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393 Commits (7e3aa7aa9ab02ae173f90c64c06bd690e968083d)

Author SHA1 Message Date
Luca c1b00e28b1 created SmartFactorParams class collecting common parameters in smartProjectionFactor and smartStereoProjectFactor classes. This largely reduced copy-paste. SmartStereoProjectionParams is now a typedef 2016-08-14 18:54:00 -04:00
lcarlone edcf94591d added functions to get/set smart stereo parameters with unit test 2016-08-06 23:27:54 -04:00
lcarlone e0869719fa now SmartFactorBase doesn't know about stereoPoint2 (removed also header). The functionality to check if the right pixel is missing has been moved to SmartStereoProjectionFactor, removing the casting. 2016-08-02 22:56:48 -04:00
lcarlone a93c1e86f2 Merge remote-tracking branch 'origin/feature/heterogeneousSmartFactorNoise' into feature/heterogeneousSmartFactorNoise 2016-08-02 18:50:54 -04:00
lcarlone e54159c695 Merge branch 'develop' into feature/heterogeneousSmartFactorNoise 
# Conflicts:
#	gtsam_unstable/slam/SmartStereoProjectionFactor.h
 2016-08-02 18:50:18 -04:00
Luca 938454916f improved test, and slightly loosened tolerance when using MKL 2016-07-31 20:10:31 -04:00
Luca 9336c0b8c0 added comment and made variables const when possible 2016-07-31 18:47:30 -04:00
Luca f009633384 exposed point status in smart factors to keep uniformity with mono smart factors 2016-07-31 18:33:58 -04:00
Luca 6a21f1b730 adapted stereoSmart factors to use "outlier" and "far point" statuses 2016-07-31 18:31:38 -04:00
Luca 20c13580cc deleted unused variables in unit test 2016-07-29 16:34:18 -04:00
lcarlone 50d6532fe1 the ultimate test: smartStereoFactors generalize smartFactors in that they work in the purely monocular case! 2016-07-27 23:48:58 -04:00
lcarlone a5138bfb46 included body_P_sensor in smartStereoProjectionPoseFactor! 2016-07-25 22:13:25 -04:00
Luca 6c163b0a4d added test which optimize smartStereoFactor with missing measurements (uR) 2016-07-24 19:07:00 -04:00
Luca b90e224f59 added tests for error and triangulation 2016-07-24 18:56:04 -04:00
Luca cd9b4cd5ab moved common definitions to base class 2016-07-24 18:31:55 -04:00
Luca f2bec78a58 first implementation of smartStereo with possibly left-only pixel measurements 2016-07-24 18:27:20 -04:00
Luca 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
Frank Dellaert a97502f5a1 Resolved all issues with typedefs 2016-06-06 21:57:52 -07:00
dellaert 41b091e86f Chasing down more vector() and Point2 default constructor uses 2016-06-06 00:37:49 -07:00
dellaert bdbbe0203d Derive Point2 from Vector2 and deprecate a number of methods 2016-06-05 23:52:04 -07:00
dellaert 72fe66d468 Removed headers 2016-05-22 14:22:36 -07:00
Yao Chen 3b7c57aedf Replaced BOOSE_FOREACH with for in gtsam_unstable folder. 2016-05-20 23:41:41 -04:00
Alex Hagiopol b6728ef620 Deprecated Vector ones(size_t n). All unit tests pass. 2016-04-15 17:30:54 -04:00
Alex Hagiopol 76308a5d46 Deprecated Vector zero(size_t n). All unit tests pass. 2016-04-15 16:54:46 -04:00
Frank Dellaert 652edb6e61 Merged in fix/DeprecateMatrixFunctions (pull request #243) 
Fix/deprecatematrixfunctions
 2016-04-12 23:53:42 -07:00
Alex Hagiopol 70b2aab352 Deprecated all inline functions in Matrix.h. 2016-04-11 15:11:29 -04:00
dellaert a3b66a94ea Cleaned up Double_ problems 2016-04-10 19:01:14 -07:00
Alex Hagiopol ae19e078c7 Changed argument and implementation of correct() in Mechanization_bRn2 2016-03-12 20:44:05 -05:00
Alex Hagiopol 97e26cc365 Deprecated sub() in Vector.h. 2016-03-11 20:30:19 -05:00
Alex Hagiopol 5502691022 Deprecated norm_2() in Vector.h 2016-03-11 19:34:49 -05:00
Alex Hagiopol 2f146e85ef Deprecated esqrt() from Vector.h. 2016-03-11 14:34:19 -05:00
Alex Hagiopol 7d0b562908 Fixed two missed replacements of cwiseProduct() with array().square(). 2016-03-05 21:20:32 -05:00
Alex Hagiopol caa45ad67b Replaced cwiseProduct() with array().square(). Killed deprecated comments. 2016-03-05 21:08:24 -05:00
Alex Hagiopol 22c3af906e Deprecated emul() in Vector.h. 2016-03-05 18:49:34 -05:00
Frank 0372a959ee Many small improvements, bug-fixes, and tests 2016-02-24 11:01:19 -08:00
dellaert 1c920967d9 No more use of vector() or default constructor 2016-02-12 00:06:07 -08:00
dellaert 56dbf487ee Fixed more default constructor calls 2016-02-11 23:31:17 -08:00
Frank 2060b09a2b Avoid calling default constructors and/or vector 2016-02-11 19:03:11 -08:00
Frank 94ccf98985 Avoid default constructor in tests 2016-02-11 19:01:54 -08:00
Frank Dellaert 4d93a33f61 Static methods should be uppercase. 2016-01-26 23:09:58 -08:00
cbeall3 04bcf26aa6 Explicitly cast optional to bool 2015-10-20 14:44:00 -04:00
Duy-Nguyen Ta aa2ffcd118 Merge branch 'develop' into feature/cleanup_ImuFactor 2015-09-17 17:42:38 -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 0503df31fa Relax tolerance to 1e-6 for MKL/quaternion test, and fix up documentation a bit. 2015-08-25 12:14:52 -04:00
Chris Beall 6a5147b5b5 Merged in fix/SmartStereo (pull request #181) 
Fix/smartstereo
 2015-08-25 09:51:59 -04:00
cbeall3 8b4228fa56 Make smart parameters public. Now easier to set, and it's sufficient for this to be const within the smart factor itself! 2015-08-19 10:58:35 -04:00
cbeall3 c8df985e2f Relax test tolerance a bit for quaternion mode 2015-08-19 07:30:14 -04:00
cbeall3 1727b60728 Fixed and cleaned up unit test 2015-08-19 00:11:35 -04:00
cbeall3 123c55f0d7 respect triangulation.enableEPI flag in SmartStereo factor 2015-07-29 14:05:48 -04:00
cbeall3 fd1e41a9e6 remove calibration template from SmartStereoProjectionPoseFactor 2015-07-28 15:12:02 -04:00