Commit Graph

139 Commits (b51a8380c4e38f5eec4b6a696ccb0173551f9a4f)

Author SHA1 Message Date
Luca Carlone b51a8380c4 added boost include 2013-10-12 16:21:15 +00:00
Zsolt Kira 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
Zsolt Kira 1a8a670870 Fixed bugs in new version since creator class is used: Get number of landmarks from creator object,
replace ensureHasOrdering with direct COLAMD call. 
Current Smart Projection factor version works in batch mode
2013-10-10 20:21:40 +00:00
Chris Beall e799c9ffa9 tabs converted to two spaces 2013-10-10 17:52:57 +00:00
Luca Carlone 121e71431a SmartFactorsCreator + initial fix in kitti example 2013-10-09 17:13:19 +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 d049dd38c6 Incremental mode in Smart Factors (not working yet with standard ProjectionFactors) 2013-10-06 18:17:32 +00:00
Richard Roberts bf40956592 Merged from Hmf6_unordered 970392249a8c50153f24594c9c81acb740cedd06 2013-10-03 19:51:56 +00:00
Luca Carlone a6dd4c0464 testing on kitti 2013-09-30 20:39:55 +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 e10a0a0650 bool to disable selective relinearization 2013-09-26 23:09:50 +00:00
Luca Carlone 8168d4a186 commented test 2013-09-26 23:09:48 +00:00
Luca Carlone 22ccd4b4b4 update to smartFactor 2013-09-26 23:09:47 +00:00
Luca Carlone 70a448f43e Efficient implementation of Selective Linearization 2013-09-26 15:07:56 +00:00
Luca Carlone 73e72a98bd Selective relinearization 2013-09-26 01:06:55 +00:00
Luca Carlone 9f68c04792 Initial implementation of selective relinearization 2013-09-20 20:19:58 +00:00
Luca Carlone 0e5069c26c Added toy example on SmartRangeFactors 2013-09-14 00:21:10 +00:00
Zsolt Kira a8d1072a02 Further optimization with another ~9% speed improvement.
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
Vadim Indelman b3d500f58c Added optional flag_bump_up_near_zero_probs. 2013-08-29 22:43:09 +00:00
Vadim Indelman 86d21aaa05 Added optional flag_bump_up_near_zero_probs. 2013-08-29 22:42:33 +00:00
Luca Carlone 141958123a Working version of rotation only smart factor 2013-08-28 17:37:58 +00:00
Vadim Indelman df36ee643a Added option to start with an M step. 2013-08-28 16:56:57 +00:00
Luca Carlone 0422b9cfef degenerate case in smart vision factor 2013-08-28 16:07:58 +00:00
Luca Carlone 633220a9dd degenerate case in SmartProjectionFactor 2013-08-28 16:07:56 +00:00
Chris Beall 19ddf3f228 minor speedup 2013-08-28 14:47:57 +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
Chris Beall 138a7ea28c minor fixes - removed unnecessary boost optional 2013-08-27 17:48:59 +00:00
Zsolt Kira f779736380 Fixed failed test, which resulted from removal of feature allowing one to pass a landmark in to constructor 2013-08-26 12:46:13 +00:00
Vadim Indelman e6d5c2bf73 updated to the new gtsam version. 2013-08-23 18:15:28 +00:00
Vadim Indelman 6ab49e95da Added cref_list_of. 2013-08-23 18:12:59 +00:00
Vadim Indelman e439a298b8 disabled until debugging is done. 2013-08-23 16:18:18 +00:00
Vadim Indelman 77e02a332e Added TransformBtwRobotsUnaryFactorEM. May need to move to MAST later. 2013-08-23 15:24:16 +00:00
Vadim Indelman f6402916d6 added flag_bump_up_near_zero_probs_. 2013-08-23 15:22:50 +00:00
Vadim Indelman ca3956adc1 minor changes. 2013-08-23 15:21:50 +00:00
Zsolt Kira 0466e606b0 Added try/catch for triangulation exception
Optimizations resulting in about 6-7% improvement
Added methods returning keys and other information needed to create generic projection factors
Code cleanup
2013-08-21 01:35:13 +00:00
Alex Cunningham c6cf4d2dab Removed use of convenience libraries for tests - wasn't really supported in current version 2013-08-19 15:32:21 +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
Zsolt Kira fe860be33f SmartProjectionFactor: Added add(measured, poseKey) method to incrementally add views to the same landmark.
Added unit test for new method and way of creating factor.
Fixed missing negative when calculating b for non-blockwise version of Schur complement
2013-08-18 02:18:32 +00:00
Richard Roberts 09c4d8b712 Disabled testBetweenFactorEM because it is in progress for debugging 2013-08-16 21:57:49 +00:00
Richard Roberts 0212bbc30d Fixed some unit tests 2013-08-16 04:11:02 +00:00
Luca Carlone 0514ad39c6 Smart projection factor working on Kitti 2013-08-14 19:12:23 +00:00
Luca Carlone d7e6f43fa7 Updated to work with unordered GTSAM 2013-08-14 19:12:21 +00:00
Richard Roberts 16b4f0fe8b Moved ImuFactor and CombinedImuFactor into main gtsam, and moved InertialNavFactor family into gtsam_unstable. 2013-08-13 21:04:31 +00:00
Richard Roberts 13d829687c Merged from branch 'trunk' 2013-08-12 21:49:59 +00:00
Richard Roberts d9c9682f6e Merge branch 'svn/trunk'
Conflicts:
	gtsam_unstable/slam/BetweenFactorEM.h
	gtsam_unstable/slam/tests/testBetweenFactorEM.cpp
2013-08-12 21:47:36 +00:00
Zsolt Kira b34b6cc9ee Added warning if triangulation fails
Added ability to pass in landmark position directly, thereby avoiding triangulation
Added test that compares GenericProjectionFactor and SmartProjectionFactor for 1 iteration using
both GaussNewton and LM optimization.  These tests also fail, until we find the problem/bug.
2013-08-12 21:44:54 +00:00
Richard Roberts 7a027be7e5 Fixed unit tests compiling on windows 2013-08-12 16:25:13 +00:00