9639660685
Added GenericProjectionFactorCreator. Both smart and generic projection factors now work (again) in batch mode. Incremental not tested yet.
2013-10-11 01:59:36 +00:00
1a8a670870
Fixed bugs in new version since creator class is used: Get number of landmarks from creator object,
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replace ensureHasOrdering with direct COLAMD call.
Current Smart Projection factor version works in batch mode
2013-10-10 20:21:40 +00:00
121e71431a
SmartFactorsCreator + initial fix in kitti example
2013-10-09 17:13:19 +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
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)
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For projection factor version, we can specify a landmark-first ordering
2013-10-04 13:47:24 +00:00
bf40956592
Merged from Hmf6_unordered 970392249a8c50153f24594c9c81acb740cedd06
2013-10-03 19:51:56 +00:00
4996db5023
Fix in running incremental optimization on Kitti
2013-10-03 18:02:25 +00:00
a6dd4c0464
testing on kitti
2013-09-30 20:39:55 +00:00
7560a1f6e3
Typo fixed
2013-09-27 16:06:36 +00:00
b04d2f1512
ICRA version of Kitti dataset processing
2013-09-26 20:36:57 +00:00
73e72a98bd
Selective relinearization
2013-09-26 01:06:55 +00:00
c310bafc8a
ISAM2 option, increased num poses
2013-09-14 03:10:10 +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
633220a9dd
degenerate case in SmartProjectionFactor
2013-08-28 16:07:56 +00:00
bf8621aa3a
Added some state that is returned/passed in to smart projection factor to support smart re-linearization
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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
4b12d6f794
Moved Symbol and LabeledSymbol to inference as they are no longer specific to nonlinear optimization
2013-08-19 15:32:16 +00:00
f9dcf31c2b
Fixing examples and some tests for gtsam_unstable/nonlinear. testConcurrentIncrementalFilter doesn't compile and is disabled, testIncrementalFixedLagSmoother is enabled and builds, but fails.
2013-08-19 15:32:08 +00:00
0514ad39c6
Smart projection factor working on Kitti
2013-08-14 19:12:23 +00:00
175965a6bf
Merged from branch 'branches/unordered'
2013-08-12 21:52:43 +00:00
6cba528671
Fixed include path
2013-08-12 18:21:27 +00:00
4585fd1caa
Merge branch 'svn/trunk'
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Conflicts:
gtsam/navigation/tests/testInertialNavFactor_GlobalVelocity.cpp
gtsam/nonlinear/ISAM2.cpp
gtsam/nonlinear/ISAM2.h
gtsam/slam/tests/testBetweenFactor.cpp
gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp
gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp
gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp
gtsam_unstable/slam/SmartProjectionFactor.h
2013-08-11 18:16:56 +00:00
c03172aca3
add prior on second camera
2013-08-09 15:31:15 +00:00
8d9dcfbfc2
Fixed problem with pixel_sigma (2-dimensional only)
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Added switch to determine if normal GenericProjectionFactor or SmartProjectionFactor is used
2013-08-09 14:52:26 +00:00
5af82c4042
SmartProjectionFactor example: Cleaned up some code, added comments,
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changed some of the LM parameters. Switched to use smaller kitti
dataset for now.
2013-08-08 17:16:23 +00:00
6dd67a13fd
Changed to optimize entire graph instead of sub-graphs
2013-08-08 14:20:08 +00:00
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
d7767188b3
Merged from branch 'trunk'
2013-07-01 13:11:15 +00:00
0837eab8f5
Scripts to test (still not working so-well) smart range factor
2013-06-25 17:13:02 +00:00
123657e3d0
Merged from branch 'trunk'
2013-06-24 15:28:16 +00:00
40bc7070ff
Example in unstable, to use SmartRangeFactor
2013-06-24 12:06:47 +00:00
8e26da7396
Added matlab version of the Concurrent Filtering and Smoothing example
2013-05-21 21:07:45 +00:00
13d3f1cb6e
Updated Fixed-Lag smoother example
2013-05-21 14:57:40 +00:00
93149ae5f2
Updated Concurrent example, forcing a call to smoother.update() between
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each synchronization
2013-05-09 18:59:20 +00:00
f216e97a15
Modified the getter method in the FixedLagSmoother base class to follow general GTSAM conventions
2013-04-15 17:53:33 +00:00
41238572c1
Extended the Concurrent Filtering and Smoothing example to include a delayed loop closure
2013-04-15 16:07:40 +00:00
693a0f991a
Added the Filter<->Smoother synchronization back into the example
2013-04-12 13:05:52 +00:00
34d7742d95
Added first version of a Concurrent Filtering and Smoothing example
2013-04-12 12:53:34 +00:00
1c738123b9
Fixed inconsistency between odometry measurements and initializations
2013-04-12 12:51:22 +00:00
5087e4eabc
Modified Fixed-Lag Smoothing example to call iSAM2 multiple times to recover the same solution as batch
2013-04-11 21:10:32 +00:00
c902908115
Added 'examples' folder to gtsam_unstable
2013-04-11 20:47:25 +00:00
Zsolt Kira
Luca Carlone
Richard Roberts
Alex Cunningham
Chris Beall
Frank Dellaert
Stephen Williams