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320 Commits (b51a8380c4e38f5eec4b6a696ccb0173551f9a4f)

Author SHA1 Message Date
Alex Cunningham d70622abe0 Rearranged matlab folders to avoid calling utility functions "examples" 2012-06-07 20:09:54 +00:00
Alex Cunningham 2288a6bc1f fixed compile error due to NonlinearISAM change 2012-06-07 17:47:19 +00:00
Alex Cunningham df7ffe5923 Now installs matlab *.fig files with examples 2012-06-07 15:45:29 +00:00
Chris Beall e0686484b6 fixed compile errors 2012-06-07 14:53:39 +00:00
Frank Dellaert bf21239e41 printStats 2012-06-07 14:29:18 +00:00
Frank Dellaert 8644f81dc8 VisualiSAM, going crazy. MATLAB is amazing! 2012-06-07 13:16:28 +00:00
Duy-Nguyen Ta ce71979c8c VisualISAMExample_triangle 2012-06-07 07:43:56 +00:00
Duy-Nguyen Ta 2a633b75c8 use surf instead of mesh for covarianceEllipse3D 2012-06-07 07:43:22 +00:00
Duy-Nguyen Ta 61e95f4ace temporarily revive the old VisualISAMExample 2012-06-07 07:06:54 +00:00
Frank Dellaert b10f4d09e3 iSAM with options 2012-06-07 06:14:47 +00:00
Frank Dellaert 9ef891198b Re-factored iSAM MATLAB example and wrapped more ISAM functions 2012-06-07 05:19:43 +00:00
Frank Dellaert c78e649042 create and use cameras, not poses 2012-06-07 04:09:22 +00:00
Frank Dellaert 903580abb4 Rotated display so Z is up, made axis square 2012-06-07 03:54:48 +00:00
Frank Dellaert 2414bfc3c9 Use correct calibration matrix K in camera creation 2012-06-07 03:35:06 +00:00
Frank Dellaert e986311566 small details 2012-06-07 02:18:24 +00:00
Duy-Nguyen Ta c518381373 VisualISAMExample in MATLAB: try to enable point priors. Disable logging images. 2012-06-06 21:21:49 +00:00
Duy-Nguyen Ta 31d88649f7 fix bug in VisualISAM matlab example 2012-06-06 18:08:30 +00:00
Duy-Nguyen Ta 3e36890fd1 VisualISAMExample in MATLAB. Doesn't look quite right... 2012-06-06 09:41:06 +00:00
Duy-Nguyen Ta bb89cdda76 axisLength for plotting Pose2 in MATLAB 2012-06-06 09:40:24 +00:00
Duy-Nguyen Ta 3a28baf3c8 simplify VisualSLAMExample code in MATLAB 2012-06-06 09:39:55 +00:00
Duy-Nguyen Ta a8ffa407ae remove noise sampler in visualSLAM examples 2012-06-06 09:36:10 +00:00
Abhijit Kundu 59960a8d14 Changes to Discrete Examples 2012-06-06 03:25:56 +00:00
Duy-Nguyen Ta e6a0663540 rotate and color 3D covariance ellipses for visual SLAM example with Frank 2012-06-05 23:51:12 +00:00
Alex Cunningham ad3b431c4d Moved building of wrap libraries to a cmake macro and moved install for matlab components to the appropriate folder 2012-06-05 18:05:00 +00:00
Chris Beall 1241bf383a stereo VO Matlab example and data 2012-06-05 17:54:29 +00:00
Alex Cunningham 02ce40546f Changed names of cmake flags to be more intuitive, fixed include/library path issues for building the mex binaries 2012-06-05 17:20:19 +00:00
Richard Roberts bef45d5b7b Merged from branch 'branches/windows' 2012-06-05 14:09:58 +00:00
Frank Dellaert 7b48e56d56 Plot marginals, sample 2012-06-05 13:29:26 +00:00
Frank Dellaert 10d6157d1d formatting/naming only 2012-06-05 13:29:04 +00:00
Richard Roberts 90578e2532 Merge remote-tracking branch 'svn/trunk' into windows 
Conflicts:
	gtsam.h
	wrap/CMakeLists.txt
 2012-06-05 13:11:34 +00:00
Duy-Nguyen Ta 715d663e4f VisualSLAM matlab example 2012-06-05 05:15:26 +00:00
Duy-Nguyen Ta 76a9e651cb minor variable renaming 2012-06-05 04:10:13 +00:00
Frank Dellaert fe1a9997cf simplified, sync with manual 2012-06-05 04:01:37 +00:00
Frank Dellaert 9560997bc7 Plotting 2012-06-05 03:51:21 +00:00
Frank Dellaert 9a8e083697 Rotate covariance ellipses correctly (plotPose2 stolen from ASPN) 2012-06-05 00:17:37 +00:00
