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4963 Commits (b51a8380c4e38f5eec4b6a696ccb0173551f9a4f)

Author SHA1 Message Date
Richard Roberts 2f84788c2a Adjusted sigma 2013-08-09 19:03:38 +00:00
Richard Roberts 7f5de1c3bc Added simple Kitti example 2013-08-09 18:50:20 +00:00
Richard Roberts bb4ad176da Needed std:: 2013-08-09 18:50:15 +00:00
Richard Roberts 1eae17561d Taking ImuFactor noise model automatically from preintegrated measurement covariance 2013-08-09 18:50:14 +00:00
Alex Cunningham 0cb6e97803 Added stack function that takes a vector of matrix blocks 2013-08-09 16:24:45 +00:00
Chris Beall c03172aca3 add prior on second camera 2013-08-09 15:31:15 +00:00
Chris Beall 369e69b0d2 actually set everything to zero to turn factor off during linearization 2013-08-09 15:28:57 +00:00
Alex Cunningham 7b0c559091 Fixed bug in 32 bit version - now calls correct keyformatter 2013-08-09 14:55:26 +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
Richard Roberts a98180f84f Working on converting ISAM2 2013-08-08 21:41:29 +00:00
Richard Roberts 731bfe4973 Removed unneeded derived class copy constructors and assignment operators 2013-08-08 21:41:28 +00:00
Richard Roberts 5b15b11261 Added FastSet/Map exists function 2013-08-08 21:41:23 +00:00
Alex Cunningham 5b7d7b3793 Closer to building and tests running 2013-08-08 20:45:44 +00:00
Alex Cunningham a4276eb57a Fixed small compile error 2013-08-08 20:45:44 +00:00
Vadim Indelman b0c96f9bf6 unwhitenedError. 2013-08-08 20:14:12 +00:00
Vadim Indelman 27cabb62f1 added unwhitenedError to BetweenFactorEM. 2013-08-08 20:13:39 +00:00
Alex Cunningham 4a4e16485c Making more things in gtsam_unstable compile 2013-08-08 20:08:54 +00:00
Alex Cunningham 883c870dff Removed unnecessary summarization files in gtsam_unstable, restricted compilation of gtsam_unstable for components needing iSAM2 - core gtsam_unstable library builds 2013-08-08 20:08:52 +00:00
Alex Cunningham 2adfe5ffd3 WhiteNoiseFactor now works 2013-08-08 18:33:52 +00:00
Alex Cunningham ec3e89c888 LinearContainerFactor works 2013-08-08 18:33:51 +00:00
Alex Cunningham cfd81093bd Fixing compile/interface issues, making (failing) testBetweenFactor more verbose 2013-08-08 17:59:19 +00:00
Alex Cunningham 389f2dd6cc testAntiFactor now passes 2013-08-08 17:53:07 +00:00
Alex Cunningham 89a0778ec4 comments only 2013-08-08 17:53:06 +00:00
Alex Cunningham 73d38710ad Fixed compile error in test and changed interface 2013-08-08 17:53:05 +00:00
Alex Cunningham bbb585079b Added include so that assert_equals works 2013-08-08 17:53:04 +00:00
Alex Cunningham 706534c3b8 Fixed compile problems in tests 2013-08-08 17:53:03 +00:00
Richard Roberts 957afb4835 Merge branch 'svn/branches/unordered' 
Conflicts:
	gtsam/inference/JunctionTree-inst.h
 2013-08-08 17:36:43 +00:00
Richard Roberts 41a1b3c30e Fixed comment wording 2013-08-08 17:35:33 +00:00
Frank Dellaert 7175d588e1 Fixed comment wording 2013-08-08 17:26:45 +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
Alex Cunningham b05748683c Fixed failing retract unit test in Values 2013-08-08 17:14:59 +00:00
Alex Cunningham db47948a20 Disabled testLinearContainerFactor and testWhiteNoiseFactor in cmake 2013-08-08 16:58:58 +00:00
Alex Cunningham 2d7abe0710 Added explicit templated base class instantiation within NonlinearFactorGraph 2013-08-08 16:51:04 +00:00
Richard Roberts 92459bc33b Fixed gcc unit test compile errors 2013-08-08 16:30:14 +00:00
Richard Roberts b572ad8131 Use functor structs instead of pointer-to-template-function 2013-08-08 16:30:10 +00:00
Richard Roberts 2925995d25 Fixed signed/unsigned warnings 2013-08-08 16:30:05 +00:00
Richard Roberts 0726a5ffbc Instantiating template base classes in derived class .cpp files 2013-08-08 16:30:02 +00:00
Richard Roberts 3528173781 Fixed compile problem on linux using boost::join with boost::cref_list_of 2013-08-08 16:29:55 +00:00
Richard Roberts 2388f5df45 Revert "Fixing issues with boost::assign" 
This reverts commit d820732adc34a6622aae5d2bc0eb4a88e133beaf.
 2013-08-08 16:29:48 +00:00
Vadim Indelman 7c07c70802 Changed Between and Prior Factors and NonLinearEquality back to NoiseModelFactor. 2013-08-08 16:08:35 +00:00
Vadim Indelman 579e0931dc Fixed different issues with EM. 2013-08-08 15:12:21 +00:00
Luca Carlone b3ea3f9465 lines added to testSmartProjectionFactor 2013-08-08 14:30:26 +00:00
Zsolt Kira 6dd67a13fd Changed to optimize entire graph instead of sub-graphs 2013-08-08 14:20:08 +00:00
Luca Carlone a82262cf99 Included noise model and f term in SmartProjectionFactor 2013-08-08 14:00:26 +00:00
Duy-Nguyen Ta 6959ad5e6f Fix error when wrapping a library using Rot3 to matlab: "type stored... is N5gtsam4Rot3E but requested type was N5gtsam4Rot3E", because gtsam is linked 2 times: one with the library, one with the mex, and somehow Rot3 is not virtual and exists in both. Moving print implementation to cpp seems to fix this problem. 2013-08-08 08:51:52 +00:00
Duy-Nguyen Ta 8cf7b6723f comment on how to pass this test 2013-08-08 08:46:55 +00:00
Duy-Nguyen Ta 1631222a29 fix streaming tests to agree with new print in matlab column vector style 2013-08-08 08:44:00 +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
Zsolt Kira f423d6f2a8 SmartProjectionFactor: More cleanup, added more tests, added some timing 2013-08-07 23:32:40 +00:00
Richard Roberts 6556fb5b1e Fixed a couple errors and warnings 2013-08-07 21:57:25 +00:00