426b4d79cf
testSmartProjectionFactor - disabled
2013-10-08 14:28:50 +00:00
444df1958a
Kitti test not working
2013-10-06 18:17:35 +00:00
d049dd38c6
Incremental mode in Smart Factors (not working yet with standard ProjectionFactors)
2013-10-06 18:17:32 +00:00
f65740e79e
fixed filename in doxygen header
2013-10-04 21:28:26 +00:00
83182b05ca
Second method for landmark-first ordering: Provide a constrained ordering with landmarks in group 1 and poses in group 2
2013-10-04 14:25:19 +00:00
cc724134a6
Added ability to run both smart and projection factor version (for comparison)
...
For projection factor version, we can specify a landmark-first ordering
2013-10-04 13:47:24 +00:00
43d56b120a
From Hmf6_unordered: getISAM2 and variables Reeliminated/Relinearized (d97dcacf186900d12003c399e7fe55e03ca34e3f)
2013-10-03 19:52:05 +00:00
0c7b2ec062
From Hmf6_unordered: Public isam2 - to be changed (10834edc1698d941be3203e8e6bea0bd4a573443)
2013-10-03 19:52:01 +00:00
bf40956592
Merged from Hmf6_unordered 970392249a8c50153f24594c9c81acb740cedd06
2013-10-03 19:51:56 +00:00
2ad0cd4417
Fixed compile error on linux
2013-10-03 19:10:13 +00:00
4996db5023
Fix in running incremental optimization on Kitti
2013-10-03 18:02:25 +00:00
3c68d20ff2
Fixed calculate_nnz and added unit test
2013-10-03 16:50:20 +00:00
19602bbb0b
Fixed warning
2013-10-03 16:50:18 +00:00
95ac34aeeb
Updating Hessian in-place instead of computing Hessian for each Jacobian
2013-10-03 16:50:16 +00:00
4d31dd99f3
Hopefully fixed the mex build flags
2013-10-03 16:50:14 +00:00
c3e3b693e7
support special linearize for constraints, which Jacobian could be augmented by Jacobian-from-Hessian parts for Lagrange multipliers in SQP
2013-10-02 03:55:11 +00:00
63ff1b47c1
support augmented matrices in Matrix's vector_scale_in_place, Constrained's Whiten, WhitenInPlace, and unit(...). These are used in constraints SQP solver with Lagrange multipliers.
2013-10-02 03:52:08 +00:00
a6dd4c0464
testing on kitti
2013-09-30 20:39:55 +00:00
5c4395e812
Removed const
2013-09-30 20:39:53 +00:00
441dcec64e
added unit test for selective relinearization
2013-09-28 21:25:08 +00:00
9ad72e9523
included rank tolerance in Smart factor constructor
2013-09-28 18:49:26 +00:00
d10ffee4d4
management of degeneracy
2013-09-28 00:49:37 +00:00
6f463166a9
Using TBB task continuation in tree traversal but this unfortunately does not improve performance
2013-09-27 16:30:36 +00:00
7560a1f6e3
Typo fixed
2013-09-27 16:06:36 +00:00
e10a0a0650
bool to disable selective relinearization
2013-09-26 23:09:50 +00:00
8168d4a186
commented test
2013-09-26 23:09:48 +00:00
22ccd4b4b4
update to smartFactor
2013-09-26 23:09:47 +00:00
b04d2f1512
ICRA version of Kitti dataset processing
2013-09-26 20:36:57 +00:00
d440901920
Fixed quoting on include paths for building the toolbox so that the toolbox builds again
2013-09-26 18:12:32 +00:00
70a448f43e
Efficient implementation of Selective Linearization
2013-09-26 15:07:56 +00:00
73e72a98bd
Selective relinearization
2013-09-26 01:06:55 +00:00
9f68c04792
Initial implementation of selective relinearization
2013-09-20 20:19:58 +00:00
e1ef219916
Added optional ordering for creating dense jacobian and hessian matrices from GaussianFactorGraph
2013-09-20 15:25:16 +00:00
5f2a4e0dc6
Changed remaining Index to Key
2013-09-20 15:25:11 +00:00
c24cc8d2e2
Use KeyFormatter in BayesNet::saveGraph
2013-09-18 17:23:38 +00:00
f5bb8c6507
Added missing MATLAB wrapping of GaussianFactorGraph elimination functions
2013-09-18 17:23:33 +00:00
a4bd2adbc7
Added test for serializing a GaussianBayesTree
2013-09-17 14:04:11 +00:00
1c30b6daef
Fixed the other place where tbb set_ref_count was called before finishing creating children which may throw exceptions, hopefully will fix the intermitant TBB crash when an exception is thrown.
2013-09-17 03:24:21 +00:00
2b78eb8bec
Restored NonlinearFactorGraph::symbolic() and made a few other minor fixes.
2013-09-17 03:13:32 +00:00
b050e96b93
Use cleaner function for spawning TBB tasks
2013-09-16 20:59:00 +00:00
0bb5d1595d
Added Cauchy noise model contributed by Jan Oberländer
2013-09-16 20:58:58 +00:00
c310bafc8a
ISAM2 option, increased num poses
2013-09-14 03:10:10 +00:00
0e5069c26c
Added toy example on SmartRangeFactors
2013-09-14 00:21:10 +00:00
5dc138aa09
wrap important bits of SmartRangeFactor
2013-09-13 21:00:48 +00:00
14e65ce607
Matrix initialization bug fix
2013-09-13 18:26:39 +00:00
7413b50da1
Support for running on entire kitti dataset.
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Cleaned up prints, added gathering of statistics (# variables, triangulation failures, etc.)
2013-09-13 13:22:43 +00:00
35327d0d56
Added incremental version using the normal Projection Factor.
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Supports initialization both using read-in landmark poses or triangulation.
2013-09-11 14:02:41 +00:00
90ddac8fac
Added a print function to the BayesTreeCliqueWrapper that also prints out contents
2013-09-10 19:26:02 +00:00
22dc80e4ff
Attempting to fix a TBB crash
2013-09-10 15:45:12 +00:00
a8d1072a02
Further optimization with another ~9% speed improvement.
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Don't retriangulate on linearize if previous triangulation involved same poses
Added noalias in non-blockwise portion
Added exception handling for project() function
2013-09-10 15:15:24 +00:00
Luca Carlone
Frank Dellaert
Zsolt Kira
Richard Roberts
Duy-Nguyen Ta
Alex Cunningham
Chris Beall