Chris Beall 647b38c758 small improvements to plotting coordinate frames 2012-06-05 00:02:55 +00:00
Yong-Dian Jian 83f656f93d add the spcg example to matlab 2012-06-04 20:14:41 +00:00
Yong-Dian Jian 74322b0764 remove the optional 2012-06-04 17:23:45 +00:00
Duy-Nguyen Ta f7d7c5b9c8 change filename for visualSLAM examples 2012-06-04 16:05:13 +00:00
Richard Roberts 9c8377f476 Merge remote-tracking branch 'svn/trunk' into windows 
Conflicts:
	examples/Pose2SLAMExample.cpp
	examples/vSLAMexample/CMakeLists.txt
	examples/vSLAMexample/vISAMexample.cpp
	gtsam/nonlinear/ISAM2-impl.cpp
	gtsam/slam/pose2SLAM.cpp
	gtsam/slam/tests/testGeneralSFMFactor.cpp
	gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp
	gtsam/slam/tests/testPlanarSLAM.cpp
	gtsam/slam/tests/testPose2SLAM.cpp
	tests/testDoglegOptimizer.cpp
	tests/testGraph.cpp
 2012-06-04 14:13:37 +00:00
Chris Beall d40d8879ae removed vSLAMExample directory reference 2012-06-04 12:34:58 +00:00
Duy-Nguyen Ta 9c6eba4cf8 remove old visual SLAM example and its data 2012-06-04 08:51:34 +00:00
Duy-Nguyen Ta 4fbdd979a1 small rewording 2012-06-04 08:51:03 +00:00
Duy-Nguyen Ta 4eee4b72f4 add better visualSLAM examples 2012-06-04 08:31:26 +00:00
Frank Dellaert be7828b8cf Pose3SLAM example works (MATLAB only) 2012-06-04 05:53:51 +00:00
Frank Dellaert 198279f4ff Michael's example with our conventions... 2012-06-04 05:51:36 +00:00
Chris Beall ae78b89c6f finished wrapping visualSLAM namespace 2012-06-04 02:41:14 +00:00
Frank Dellaert 877e9d4045 new Pose3SLAM examples in C++ and MATLAB 2012-06-04 00:41:13 +00:00
Yong-Dian Jian 5aee7b4439 add doxygen-comment to spcg solver 2012-06-03 20:24:58 +00:00
Frank Dellaert 2d4fcbf101 renamed MATLAB examples 2012-06-03 20:14:23 +00:00
Frank Dellaert 6895481f0d Synchronized C++ and MATLAB 2012-06-03 20:12:12 +00:00
Frank Dellaert 0baa83cf45 Another rename 2012-06-03 20:11:40 +00:00
Frank Dellaert e23818431e Renamed examples to not have _easy.... 2012-06-03 19:52:35 +00:00
Frank Dellaert 73d1f0f6e0 use make_shared, cleanup 2012-06-03 19:50:04 +00:00
Alex Cunningham 720db709be Examples install now installs data for Matlab examples. Fixed typo in examples documentation 2012-06-03 19:26:28 +00:00
Frank Dellaert bd7724781d Manhattan world example with covariances, in C++ and MATLAB 2012-06-03 18:20:48 +00:00
Frank Dellaert 950bd8fcad Added MATLAB utility functions to pose2SLAM 2012-06-03 15:44:39 +00:00
Yong-Dian Jian 7d132ef217 add a simple spcg implementation and revive the example 2012-06-03 14:52:26 +00:00
Frank Dellaert a75c9f1da3 Small Manhattan world example 2012-06-03 05:26:30 +00:00
Frank Dellaert 20a5eed051 Fixed keys in planarSLAM matlab example 2012-06-03 05:25:50 +00:00
Frank Dellaert f924d01bc3 Synchronized mixed case naming 2012-06-03 05:25:05 +00:00
Frank Dellaert 8440939f27 Using symbol_shorthand instead of redundant kx, kl functions 2012-06-02 19:28:21 +00:00
Frank Dellaert a2512475c9 Symbol.h is now included just in time, no longer by default everywhere. 2012-06-02 19:05:38 +00:00
Frank Dellaert 5160c2eb50 Significant API change in slam (GTSAM 2.0.1 or 2.1): to eliminate confusion and give the user more freedom in creating their own Keys, the different slam variants no longer create Symbol keys themselves. Instead, all interaction is done via Keys (which are just unordered, unsigned ints). All PoseSLAM unit tests and examples now just use sequential keys. However, a user can still create Keys using the Symbol constructor, which is illustrated in the landmark-based unit tests and examples. 2012-06-02 16:18:40 +00:00
