Zsolt Kira
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
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
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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
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"
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This reverts commit b08a11ffb27d14487115f20745f1cea17fcc55ee.
2013-07-31 15:26:48 +00:00
Richard Roberts
b62af20fdc
Revert "Removed extra 'typename'"
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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."
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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"
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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