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1268 Commits (796e2d813cf0b93b5168dfc5d0fe4158ea7d1884)

Author SHA1 Message Date
Frank Dellaert 377b90941b switch to Rodrigues everywhere 2015-07-05 16:11:04 -07:00
dellaert 464a82cc51 Merge remote-tracking branch 'origin/develop' into feature/betterOrdering 
Conflicts:
	.cproject
	gtsam/inference/Ordering.h
	gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
	gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp
	gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp
 2015-06-28 15:41:58 -07:00
dellaert d415cffd4b Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3 2015-06-23 22:41:33 -07:00
Frank Dellaert 801d1fb700 Merged in feature/performance (pull request #161) 
Improving performance
 2015-06-23 22:27:10 -07:00
cbeall3 0e022b3b33 Values::keys now returns KeyVector instead of list. Corresponding fixes in Matlab wrapper. 2015-06-24 00:35:32 -04:00
cbeall3 b0f04503c9 Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3 
# Conflicts:
#	gtsam/linear/tests/testRegularHessianFactor.cpp
#	gtsam/slam/SmartFactorBase.h
 2015-06-23 10:03:42 -04:00
dellaert f9ddbb1345 Eliminated linked list 2015-06-21 01:45:56 -07:00
dellaert 128bac616c Globally replaced FastSet<Key> with KeySet. 2015-06-20 18:38:25 -07:00
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 78c8160dc5 all tests pass and it compiles (yuppii!), but if I make check I get errors with isManifold and something that seems unrelated to smart factors. going to merge with develop 2015-06-19 12:06:45 -04:00
dellaert d385984f26 Working compose/between/inverse derivatives 2015-05-26 01:08:27 -07:00
dellaert d060d4621e PoseRTV is now implemented using ProductLieGroup 2015-05-25 23:50:00 -07:00
dellaert 9d522c72f3 internal::LieGroup needed if you also want Testable traits 2015-05-25 22:04:04 -07:00
dellaert b23a51db6d PoseRTV as ProductManifold works 2015-05-25 17:13:08 -07:00
cbeall3 f8ab4ef144 Change SimpleCamera from typedef back to regular class to make wrapping+serialiation work. Had to change some templates because vector<PinholeCamera> can't be upcast to vector<SimpleCamera> 2015-05-18 14:33:27 -04:00
Duy-Nguyen Ta 58de1ac296 re-enable all tests. Disable printing. Fixing bad names due to unintentional global replace 2015-05-15 08:57:43 -04:00
Duy-Nguyen Ta 827caf1793 compute a feasible initial value for LPSolver: simple test passed. 2015-05-15 08:47:57 -04:00
Duy-Nguyen Ta f30e2501be compute error for constrained linear factor graphs 2015-05-15 08:45:47 -04:00
Duy-Nguyen Ta ee8316e291 fix comments 2015-05-15 08:44:58 -04:00
dellaert 79d20b6c44 GTSAM-style formatting 2015-05-13 23:44:46 -07:00
Abe 13a4da21b2 misc bugfixes and cleanup from skydio 2015-05-13 22:26:24 -07:00
Frank Dellaert e456923a74 Merged in feature/SimplerExpressions (pull request #135) 
Expressions without MPL
 2015-05-13 00:36:49 -07:00
Frank 057aef90d9 Fixed some more warnings on Ubuntu 2015-05-12 15:05:34 -07:00
Frank 4ba329c23b Fixed many warnings on Ubuntu 2015-05-12 13:46:24 -07:00
dellaert 4f846ff75f No more boost::mpl needed for Expressions 2015-05-12 01:33:33 -07:00
dellaert 81b3860991 Moved all internal data structures to internal namespace 2015-05-11 21:19:40 -07:00
dellaert 13dcc977f2 Moved Point2Vector wrapper from gtsam_unstable.h to gtsam.h 2015-05-03 17:31:08 -07:00
Chris Beall b52ced7a09 Merged in fix/serialization_warnings (pull request #128) 
Fix some unused variable warnings in the serialization code.
