d54c70202a
TOAFactor compiles and can be put into a factor graph
2014-12-10 15:43:31 +01:00
ba1a2685bc
Not-working yet, but lots of progress towards TOAFactor
2014-12-10 15:10:59 +01:00
5ce007446d
Merge remote-tracking branch 'origin/develop' into feature/SoundSlam
...
Conflicts:
.cproject
2014-12-10 14:47:58 +01:00
777aa005b4
Developing time of arrival factor with Jay at KU Leuven
2014-12-10 14:24:10 +01:00
1e778cf77b
No longer need to cast function pointers for expressions on Windows, with Optional Jacobian
2014-12-09 11:53:35 -05:00
137ea64200
Updating with OptionalJacobian
2014-12-09 11:49:47 -05:00
3bd491bf66
Merge branch 'develop' into fix/windowsExpressions
2014-12-09 11:04:30 -05:00
cea76a2848
More template handholding for windows
2014-12-08 21:48:59 -05:00
d2e53d4fe9
"Fixed" AHRS
2014-12-04 12:30:41 +01:00
4e557d38e6
updated Matrix.h with commonly used matrices.
2014-12-03 09:59:10 -05:00
6505e602d8
FixedRef is now OptionalJacobian
2014-11-28 17:14:26 +01:00
0d41523725
Use new FixedRef type
2014-11-28 01:57:55 +01:00
cc4cdc93a3
Correct issue with function overload ambiguity when passing function pointer to expression constructor on windows
2014-11-26 15:06:16 -05:00
7b1a9ba371
Merged in feature/TemplatedSmartFactors (pull request #39 )
...
Templated Smart Factors
2014-11-25 07:36:14 -05:00
ea02e577f5
Merged in feature/expressions (pull request #45 )
...
Pull request for debugging Expression<double> issue
2014-11-24 18:40:31 +01:00
a9090fd7af
Cleanup with Jing
2014-11-24 15:53:13 +01:00
3ba9e8f405
Updated some usages that were missed
2014-11-23 15:24:55 -08:00
f9ca07e610
Converted Vector(2|3) << ... to Vector2(...) or Vector3(...) syntax
2014-11-23 10:22:25 -08:00
f21fe5043a
Created a new expressions.h file in nonlinear
2014-11-23 17:31:33 +01:00
aa093a35da
Updated all comma initializer usages to use .finished()
2014-11-22 16:35:27 -08:00
f3d42a8487
Move to unstable
2014-11-17 19:53:21 -05:00
265184b6c9
Avoid warning
2014-11-10 17:56:08 +01:00
e976aae38a
Avoid warning and re-formatted with BORG template
2014-11-10 16:27:33 +01:00
a94835a2e4
Merge remote-tracking branch 'origin/develop' into feature/BAD
...
Conflicts:
.cproject
gtsam/geometry/Cal3DS2.cpp
gtsam/geometry/Cal3DS2.h
gtsam/geometry/Cal3Unified.h
gtsam/navigation/CombinedImuFactor.h
gtsam/navigation/ImuFactor.h
gtsam/nonlinear/NonlinearFactor.h
gtsam/slam/tests/testPoseRotationPrior.cpp
Modified: testGaussMarkov1stOrderFactor.cpp, testPoseRotationPrior.cpp
2014-11-04 17:04:57 +01:00
efc2dc69fe
Got rid of some concats
2014-11-04 15:44:41 +01:00
f1dd554a9d
No more LieVector (too much copy/paste here)
2014-11-03 13:38:25 +01:00
2a745b6c26
No more LieVector/LieScalar
2014-11-03 13:32:58 +01:00
39ce31d0cc
No more LieVector
2014-11-03 13:15:41 +01:00
b5327673fb
Get rid of LieVector
2014-11-03 11:02:15 +01:00
699153ece9
Coding convention: convert tabs to two spaces
2014-10-30 12:44:46 -04:00
f916531492
remove typename from non-templated class
2014-10-24 13:06:45 -04:00
eeb0293f27
Merged in feature/FixQuaternion (pull request #22 )
...
Was quaternion (somewhat) broken ?