Richard Roberts 069be2b143 Fixed examples compiling on windows 2012-05-28 20:48:32 +00:00
Richard Roberts 1ca9e7049e Merge remote-tracking branch 'svn/trunk' into windows 
Conflicts:
	gtsam/linear/HessianFactor.h
	gtsam/nonlinear/Marginals.cpp
 2012-05-28 12:22:36 +00:00
Yong-Dian Jian ace4327897 reorg the nonlinear/linear parameters to accommodate the iterative solvers 2012-05-25 15:26:30 +00:00
Richard Roberts 90717dd583 Tweaking build settings for visual studio 2012-05-23 21:23:32 +00:00
Richard Roberts bcfe39f4ae Merge remote-tracking branch 'svn/trunk' into windows 
Conflicts:
	gtsam/nonlinear/Marginals.h
 2012-05-23 18:55:18 +00:00
Richard Roberts c2c9c4a982 Almost everything compiles and passes in windows 2012-05-23 18:51:49 +00:00
Richard Roberts 7cdd8e19da Tweaking build scripts for visual studio 2012-05-23 18:51:42 +00:00
Frank Dellaert 69e8923690 Plot covariance ellipses in MATLAB 2012-05-23 12:35:48 +00:00
Frank Dellaert 8a69bb8bcb Added marginals in MATLAB, but had to fix a bug in converting from 64 bit ints to size_t. This begs the question what happens on 32-bit machines with Symbols. 2012-05-22 19:01:40 +00:00
Frank Dellaert 10456a153c More complex Pose2SLAM example, synced up with manual (in progress) 2012-05-22 04:31:05 +00:00
Frank Dellaert 3e9ceda062 Sync with C++ example 2012-05-21 21:53:26 +00:00
Frank Dellaert 399a81911e Fixed optimizer/marginals confusion 2012-05-21 21:52:50 +00:00
Alex Cunningham 54f6f3629c Added clone() functionality to nonlinear factors 2012-05-21 20:54:40 +00:00
Frank Dellaert 5a397f0c25 Second localization example, with GPS-like factors 2012-05-21 05:18:06 +00:00
Frank Dellaert 7a28e6d5cb marginals 2012-05-20 22:02:11 +00:00
Frank Dellaert edb9c17962 Cleaned up planar SLAM example and created new Localization example 2012-05-20 20:31:33 +00:00
Alex Cunningham 720ff3ac82 Added a flag to optionally remove examples from "all" target 2012-05-19 02:21:21 +00:00
Stephen Williams 3dc3f93145 Removed references to the old nonlinear optimizer parameters from Matlab 2012-05-15 18:46:51 +00:00
Richard Roberts 1ce95c1d89 Removed LDL in favor of Cholesky 2012-05-15 15:49:14 +00:00
Richard Roberts 7b183d1237 Renamed derived optimizer verbosity parameters to start with 'verbosity' to make more auto-complete friendly 2012-05-15 13:33:32 +00:00
Stephen Williams ff3edc6823 Updated examples to use the new Marginals interface 2012-05-15 00:15:11 +00:00
Stephen Williams 7f0881f2e4 Updated examples and namespaces for the new NonlinearOptimizer interface 2012-05-14 20:25:20 +00:00
Richard Roberts 88f5e3d9b6 Merge remote-tracking branch 'svn/trunk' into NLO 
Conflicts:
	examples/Pose2SLAMExample_advanced.cpp
 2012-05-14 18:35:15 +00:00
Frank Dellaert 88b46000e5 UGM (undirected graphical model) example, small, see http://www.di.ens.fr/~mschmidt/Software/UGM/small.html 2012-05-03 05:09:22 +00:00
Chris Beall 2365ade34c fixed typo 2012-04-11 06:37:26 +00:00
Richard Roberts 7a24e1c940 Updated examples for new NonlinearOptimizer 2012-03-24 19:53:17 +00:00
Alex Cunningham 0e17458e11 moved typedefs after Can's suggestion 2012-02-29 02:49:48 +00:00
Duy-Nguyen Ta 1345a5fe86 fix small bugs in matlab wrapper to make it compiled. Still have runtime errors in when calling graph.optimize in matlab 2012-02-25 17:31:00 +00:00
Duy-Nguyen Ta 342ccf644e add .run targets for examples 2012-02-25 17:28:41 +00:00
Alex Cunningham 8517f852fd Removed unnecessary files, cmake flags 2012-02-24 15:47:23 +00:00
