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353 Commits (8126e6b51daa2e3e10be4df486cd0422772e7fe1)

Author SHA1 Message Date
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
cbeall3 748877ff7e remove calibration template from SmartStereoProjectionFactor 2015-07-28 14:56:45 -04:00
cbeall3 db64b48fda tests pass 2015-07-28 14:48:53 -04:00
cbeall3 da9078cf3b add nonlinear triangulation back. Some unit tests fail again 2015-07-27 23:27:20 -04:00
dellaert 1a47a334de Deal with changes in Rot3 2015-07-21 11:23:42 -07:00
cbeall3 7ae31bd8e7 delete some unused stuff 2015-07-20 11:43:57 -04:00
cbeall3 b5a978c534 improve dynamic outlier rejection test 2015-07-19 21:01:14 -04:00
cbeall3 fcc9ac2669 remove extra cout 2015-07-19 20:39:34 -04:00
cbeall3 36c652ac40 remove monocular triangulation hack and make tests pass again 2015-07-19 20:37:16 -04:00
cbeall3 3f0e695cc9 some tests pass again 2015-07-16 11:26:07 -04:00
cbeall3 93f7eafaa8 re-enable triangulation hack 2015-07-15 23:16:45 -04:00
cbeall3 bd4dd84933 huge refactor. Compiles again, but triangulation still broken, SmartStereo test fails 2015-07-15 16:53:04 -04:00
cbeall3 fb4dd81c4d refactoring: step 1 2015-07-15 12:58:03 -04:00
Frank Dellaert 30435da070 Moved BearingRangeFactor to SAM 2015-07-12 18:57:26 -07:00
Frank Dellaert 3bad6fea67 moved RangeFactor to SAM 2015-07-12 12:12:59 -07:00
Frank Dellaert 5052eb2c64 cleaning up 2015-07-11 18:31:36 -07:00
Frank Dellaert 7ff3e11efd removed redundancy in naming 2015-07-09 11:29:32 -07:00
Frank Dellaert 3b16ad2967 Moved deprecated headers into subdirectory 2015-07-09 11:14:39 -07:00
Frank Dellaert 377b90941b switch to Rodrigues everywhere 2015-07-05 16:11:04 -07:00
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 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
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
Abe 13a4da21b2 misc bugfixes and cleanup from skydio 2015-05-13 22:26:24 -07:00
Frank 4ba329c23b Fixed many warnings on Ubuntu 2015-05-12 13:46:24 -07:00
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
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
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
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