 2015-04-20 15:00:45 -04:00
nsrinivasan7 a4fac2ab62 added cout style print statements for similarity 2015-04-12 15:38:40 -04:00
cbeall3 ea6f5e3fb9 Use TriangulationParameters 2015-04-08 21:36:11 -04:00
cbeall3 762a7b7435 Remove selective relinearization and state 2015-04-08 17:52:25 -04:00
cbeall3 51482ea358 Remove template parameter D, get from Base::Dim instead 2015-04-08 14:21:40 -04:00
Duy-Nguyen Ta 40659cab38 first LPSolver test passed!! 2015-03-25 08:19:43 -04:00
dellaert 956b53dc3b Fixed sign in stereo version 2015-03-12 09:51:44 -07:00
dellaert 2bdeac30f0 Fixed compile error w PointCov 2015-03-12 07:56:47 -07:00
Duy-Nguyen Ta d8564f25e0 fix exception text 2015-03-12 09:37:26 -04:00
dellaert a4d1874af4 Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3 2015-03-09 17:51:16 -07:00
dellaert faadf5b06f Fully compiles now 2015-03-06 08:48:35 -08:00
Thomas Schneider 472821f16d Merge remote-tracking branch 'upstream/develop' into fix/serialization_warnings 2015-03-06 17:10:59 +01:00
Thomas Schneider ebf5746987 Fix some serialization warnings. 2015-03-06 16:12:09 +01:00
Chris Beall 3be6b16995 relax threshold from 1e-7 to 1e-6 to make test pass. 2015-03-06 00:32:43 -05:00
dellaert 758aab6e80 Cleaned up test 2015-03-05 10:41:49 -08:00
dellaert b40c0f7f15 Fixed sign 2015-03-05 10:36:03 -08:00
dellaert dc3d5f77fe Extra stereo tests 2015-03-05 10:35:54 -08:00
dellaert e6a90db2d5 Migrated to non-keyed Fblocks 2015-03-04 23:11:01 -08:00
dellaert f28b083c14 Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3 
Conflicts:
	gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
 2015-03-04 16:02:25 -08:00
thduynguyen bdd00d8b49 move code to cpp and some small clean up 2015-03-02 08:27:24 -05:00
Frank Dellaert b2dcf35e77 Merged in feature/Similarity (pull request #117) 
Sim3 Support
 2015-02-26 23:33:37 +01:00
Paul Drews 6faa881de6 Make the code prettier. 2015-02-26 15:10:59 -05:00
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
Paul Drews abfcfa1a17 Merged 'develop'. 2015-02-25 11:00:46 -05:00
Paul Drews 9991ae04f3 Fixed unit tests 2015-02-25 10:59:25 -05:00
thduynguyen b9dbde14f2 fix file heading comments for doxygen 2015-02-25 09:09:33 -05:00
thduynguyen bd16c52e7c support params and verbosity debug info for LinearConstraintSQP 2015-02-25 08:07:40 -05:00
thduynguyen d80caeb44b small comment fix 2015-02-24 23:41:39 -05:00
thduynguyen d9773da125 rename classes 2015-02-24 23:40:53 -05:00
thduynguyen d2f919e632 Linear[In]EqualityFactorGraph --> [In]EqualityFactorGraph 2015-02-24 22:25:26 -05:00
thduynguyen ce50219f9d fix comments for doxygen 2015-02-24 22:15:41 -05:00
thduynguyen 54121ad26b add test for InfeasibleIntialValues exception 2015-02-24 22:10:07 -05:00
thduynguyen 0c025f798c fix comments 2015-02-24 22:09:31 -05:00
Paul Drews 8a88f101db Fix deprecation warnings 2015-02-24 21:58:17 -05:00
thduynguyen 95bb10d44a make QPSolver throws an exception if the provided initial values are infeasible 2015-02-24 21:49:27 -05:00
dellaert d7b5156dcc rename to reprojectionErrorAfterTriangulation 2015-02-25 01:14:36 +01:00
dellaert eb28d0ffa8 Restored reprojectionErrors -> reprojectionError 2015-02-24 14:09:35 +01:00
dellaert d6f54475c3 BIG change: SmartFactorBase and SmartProjectionFactor now templated on CAMERA 2015-02-23 12:43:43 +01:00
dellaert 64bb6b77d7 Merged in feature/SmartCT (pull request #107) 
Refactoring of Smart Factors
 2015-02-22 06:14:19 +01:00
zhaoyang 1d81572894 Capitalize static methods in ordering.h 
This commit involves the API change. Related files in gtsam have been changed. All the tests examples run without issue.