Richard Roberts 1d0aaacbd6 Removed use of GTSAM_MAGIC_KEY for constructing Symbols from strings 2012-02-22 23:38:09 +00:00
Richard Roberts 0a81c4e57a Renamed NonlinearFactor[1-6] to NoiseModelFactor[1-6] 2012-02-20 21:52:47 +00:00
Alex Cunningham 6f09998e10 Removed autotools from gtsam2 branch 2012-02-13 21:13:07 +00:00
Alex Cunningham 5a3740daeb Removed extraneous "shared" prefix from SharedNoiseModel named constructors 2012-02-12 17:41:57 +00:00
Richard Roberts 0d2a9018e3 Merged sub-branch into 2.0_prep branch 2012-02-08 22:05:24 +00:00
Richard Roberts 3d40f5e6fc All unit tests pass with TypedSymbol removed 2012-02-07 04:58:11 +00:00
Richard Roberts 2f7f535f34 All unit tests pass with nonlinear factors templated on value instead of key 2012-02-07 04:02:20 +00:00
Duy-Nguyen Ta 9f055fc812 bug fix in advanced example. Question: Currently, pose2SLAMOptimizer is in fact useless! Is it needed? Why don't we add more functionalities for it? 2012-02-06 03:33:40 +00:00
Duy-Nguyen Ta 71e757d2cf fix typo in "newDrecreaseThresholds" in NonlinearOptimizationParams 2012-02-05 23:00:57 +00:00
Duy-Nguyen Ta f4515d7b30 put back Value in slam sub-namespaces for the wrapper to interface with MATLAB. Cannot solve the return shared_ptr problem in NonlinearOptimizationParameters::newDecreaseThresholds 2012-02-05 22:34:35 +00:00
Richard Roberts 820b33bd55 (2.0_prep branch) Merged in virtual_values branch 2012-02-03 17:18:32 +00:00
Chris Beall 7b49ac6b4b moved visualSLAM namespace out of gtsam 2012-02-02 16:20:54 +00:00
Richard Roberts 26cdf28421 Renamed DynamicValues to Values and removed specialized derived Values classes 2012-02-02 16:16:46 +00:00
Alex Cunningham c43a9b4852 Added a variety of options to the cmake build, working on automating wrap execution/install 2012-01-31 19:59:15 +00:00
Alex Cunningham 03b4743e7a Removed unnecessary cpp file in vSLAMexample, added CMake support for examples, used static linking to the real gtsam for tests 2012-01-31 05:28:02 +00:00
Chris Beall 537a1a3fae Matlab wrapped classes now live within the gtsam namespace, meaning you have to use gtsamPose2 instead of just Pose2 in Matlab. This fixes the Point2 and Point3 issues we had with Matlab 2011b. 
promote pose2SLAM planarSLAM etc. namespaces to be next to gtsam instead of within
 2012-01-30 22:00:13 +00:00
Duy-Nguyen Ta 2db224df3c All compiled! Only SPCG and linear/SubgraphSolver are not fixed. 2012-01-29 22:10:35 +00:00
Alex Cunningham 67aa0bf63d Fixed compile problems with NonlinearOptimizationParameters, removed redundant typedef 2012-01-29 01:24:27 +00:00
Chris Beall 37ba09d836 adding Pose2SLAM example 2012-01-28 02:51:35 +00:00
Chris Beall 63dc9399b9 refactored Pose2SLAM 2012-01-28 02:31:44 +00:00
Alex Cunningham ac5d539afb Added SRI's Find cmake scripts and small comment changes in other cmake scripts 2012-01-27 20:28:13 +00:00
Richard Roberts b3df8d336a For ASPN release, added temporary ENABLE_SPCG flag to avoid conflict with boost::variant 2012-01-27 16:43:31 +00:00
Alex Cunningham 4e5e361d3f Removed extraneous references to gtsam/inference/graph.h - now only in SubgraphSolver 2012-01-22 16:46:38 +00:00
Alex Cunningham 379fe4e557 Removed references to "Landmark2" in matlab example 2012-01-10 14:55:42 +00:00
Alex Cunningham 2572265096 Added noisemodel syntactic sugar so that matlab interface examples and tests work 2012-01-04 16:18:38 +00:00
Stephen Williams 7c87a4f58d Included the inline header at the bottom of SubgraphSolver, NonlinearFactorGraph, NonlinearOptimization, and NonlinearOptimizer. This avoids having to include the '-inl.h' in subsequent projects. 2011-12-20 23:25:43 +00:00
