Commit Graph

272 Commits (8cf7b6723f840c2bcb5b6f5e5c20fdc84a8a1680)

Author SHA1 Message Date
Zsolt Kira 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
Zsolt Kira f423d6f2a8 SmartProjectionFactor: More cleanup, added more tests, added some timing 2013-08-07 23:32:40 +00:00
Vadim Indelman d33f435eab Added BetweenFactorEM with 2 indicator variables. 2013-08-07 15:25:00 +00:00
Zsolt Kira 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
Luca Carlone 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
Luca Carlone 2e085ace91 Changes in SmartProjectionFactor 2013-08-05 19:25:08 +00:00
Chris Beall 5518007317 adding test with regular projection factors for comparison, and bug fixes in SmartFactor test. 2013-08-05 17:58:32 +00:00
Chris Beall d1de6b29a9 adding 3 camera, 3 landmark test 2013-08-05 15:50:19 +00:00
Luca Carlone 39ec641c4a Modifications to SmartProjectionFactor and unit test: work in progress 2013-08-05 15:09:03 +00:00
Luca Carlone d1419a3d11 Added SmartProjectionFactor (+unit tests) 2013-08-02 23:35:39 +00:00
Richard Roberts f273b8f915 Removed extra 'typename' 2013-08-02 16:04:29 +00:00
Richard Roberts 34dc67c1af Brought some relevant changes from aspn-imu-factor branch (is correct this time) 2013-08-02 16:04:17 +00:00
Alex Cunningham 424ef0728f Changed a filename to avoid having multiple object files of the same name in the library 2013-08-01 16:54:44 +00:00
Luca Carlone ed79432a69 Added MultiProjectionFactor, invoving n views (camera poses) observing a single landmark: work in progress 2013-07-31 18:02:56 +00:00
Richard Roberts 34998b3435 Added missing export tag 2013-07-31 15:36:39 +00:00
Richard Roberts 321a286f02 Revert "Brought some relevant changes from aspn-imu-factor branch"
This reverts commit b08a11ffb27d14487115f20745f1cea17fcc55ee.
2013-07-31 15:26:48 +00:00
Richard Roberts b62af20fdc Revert "Removed extra 'typename'"
This reverts commit 04fd69f56c1e1cbd934a54aeb415e2cf2132d236.
2013-07-31 15:26:46 +00:00
Richard Roberts 90cf73d4a7 Removed extra 'typename' 2013-07-31 15:25:05 +00:00
Richard Roberts 7345b40feb Brought some relevant changes from aspn-imu-factor branch 2013-07-31 15:25:03 +00:00
Chris Beall 201a7bfda5 adding triangulation function needed by new Schur complement factor 2013-07-30 18:52:06 +00:00
Richard Roberts ecb24ebd06 Fixes to include path ordering and boost libraries 2013-07-09 15:43:55 +00:00
Alex Cunningham f3aa2fde53 Fixed compile error 2013-06-25 17:22:45 +00:00
Frank Dellaert 0837eab8f5 Scripts to test (still not working so-well) smart range factor 2013-06-25 17:13:02 +00:00
Richard Roberts 26df712592 Put new unit test global variables into anonymous namespaces. Removed dll export tag from SmartRangeFactor since it is a header-only class. 2013-06-24 19:30:00 +00:00
Frank Dellaert 39910717d6 Picked the winner 2013-06-24 16:25:02 +00:00
Frank Dellaert 34db300802 Fixed n<3 Jacobians 2013-06-24 16:18:48 +00:00
Frank Dellaert 3383e52c5f Split unit tests.... 2013-06-24 16:02:17 +00:00
Frank Dellaert 43fe036c32 Made more efficient by adding errors -> Jacobians back to 1*3, always. This is big savings if a landmark is seen from many poses. 2013-06-24 15:57:03 +00:00
Frank Dellaert aea4f31096 Fixed Jacobians, optimization works 2013-06-24 15:31:13 +00:00
Frank Dellaert b7dbcefa8b simplified measurements_ to vector 2013-06-24 12:15:01 +00:00
Frank Dellaert 4b412b0a4b keys and Jacobians 2013-06-24 12:07:21 +00:00
Frank Dellaert 40bc7070ff Example in unstable, to use SmartRangeFactor 2013-06-24 12:06:47 +00:00
Frank Dellaert d041c5b8a8 Split up circle intersection code into three routines that are used in SmartRangeFactor 2013-06-24 08:24:56 +00:00
Frank Dellaert 5f5e481394 AHRS mechanization small efficiency change (in progress) 2013-06-21 00:21:18 +00:00
Alex Cunningham e7334b89bd Rebasing... 2013-06-20 17:08:30 +00:00
Richard Roberts 5ae4f21517 Added missing dll export tags to new functions 2013-06-20 16:05:23 +00:00
Alex Cunningham 456d1b5cf7 Cleanup: moving old serialization function to gtsam_unstable, renaming matlab serializaion test 2013-06-19 17:50:09 +00:00
Alex Cunningham 45b5389f8a Serialized more classes in gtsam and gtsam_unstable 2013-06-19 17:50:07 +00:00
Kyel Ok d85c773f7c Changes in AHRS - flat trim initialization added, some comments by Frank, aidingAvailablitiy function 2013-06-14 21:18:22 +00:00
Alex Cunningham 9e3bfdc4f8 comments only 2013-06-11 14:36:54 +00:00
Alex Cunningham 083e0c849e Switched to templated version of liquefy() to allow for use with non-default clique types 2013-06-11 14:36:53 +00:00
Alex Cunningham 83a1483e9f Adding unit tests and a bugfix for liquefying bayes tree function 2013-06-11 14:36:52 +00:00
Alex Cunningham 361682c485 Working on a test for liquefy 2013-06-11 14:36:51 +00:00
Frank Dellaert ebcc638ef5 renamed dist to distance (dist still works but now deprecated) 2013-06-05 16:11:36 +00:00
Richard Roberts b2d4469cb3 Added missing export tag 2013-06-04 17:34:02 +00:00
Stephen Williams 1e5f9c742d Revert "Modified Concurrent Filter to calculate marginals using a "shortcut" that allows constant-time updates during synchronization. Still need to test implementation."
This reverts commit f24a4f4668006cfe9a3eeb1658b7df03c74490d5.
2013-05-22 00:05:03 +00:00
Stephen Williams 8e26da7396 Added matlab version of the Concurrent Filtering and Smoothing example 2013-05-21 21:07:45 +00:00
Stephen Williams 5f371a4e55 Modified Concurrent Filter to calculate marginals using a "shortcut"
that allows constant-time updates during synchronization. Still need to
test implementation.
2013-05-21 21:07:43 +00:00
Richard Roberts 16c11c70fb Fixes to compile on Windows 2013-05-21 17:24:49 +00:00
Stephen Williams 13d3f1cb6e Updated Fixed-Lag smoother example 2013-05-21 14:57:40 +00:00