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326 Commits (a1fda3f14c07b7b9b47a80f0cbc30eac4fe15170)

Author SHA1 Message Date
Frank Dellaert 8e81890f9b eradicated last vestiges of boost/random in gtsam_unstable 2020-02-28 07:21:54 -08:00
Varun Agrawal d9923fc3cc replaced/appended all calls to SimpleCamera with PinholeCameraCal3_S2 2020-02-21 19:42:55 -05:00
Frank Dellaert c007c7715c Duplicate measurements are disallowed -> leads to duplicate keys in JacobianFactor 2019-06-11 20:42:35 -04:00
Jose Luis Blanco Claraco a1096a6f3b Fix bug: iSAM2 won't update() with smart factors 2019-05-27 12:26:54 +02:00
Jose Luis Blanco Claraco 77d56cb2eb Add iSAM2+Stereo factor unit test to reveal bug #10 
fix test
 2019-05-27 12:26:53 +02:00
Frank Dellaert 8801de4d63 Pose3 naming convention 2019-05-16 15:06:15 -04:00
Duy-Nguyen Ta 1cdc228d6a remove trailing spaces 2019-02-11 10:58:34 -05:00
Frank Dellaert 2aa43e11bd Use KeyVector everywhere to avoid conversions 2018-11-08 10:10:32 -05:00
Sean Bowman b04c0bb15d Fix memory alignment issues 2018-07-13 14:31:02 -04:00
Luca Carlone fbb9d3bdda Merged in feature/heterogeneousSmartFactorNoise (pull request #271) 
Feature/heterogeneoussmartfactornoise

Approved-by: Chris Beall
Approved-by: Jing Dong
 2017-03-12 05:50:08 +00:00
Yao Chen 249d6b0b1b Replaced graph.push_back with graph.emplace_shared if needed. 2016-10-01 11:17:41 -04:00
lcarlone edcf94591d added functions to get/set smart stereo parameters with unit test 2016-08-06 23:27:54 -04:00
lcarlone a93c1e86f2 Merge remote-tracking branch 'origin/feature/heterogeneousSmartFactorNoise' into feature/heterogeneousSmartFactorNoise 2016-08-02 18:50:54 -04:00
lcarlone e54159c695 Merge branch 'develop' into feature/heterogeneousSmartFactorNoise 
# Conflicts:
#	gtsam_unstable/slam/SmartStereoProjectionFactor.h
 2016-08-02 18:50:18 -04:00
Luca 938454916f improved test, and slightly loosened tolerance when using MKL 2016-07-31 20:10:31 -04:00
Luca 6a21f1b730 adapted stereoSmart factors to use "outlier" and "far point" statuses 2016-07-31 18:31:38 -04:00
Luca 20c13580cc deleted unused variables in unit test 2016-07-29 16:34:18 -04:00
lcarlone 50d6532fe1 the ultimate test: smartStereoFactors generalize smartFactors in that they work in the purely monocular case! 2016-07-27 23:48:58 -04:00
lcarlone a5138bfb46 included body_P_sensor in smartStereoProjectionPoseFactor! 2016-07-25 22:13:25 -04:00
Luca 6c163b0a4d added test which optimize smartStereoFactor with missing measurements (uR) 2016-07-24 19:07:00 -04:00
Luca b90e224f59 added tests for error and triangulation 2016-07-24 18:56:04 -04:00
Luca cd9b4cd5ab moved common definitions to base class 2016-07-24 18:31:55 -04:00
Luca 3c15ef5d1e great simplification in stereo triangulation: converting stereo into a set of monocular cameras, then proceed as in the monocular case 2016-07-24 16:11:07 -04:00
Alex Hagiopol b6728ef620 Deprecated Vector ones(size_t n). All unit tests pass. 2016-04-15 17:30:54 -04:00
Alex Hagiopol 76308a5d46 Deprecated Vector zero(size_t n). All unit tests pass. 2016-04-15 16:54:46 -04:00
Frank Dellaert 652edb6e61 Merged in fix/DeprecateMatrixFunctions (pull request #243) 
