gtsam

Commit Graph

Author	SHA1	Message	Date
Luca Carlone	73e72a98bd	Selective relinearization	2013-09-26 01:06:55 +00:00
Zsolt Kira	bf8621aa3a	Added some state that is returned/passed in to smart projection factor to support smart re-linearization Fixed bug in batch example that did not add last set of measurements in file Created incremental version that reads measurements as they come, associates with a smart factor (or creates new one), and optimizes. Last example achieves same results on 200-pose example as batch example.	2013-08-28 12:31:56 +00:00
Alex Cunningham	4b12d6f794	Moved Symbol and LabeledSymbol to inference as they are no longer specific to nonlinear optimization	2013-08-19 15:32:16 +00:00
Luca Carlone	0514ad39c6	Smart projection factor working on Kitti	2013-08-14 19:12:23 +00:00
Chris Beall	c03172aca3	add prior on second camera	2013-08-09 15:31:15 +00:00
Zsolt Kira	8d9dcfbfc2	Fixed problem with pixel_sigma (2-dimensional only) Added switch to determine if normal GenericProjectionFactor or SmartProjectionFactor is used	2013-08-09 14:52:26 +00:00
Zsolt Kira	5af82c4042	SmartProjectionFactor example: Cleaned up some code, added comments, changed some of the LM parameters. Switched to use smaller kitti dataset for now.	2013-08-08 17:16:23 +00:00
Zsolt Kira	6dd67a13fd	Changed to optimize entire graph instead of sub-graphs	2013-08-08 14:20:08 +00:00
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

9 Commits (b04d2f15123ac41b9e2afe96a6fb2b7a04d10ea2)