2019-05-27 12:26:54 +02:00
77d56cb2eb
Add iSAM2+Stereo factor unit test to reveal bug #10
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fix test
2019-05-27 12:26:53 +02:00
8801de4d63
Pose3 naming convention
2019-05-16 15:06:15 -04:00
1cdc228d6a
remove trailing spaces
2019-02-11 10:58:34 -05:00
2aa43e11bd
Use KeyVector everywhere to avoid conversions
2018-11-08 10:10:32 -05:00
b04c0bb15d
Fix memory alignment issues
2018-07-13 14:31:02 -04:00
fbb9d3bdda
Merged in feature/heterogeneousSmartFactorNoise (pull request #271 )
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Feature/heterogeneoussmartfactornoise
Approved-by: Chris Beall
Approved-by: Jing Dong
2017-03-12 05:50:08 +00:00
249d6b0b1b
Replaced graph.push_back with graph.emplace_shared if needed.
2016-10-01 11:17:41 -04:00
edcf94591d
added functions to get/set smart stereo parameters with unit test
2016-08-06 23:27:54 -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
938454916f
improved test, and slightly loosened tolerance when using MKL
2016-07-31 20:10:31 -04:00
6a21f1b730
adapted stereoSmart factors to use "outlier" and "far point" statuses
2016-07-31 18:31:38 -04:00
20c13580cc
deleted unused variables in unit test
2016-07-29 16:34:18 -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
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
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
b6728ef620
Deprecated Vector ones(size_t n). All unit tests pass.
2016-04-15 17:30:54 -04:00
76308a5d46
Deprecated Vector zero(size_t n). All unit tests pass.
2016-04-15 16:54:46 -04:00
652edb6e61
Merged in fix/DeprecateMatrixFunctions (pull request #243 )
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Fix/deprecatematrixfunctions
2016-04-12 23:53:42 -07:00
70b2aab352
Deprecated all inline functions in Matrix.h.
2016-04-11 15:11:29 -04:00
a3b66a94ea
Cleaned up Double_ problems
2016-04-10 19:01:14 -07:00
0372a959ee
Many small improvements, bug-fixes, and tests
2016-02-24 11:01:19 -08:00
1c920967d9
No more use of vector() or default constructor
2016-02-12 00:06:07 -08:00
56dbf487ee
Fixed more default constructor calls
2016-02-11 23:31:17 -08:00
lcarlone
Varun Agrawal
acxz
Milo Knowles
David Wisth
alescontrela
Frank Dellaert
Frank Dellaert
Jose Luis Blanco Claraco
Duy-Nguyen Ta
Sean Bowman
Luca Carlone
Yao Chen
Alex Hagiopol
Frank Dellaert
Frank