Fix/deprecatematrixfunctions
 2016-04-12 23:53:42 -07:00
Alex Hagiopol 70b2aab352 Deprecated all inline functions in Matrix.h. 2016-04-11 15:11:29 -04:00
dellaert a3b66a94ea Cleaned up Double_ problems 2016-04-10 19:01:14 -07:00
Frank 0372a959ee Many small improvements, bug-fixes, and tests 2016-02-24 11:01:19 -08:00
dellaert 1c920967d9 No more use of vector() or default constructor 2016-02-12 00:06:07 -08:00
dellaert 56dbf487ee Fixed more default constructor calls 2016-02-11 23:31:17 -08:00
Frank 94ccf98985 Avoid default constructor in tests 2016-02-11 19:01:54 -08:00
Frank Dellaert 4d93a33f61 Static methods should be uppercase. 2016-01-26 23:09:58 -08:00
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 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 fd1e41a9e6 remove calibration template from SmartStereoProjectionPoseFactor 2015-07-28 15:12:02 -04:00
cbeall3 db64b48fda tests pass 2015-07-28 14:48:53 -04:00
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 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 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
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 762a7b7435 Remove selective relinearization and state 2015-04-08 17:52:25 -04:00
dellaert a4d1874af4 Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3 2015-03-09 17:51:16 -07:00
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 dc3d5f77fe Extra stereo tests 2015-03-05 10:35:54 -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 a132d959f5 RADICAL: Got rid of sensor_pose. In the new PinholePose philosophy, this is entirely the responsibility of the CAMERA. Just like PinholePose, we can have a camera class that has a shared extra transform: it is part of the calibration. PinholePose itself is not able to do this, as the calibration is assumed 2D only, but it's easy to create a class and have the correct derivatives in place. 2015-02-26 12:06:43 +01:00
Paul Drews 8a88f101db Fix deprecation warnings 2015-02-24 21:58:17 -05:00
dellaert 64bb6b77d7 Merged in feature/SmartCT (pull request #107) 
Refactoring of Smart Factors
 2015-02-22 06:14:19 +01:00
dellaert e119846280 Updated examples and test 2014-12-28 19:10:41 +01:00
dellaert f9c353d4a5 Merge remote-tracking branch 'origin/develop' into feature/SoundSlam 
Conflicts:
	.cproject
	gtsam/base/LieMatrix.h
	gtsam/base/LieVector.h
	gtsam/base/OptionalJacobian.h
	gtsam/base/tests/testOptionalJacobian.cpp
	gtsam/geometry/Cal3_S2Stereo.h
	gtsam/geometry/CalibratedCamera.h
	gtsam/geometry/PinholeCamera.h
	gtsam/geometry/Point2.h
	gtsam/geometry/Point3.h
	gtsam/geometry/Pose2.cpp
	gtsam/geometry/Pose2.h
	gtsam/geometry/Pose3.cpp
	gtsam/geometry/Pose3.h
	gtsam/geometry/Rot2.cpp
	gtsam/geometry/Rot2.h
	gtsam/geometry/Rot3.cpp
	gtsam/geometry/Rot3.h
	gtsam/geometry/Rot3M.cpp
	gtsam/geometry/Rot3Q.cpp
	gtsam/geometry/Unit3.cpp
	gtsam/geometry/tests/testRot3.cpp
	gtsam/nonlinear/AdaptAutoDiff.h
	gtsam/nonlinear/Expression-inl.h
	gtsam/nonlinear/Expression.h
	gtsam/nonlinear/tests/testExpression.cpp
	gtsam/slam/RangeFactor.h
	timing/timeAdaptAutoDiff.cpp