 2015-02-21 13:16:03 -05:00
Paul Drews b53c26c934 Merge remote-tracking branch 'origin/develop' into feature/Similarity 
Conflicts:
	.cproject
 2015-02-20 00:36:52 -05:00
thduynguyen ba4698bf51 add comments, fix format, make test compiled 2015-02-19 08:51:54 -05:00
Paul Drews f9ccd23d4a Refactored into class and unit test 2015-02-19 01:21:20 -05:00
thduynguyen d8e184fadd fix traits::dimension 2015-02-18 09:13:15 -05:00
krunalchande 23dbaad23e Added test to test iterative framework. DOES NOT WORK YET. 2015-02-18 07:48:40 -05:00
krunalchande f1703db4aa Added comments 2015-02-18 07:48:40 -05:00
krunalchande 37fe405872 Added warmStart flag. 2015-02-18 07:48:39 -05:00
krunalchande 6b2b96ca2a updated with current constructor whch needs number of iterations 2015-02-18 07:47:55 -05:00
krunalchande 3142f0a9a7 disabled test 2015-02-18 07:47:55 -05:00
krunalchande 2476bbe8d7 can pass debug flag as parameter. 2015-02-18 07:47:55 -05:00
krunalchande 3e352f109e Added warm start for initializing active set. 2015-02-18 07:47:54 -05:00
krunalchande f4a4ce4325 added debug print statements 2015-02-18 07:47:54 -05:00
krunalchande e74b737a66 box-constraints unit test passed with prior and between factors 2015-02-18 07:47:53 -05:00
krunalchande 3653e93338 fix bug in dual feasibility check. We want dual variables < 0. 2015-02-18 07:47:53 -05:00
krunalchande 121feb2281 disable printing 2015-02-18 07:47:53 -05:00
krunalchande bcdeddbda1 Compute the least-square values of dual variables instead of forcing them to satisfy the stationarity condition exactly. This fixes an infinite-loop bug in QPSolver when a constraint was continuously added to and removed from the active set. 2015-02-18 07:47:53 -05:00
krunalchande 276959e39a remove support for nonlinear constraints. Refactor SQPSimple to LCNLPSolver. 2015-02-18 07:47:53 -05:00
krunalchande 0fdd49ca4e Removed LinearEqualityManifoldFactorGraph. 2015-02-18 07:47:52 -05:00
krunalchande e0e5e72020 Fixed includes 2015-02-18 07:47:52 -05:00
krunalchande 79b69d4489 [unfinished] unit test with multiple betweenFactors with box constraint. 2015-02-18 07:47:52 -05:00
krunalchande 1dd23ced02 Simple unit test for NonlinearInequalityFactorGraph. 2015-02-18 07:47:52 -05:00
krunalchande de7149af63 Added licensing information. 2015-02-18 07:47:52 -05:00
krunalchande 2523fa2fe5 removed comment 2015-02-18 07:47:51 -05:00
krunalchande b6d85e83ae Fixed includes. 2015-02-18 07:47:51 -05:00
krunalchande c99a848148 Refactoring. 2015-02-18 07:47:51 -05:00
krunalchande d435fa72df removed all printing 2015-02-18 07:47:51 -05:00
krunalchande cc0e5cd3ca Working nonlinear inequality constraints with unit tests. 2015-02-18 07:47:51 -05:00
krunalchande fd461a1c15 [unfinished] prototyping inequality SQP with Luca. 2015-02-18 07:47:50 -05:00
krunalchande ecc87bdb2b Added test with pose and a line equality constraint. Works but hessian is incorrect. So basically using nonlinearequality vs linearequality makes no difference. 2015-02-18 07:47:50 -05:00