7f5de1c3bc
Added simple Kitti example
2013-08-09 18:50:20 +00:00
bb4ad176da
Needed std::
2013-08-09 18:50:15 +00:00
1eae17561d
Taking ImuFactor noise model automatically from preintegrated measurement covariance
2013-08-09 18:50:14 +00:00
0cb6e97803
Added stack function that takes a vector of matrix blocks
2013-08-09 16:24:45 +00:00
c03172aca3
add prior on second camera
2013-08-09 15:31:15 +00:00
369e69b0d2
actually set everything to zero to turn factor off during linearization
2013-08-09 15:28:57 +00:00
7b0c559091
Fixed bug in 32 bit version - now calls correct keyformatter
2013-08-09 14:55:26 +00:00
8d9dcfbfc2
Fixed problem with pixel_sigma (2-dimensional only)
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Added switch to determine if normal GenericProjectionFactor or SmartProjectionFactor is used
2013-08-09 14:52:26 +00:00
b0c96f9bf6
unwhitenedError.
2013-08-08 20:14:12 +00:00
27cabb62f1
added unwhitenedError to BetweenFactorEM.
2013-08-08 20:13:39 +00:00
5af82c4042
SmartProjectionFactor example: Cleaned up some code, added comments,
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changed some of the LM parameters. Switched to use smaller kitti
dataset for now.
2013-08-08 17:16:23 +00:00
7c07c70802
Changed Between and Prior Factors and NonLinearEquality back to NoiseModelFactor.
2013-08-08 16:08:35 +00:00
579e0931dc
Fixed different issues with EM.
2013-08-08 15:12:21 +00:00
b3ea3f9465
lines added to testSmartProjectionFactor
2013-08-08 14:30:26 +00:00
6dd67a13fd
Changed to optimize entire graph instead of sub-graphs
2013-08-08 14:20:08 +00:00
a82262cf99
Included noise model and f term in SmartProjectionFactor
2013-08-08 14:00:26 +00:00
6959ad5e6f
Fix error when wrapping a library using Rot3 to matlab: "type stored... is N5gtsam4Rot3E but requested type was N5gtsam4Rot3E", because gtsam is linked 2 times: one with the library, one with the mex, and somehow Rot3 is not virtual and exists in both. Moving print implementation to cpp seems to fix this problem.
2013-08-08 08:51:52 +00:00
8cf7b6723f
comment on how to pass this test
2013-08-08 08:46:55 +00:00
1631222a29
fix streaming tests to agree with new print in matlab column vector style
2013-08-08 08:44:00 +00:00
159f9eee1e
Added SmartProjectionFactorExample_kitti.cpp.
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Currently loads kitti dataset after processing by VO code (stereo_factors.txt and camera_poses.txt)
Creates graph after N landmarks have been seen, runs it through SmartProjectionFactor
Verification of output is still needed; LM seems to optimize but poses don't seem to change.
2013-08-08 03:11:42 +00:00
f423d6f2a8
SmartProjectionFactor: More cleanup, added more tests, added some timing
2013-08-07 23:32:40 +00:00
d33f435eab
Added BetweenFactorEM with 2 indicator variables.
2013-08-07 15:25:00 +00:00
c2f5adc7d0
Cleaned up code: Removed commented out code, added debug condition
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If debug is enabled, both blockwise and full implementations are performed and then compared
2013-08-07 13:05:08 +00:00
6fc1464d7b
print Point3 in matlab's column vector style
2013-08-06 18:49:03 +00:00
b0c25f2668
Split timing benchmark that had appeared inside a test to a separate timing script
2013-08-06 18:30:27 +00:00
43ebc2c55e
Upgraded Eigen to the new release: 3.2.0
2013-08-06 18:24:06 +00:00
6bf6cc8bdd
Point3 and Rot3 dexpInvL
2013-08-06 16:26:35 +00:00
81b9fc33b7
in diag with matrices: initialize the result with zeros first.
2013-08-06 15:35:37 +00:00
bcae0afd31
Putting sub matrices along the diagonal of a big matrix. dexpL for Rot3 and Point3
2013-08-06 14:24:10 +00:00
482c5df647
updates in SmartProjectionFactor: first working version with full and block version producing the same results (non-optimized)
2013-08-05 22:34:31 +00:00
2e085ace91
Changes in SmartProjectionFactor
2013-08-05 19:25:08 +00:00
5518007317
adding test with regular projection factors for comparison, and bug fixes in SmartFactor test.
2013-08-05 17:58:32 +00:00
587bfd3772
VectorValues constructor and append with initial values
2013-08-05 17:01:56 +00:00
d1de6b29a9
adding 3 camera, 3 landmark test
2013-08-05 15:50:19 +00:00
39ec641c4a
Modifications to SmartProjectionFactor and unit test: work in progress
2013-08-05 15:09:03 +00:00
bf34b019e9
Removing folder that isn't really a folder
2013-08-04 19:47:51 +00:00
d1419a3d11
Added SmartProjectionFactor (+unit tests)
2013-08-02 23:35:39 +00:00
334d71ce51
IMUKittiExample: added infrastructure for reading and processing data - work in progress
2013-08-02 20:07:52 +00:00
c9c2025d52
Swiched from isnan() check to isfinite() check for DOUBLES_EQUAL - also handles infinite case
2013-08-02 19:04:52 +00:00
bf7dc7d480
failed unit test of BetweenFactor<Rot3> when the measurement is not the ground truth
2013-08-02 18:15:58 +00:00
3200c999b2
function for computing log-determinant
2013-08-02 17:00:22 +00:00
74f7e3e16a
added a funtion for computing log-Determinant
2013-08-02 16:59:46 +00:00
f273b8f915
Removed extra 'typename'
2013-08-02 16:04:29 +00:00
34dc67c1af
Brought some relevant changes from aspn-imu-factor branch (is correct this time)
2013-08-02 16:04:17 +00:00
3545b114ab
Altered [CHECK|EXPECT]_DOUBLES_EQUAL such that nan values automatically cause the test to fail. The previous approach would always return pass if one of the compared values is nan, resulting in tests passing when they shouldn't. If you have a test where you want to check that the value is nan, use EXPECT(isnan(x));, where x is the value you want to test.
2013-08-02 15:21:36 +00:00
95ffb0c4ea
fix ofstream filename c_str compilation issues
2013-08-02 13:33:23 +00:00
ef99e1bf1a
add some comments for Constrained model
2013-08-02 13:29:54 +00:00
a48864452b
fix GTSAM_POSE3_EXPMAP warnings. Add GTSAM_ROT3_EXPMAP option.
2013-08-02 13:28:29 +00:00
fcc6b804d1
Switched SolverComparer to QR
2013-08-01 21:57:05 +00:00
ff88c8fdc8
Added wall time to timing functions
2013-08-01 21:57:03 +00:00
Richard Roberts
Alex Cunningham
Chris Beall
Zsolt Kira
Vadim Indelman
Luca Carlone
Duy-Nguyen Ta
Natesh Srinivasan