	timing/timeCameraExpression.cpp
 2014-12-28 17:45:41 +01:00
dellaert e5017984a1 traits_x -> traits 2014-12-26 16:47:51 +01:00
dellaert 78386ad144 Merge ExmapeDerivative/LogmapDerivative changes from 'origin/develop' into feature/tighteningTraits 
Conflicts:
	gtsam/base/LieScalar.h
	gtsam/geometry/Point2.h
	gtsam/geometry/Point3.h
	gtsam/geometry/Rot3.h
	gtsam/geometry/Rot3M.cpp
	gtsam/geometry/Rot3Q.cpp
	gtsam/geometry/tests/testRot3.cpp
 2014-12-24 13:55:15 +01:00
dellaert d9f5681dc2 Fixed warning 2014-12-24 11:34:53 +01:00
dellaert 355b938f3a Point3 loses its mojo (superfluous Lie/Manifold stuff) 2014-12-22 17:22:45 +01:00
Mike Bosse a6f612844f fixed testTSAMFactors.cpp 2014-12-22 09:39:51 +01:00
dellaert 79d8514528 MASSIVE edit: made Testable its own concept, and moderinized Testable.h to use Testable traits. This required adding Testable traits in many classes. 2014-12-21 22:02:57 +01:00
Mike Bosse 07bcc18d43 fixed testTSAMFactors 2014-12-15 23:23:40 +01:00
dellaert 8f27b048f1 Moved experiment to doubleExpresso project 2014-12-12 08:53:32 +01:00
dellaert 541217175c Added ExpressionFactorGraph (should go away with move of ExpressionFactor to gtsam) 2014-12-12 08:00:02 +01:00
dellaert fa7071bdd8 Comments, renaming 2014-12-12 07:45:09 +01:00
dellaert 8cc813f03e Removed misguided Factory attempt in favor of direct expressions 2014-12-12 07:31:33 +01:00
dellaert a9121fc3fc Now it's super-easy to create priors on pieces of state. 2014-12-11 13:45:15 +01:00
dellaert cedf2647d2 Use handy dandy Factor Factory 2014-12-11 13:19:37 +01:00
dellaert d37216cde3 TOAFactor header 2014-12-10 22:50:41 +01:00
dellaert bb00e375da Print for MATLAB 2014-12-10 21:44:56 +01:00
dellaert dc84b6589e Added in real experimental data gathered by Jay at KU Leuven 2014-12-10 21:12:38 +01:00
dellaert d17caa5487 Event header and test file 2014-12-10 19:14:18 +01:00
dellaert 5d6e0bc753 Optimization test succeeds, but only with 5th microphone... 2014-12-10 19:00:52 +01:00
dellaert 2dcbc72d8d Derivatives work !!! 2014-12-10 17:58:35 +01:00
dellaert 0ceb09262c Put in prototype derivatives, needs unit test 2014-12-10 16:06:34 +01:00
dellaert cca1a54544 Everything done, except derivatives !!! 2014-12-10 16:02:13 +01:00
dellaert d54c70202a TOAFactor compiles and can be put into a factor graph 2014-12-10 15:43:31 +01:00
dellaert ba1a2685bc Not-working yet, but lots of progress towards TOAFactor 2014-12-10 15:10:59 +01:00
dellaert 5ce007446d Merge remote-tracking branch 'origin/develop' into feature/SoundSlam 
Conflicts:
	.cproject
 2014-12-10 14:47:58 +01:00
dellaert 777aa005b4 Developing time of arrival factor with Jay at KU Leuven 2014-12-10 14:24:10 +01:00
dellaert d2e53d4fe9 "Fixed" AHRS 2014-12-04 12:30:41 +01:00
Chris Beall 7b1a9ba371 Merged in feature/TemplatedSmartFactors (pull request #39) 
Templated Smart Factors
 2014-11-25 07:36:14 -05:00
Richard Roberts f9ca07e610 Converted Vector(2|3) << ... to Vector2(...) or Vector3(...) syntax 2014-11-23 10:22:25 -08:00
Richard Roberts aa093a35da Updated all comma initializer usages to use .finished() 2014-11-22 16:35:27 -08:00
cbeall3 f3d42a8487 Move to unstable 2014-11-17 19:53:21 -05:00
