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)  
							
							... 
							
							
							
							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,  
							
							... 
							
							
							
							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.  
							
							... 
							
							
							
							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  
							
							... 
							
							
							
							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