Alex Cunningham 17bf0f0169 Added static and shared versions of gtsam 2011-12-15 16:17:58 +00:00
Alex Cunningham 61d05813ff Library now builds and all tests run with cmake 2011-12-14 02:24:21 +00:00
Chris Beall 3c8a7a29f9 updated visual SLAM examples to follow correct coordinate system conventions. The ISAM example now also uses the same input files as the general SFM example. 2011-12-12 03:57:48 +00:00
Alex Cunningham 8bc83d4219 Changed -inl.h use with Values and TupleValues, removed instantiation macros for Values and TupleValues 2011-11-17 22:44:46 +00:00
Alex Cunningham 96f77466c6 Removed need to include -inl.h for isam variants 2011-11-17 21:20:04 +00:00
Richard Roberts 83ccc6211e Fixed Data subdirectory with wrong path for make dist 2011-11-12 21:18:44 +00:00
Alex Cunningham 5798868ab7 Changed LieValues->Values. Did not change Values typedefs in slam domains, just adjusted namespaces 2011-11-06 19:08:42 +00:00
Alex Cunningham fd601b55d8 Replaced expmap with retract in kalman filter example 2011-11-05 03:10:49 +00:00
Frank Dellaert 03280f2446 renamed sparse to sparseJacobian_ 2011-10-30 20:38:08 +00:00
Frank Dellaert 0a101eb50f Fixed matlab wrapper of sparse to take no arguments 2011-10-30 20:25:08 +00:00
Frank Dellaert 9ff18b4e4e Wrapped GaussianFactorGraph.sparse and provided example usage in PlanarSLAMExample_easy 2011-10-29 04:28:47 +00:00
Frank Dellaert 2d5602bbc8 Moved data directory, added make targets 2011-10-28 22:10:08 +00:00
Frank Dellaert 980ed4d590 Fixed VectorValues, added linearize and denseJacobian/denseHessian 2011-10-28 16:25:15 +00:00
Frank Dellaert 3fbc459d0f planar SLAM example works in MATLAB ! 2011-10-22 20:10:25 +00:00
Frank Dellaert 7c55724ddd Doxygen 2011-10-22 19:57:36 +00:00
Frank Dellaert f62a6bda1e wrapping PlanarSLAMExample_easy 2011-10-21 16:56:50 +00:00
Frank Dellaert 56d1d6ae34 Fixed some Doxygen problems with global replace 2011-10-14 03:23:14 +00:00
Frank Dellaert 44b74c3d55 Fixed bad doxygen @Author: to correct @author style 2011-09-07 01:26:28 +00:00
Stephen Williams 817bb913ab Removed duplicate header comment block. 2011-08-30 20:01:24 +00:00
Stephen Williams 27d062a0f0 Fixed compile errors due to new SharedGaussian definition 2011-08-27 13:50:35 +00:00
Stephen Williams 82fdb0a5f8 Added ExtendedKalmanFilter class and easyPoint2KalmanFilter example 2011-08-27 12:28:47 +00:00
Stephen Williams 295faba745 Fixed error in creation of Jacobian Prior from root of Bayes Net for the elaboratePoint2KalmanFilter example. Previously the permutation of R inside the GaussianCondition was ignored. 2011-08-27 12:27:13 +00:00
Yong-Dian Jian fd07d61a2e Add a robust noise model. Change SharedGaussian to SharedNoiseModel 2011-08-26 21:41:01 +00:00
Stephen Williams b39970ad9a Removed dependency of eloboratePoint2KalmnFIlter example on the LinearizedFactor class 2011-08-25 13:34:06 +00:00
Duy-Nguyen Ta 9be9251d1b check with perfect measurements 2011-08-23 22:17:09 +00:00
Duy-Nguyen Ta 24a897429a A simple example of using gtsam for the camera resectioning problem 2011-08-23 22:10:50 +00:00
Stephen Williams f4bfc435ff Added first of the Kalman Filter examples 2011-08-22 15:35:24 +00:00
Frank Dellaert fd3acbd2c9 Plan/outline for Kalman filter examples 2011-08-19 21:27:47 +00:00
Frank Dellaert e62c2bf5e9 Comments and README file 2011-08-19 13:11:04 +00:00
Frank Dellaert 964af8b21c Commented use of GTSAM_MAGIC_KEY 2011-08-18 13:18:26 +00:00