dellaert a94835a2e4 Merge remote-tracking branch 'origin/develop' into feature/BAD 
Conflicts:
	.cproject
	gtsam/geometry/Cal3DS2.cpp
	gtsam/geometry/Cal3DS2.h
	gtsam/geometry/Cal3Unified.h
	gtsam/navigation/CombinedImuFactor.h
	gtsam/navigation/ImuFactor.h
	gtsam/nonlinear/NonlinearFactor.h
	gtsam/slam/tests/testPoseRotationPrior.cpp

Modified: testGaussMarkov1stOrderFactor.cpp, testPoseRotationPrior.cpp
 2014-11-04 17:04:57 +01:00
dellaert f1dd554a9d No more LieVector (too much copy/paste here) 2014-11-03 13:38:25 +01:00
dellaert 2a745b6c26 No more LieVector/LieScalar 2014-11-03 13:32:58 +01:00
dellaert 39ce31d0cc No more LieVector 2014-11-03 13:15:41 +01:00
dellaert b5327673fb Get rid of LieVector 2014-11-03 11:02:15 +01:00
cbeall3 699153ece9 Coding convention: convert tabs to two spaces 2014-10-30 12:44:46 -04:00
Chris Beall eeb0293f27 Merged in feature/FixQuaternion (pull request #22) 
Was quaternion (somewhat) broken ?
 2014-10-24 09:53:50 -04:00
dellaert 77e7f0437d Merge remote-tracking branch 'origin/feature/FixQuaternion' into feature/BAD 
Conflicts:
	gtsam/geometry/tests/testRot3M.cpp
	gtsam/geometry/tests/testRot3Q.cpp
 2014-10-23 10:03:10 +02:00
dellaert 845697555a Fixed tests for Quaternion mode but Pose3 not in EXPMAP mode 2014-10-23 09:52:35 +02:00
dellaert a29f09423c Merge branch 'develop' into feature/BAD 
Conflicts:
	gtsam/linear/tests/testGaussianBayesNet.cpp
 2014-10-22 13:56:27 +02:00
dellaert 113b9d2e74 Got rid of unnecessary LieVector usage that broke fixed-code 2014-10-22 01:32:59 +02:00
dellaert 1eb5e185e5 New numericalDerivatives with traits an Charts - still some segfaults, *and* there should be no need for (a) multiple prototypes to match against c++ pointers, (b) the use of explicit template arguments. A task for someone... 2014-10-21 18:50:52 +02:00
Luca 7a4f307342 moved biasedGPS and GaussMarkov to unstable 2014-10-06 13:11:40 -04:00
cbeall3 e0a9eb63ce Fix for Windows: renamed some tests 2014-09-24 16:47:07 -04:00
Chris Beall 50c8313233 Rename TransformProjectionFactor to ProjectionFactorPPP 2014-08-12 15:55:28 -04:00
Chris Beall 2c3f6e563d Renamed TransformCalProjectionFactor to ProjectionFactorPPPC to follow new naming convention 2014-08-12 15:29:05 -04:00
cbeall3 bc982293ab New unit tests for quaternary pose+transform+landmark+calibration factor 2014-07-29 21:55:14 -04:00
cbeall3 f261a6ddbc Merge remote-tracking branch 'origin/develop' into feature/concurrent-calibration 2014-07-02 15:49:47 -04:00
cbeall3 5b2f4a2c3a Move Transform factors to unstable 2014-07-01 16:03:35 -04:00
Vadim Indelman 991906181b Updating EM factor (to accout for uncertainty in states) 2014-06-30 20:43:25 +03:00
Richard Roberts fe235b1209 Building timing scripts using new timing script support in GtsamTesting.cmake. Fixed compile errors in timing scripts but disabled a couple. 2014-06-07 19:02:11 -07:00
cbeall3 87f5818776 Move smart projection factor 2014-05-31 15:33:19 -04:00
Luca c2705902cb added dynamic outlier rejection (with unit tests) for smart pose factors 2014-05-22 22:32:12 -04:00
Luca e0500f7b18 added and renamed unit tests 2014-05-22 21:28:00 -04:00
cbeall3 842554a230 Unit test fixes for quaternion mode and also rotation matrix + full expmap mode. 2014-05-06 20:03:45 -04:00
dellaert 05c1e572b6 Moved TSAMFactors.h from tsam to gtsam 2014-05-05 10:14:36 -04:00
dellaert 1ed07ca4ed Moved to unstable 2014-05-03 12:23:20 -04:00
jing 02fc860d9e add smartfactor base classes, smartProjectionPoseFactor, and its unit test to gtsam_unstable 2014-03-27 13:14:13 -04:00
Richard Roberts 4c5cb4d8ec Removed some unused code that was causing warnings 2014-02-23 18:51:48 -05:00
Richard Roberts 89e6d2f1e8 Removed some commented-out includes 2014-02-18 13:44:25 -05:00
Richard Roberts 661a157553 Working on standardizing/simplifying building unit tests and examples. Much simpler cmake function to add a glob of tests, doing away with convenience libraries, and removing other options that we never change from their defaults. 2014-02-13 01:34:31 -05:00
vindelman3 5ef681bc4a Changed Vec() to Vector(). 2014-02-05 13:59:21 -05:00
vindelman3 381899640e Moved TransformBtwRobotsUnaryFactor to gtsam_unstable from svn version. 2014-02-04 14:13:25 -05:00
jing 96296333ae remove all LieVector(size_t m, ...), which doesn't check parameter's type and it's also dangerous 2014-01-23 18:35:29 -05:00
jing 8641816b21 fix Vector_() in gtsam_unstable and tests 2014-01-23 02:03:12 -05:00
Richard Roberts 880d9a8e3c Switched to new Eigen built-in special comma initializer 2013-12-16 21:33:12 +00:00
Jing Dong 0b3aac7048 Fix Matrix_(...) to Mat() <<... in gtsam_unstable 2013-11-13 05:51:03 +00:00
Richard Roberts 5defdbe73f Fixed compile problems on windows 2013-11-05 16:06:10 +00:00
Jing Dong de55dc0d66 Fix Vector_() to Vec() in gtsam_unstable/slam 2013-10-22 04:56:01 +00:00
Luca Carlone 6e7302283e moved smart factors for smartFactors_ceres 2013-10-21 15:35:23 +00:00
Luca Carlone 92f0bb64b2 added tests on smartHessianFactor with Cal3Bundler 2013-10-19 22:00:43 +00:00
Luca Carlone d5790376d7 cleaning (2) 2013-10-18 23:15:47 +00:00
Luca Carlone 3a139587ee minor changes 2013-10-17 01:18:22 +00:00
Luca Carlone 4f2d233e67 added test on Hessian 2013-10-15 14:57:48 +00:00
Luca Carlone b77f7f77a4 created infrastructure for testing BAL datasets 2013-10-15 02:02:53 +00:00
Luca Carlone 44ae90f523 added SmartHessianProjection factor: allows different calibrations and noises for the cameras 2013-10-14 22:33:15 +00:00
Luca Carlone 9ad033fc45 Added unit tests on projectPointAtInfinity and backprojectPointAtInfinity. Fixed error projectPointAtInfinity. Deleted projectPointAtInfinity 2013-10-12 19:29:07 +00:00
Chris Beall e799c9ffa9 tabs converted to two spaces 2013-10-10 17:52:57 +00:00
Luca Carlone 426b4d79cf testSmartProjectionFactor - disabled 2013-10-08 14:28:50 +00:00
Luca Carlone 444df1958a Kitti test not working 2013-10-06 18:17:35 +00:00
Luca Carlone 441dcec64e added unit test for selective relinearization 2013-09-28 21:25:08 +00:00
Luca Carlone 9ad72e9523 included rank tolerance in Smart factor constructor 2013-09-28 18:49:26 +00:00
Luca Carlone d10ffee4d4 management of degeneracy 2013-09-28 00:49:37 +00:00
Luca Carlone 8168d4a186 commented test 2013-09-26 23:09:48 +00:00