2014-10-24 09:53:50 -04:00
77e7f0437d
Merge remote-tracking branch 'origin/feature/FixQuaternion' into feature/BAD
...
Conflicts:
gtsam/geometry/tests/testRot3M.cpp
gtsam/geometry/tests/testRot3Q.cpp
2014-10-23 10:03:10 +02:00
845697555a
Fixed tests for Quaternion mode but Pose3 not in EXPMAP mode
2014-10-23 09:52:35 +02:00
a29f09423c
Merge branch 'develop' into feature/BAD
...
Conflicts:
gtsam/linear/tests/testGaussianBayesNet.cpp
2014-10-22 13:56:27 +02:00
113b9d2e74
Got rid of unnecessary LieVector usage that broke fixed-code
2014-10-22 01:32:59 +02:00
1eb5e185e5
New numericalDerivatives with traits an Charts - still some segfaults, *and* there should be no need for (a) multiple prototypes to match against c++ pointers, (b) the use of explicit template arguments. A task for someone...
2014-10-21 18:50:52 +02:00
83d77271d9
Ternary now fixed
2014-10-07 13:04:04 +02:00
921b79f446
No more default argument
2014-10-07 01:01:16 +02:00
7a4f307342
moved biasedGPS and GaussMarkov to unstable
2014-10-06 13:11:40 -04:00
d5709facf6
Added Pose2SLAMExample
2014-10-02 20:20:00 +02:00
0d94eeb480
Created expressions.h header
2014-10-01 11:25:49 +02:00
e0a9eb63ce
Fix for Windows: renamed some tests
2014-09-24 16:47:07 -04:00
be68cc0047
add given marginals to update_noiseModel to improve speed
2014-09-15 03:03:25 -04:00
1a7653730c
fix headers for TransBtwRobotFactorEM
2014-09-13 18:12:28 -04:00
6b890cec0e
added updateNoiseModels functionality
2014-09-10 00:24:32 +03:00
2634b2e890
Finish concurrent-calibration
2014-08-12 16:00:20 -04:00
50c8313233
Rename TransformProjectionFactor to ProjectionFactorPPP
2014-08-12 15:55:28 -04:00
2c3f6e563d
Renamed TransformCalProjectionFactor to ProjectionFactorPPPC to follow new naming convention
2014-08-12 15:29:05 -04:00
bcab483574
Changed norm to determinant.
2014-08-01 21:51:52 +03:00
89410fe1ee
added updateNoiseModels_givenCovs to BetweenFactorEM.
2014-08-01 21:11:19 +03:00
bc982293ab
New unit tests for quaternary pose+transform+landmark+calibration factor
2014-07-29 21:55:14 -04:00
b5b1bbfba0
improve TransBtwRobotEM factor's preformance by removing redundant unwhitenedError calc
2014-07-18 17:11:21 -04:00
e06c2cfacc
change few function parameters to const reference to improve preformance of TransformBtwRobot factors
2014-07-18 15:59:14 -04:00
f261a6ddbc
Merge remote-tracking branch 'origin/develop' into feature/concurrent-calibration
2014-07-02 15:49:47 -04:00
8bc87e8f4f
Transform + Calibration examples and factor
2014-07-01 16:33:23 -04:00
5b2f4a2c3a
Move Transform factors to unstable
2014-07-01 16:03:35 -04:00
991906181b
Updating EM factor (to accout for uncertainty in states)
2014-06-30 20:43:25 +03:00
fe235b1209
Building timing scripts using new timing script support in GtsamTesting.cmake. Fixed compile errors in timing scripts but disabled a couple.
2014-06-07 19:02:11 -07:00
87f5818776
Move smart projection factor
2014-05-31 15:33:19 -04:00
a7a209ce0c
Minor fixes and documentation cleanup
2014-05-30 13:31:35 -04:00
386ed2e510
Merge branch 'develop'
...
Conflicts:
gtsam_unstable/slam/SmartFactorBase.h
2014-05-28 18:11:39 -04:00
2699605943
Fix return type mismatch
2014-05-28 11:31:17 -04:00
8806c15b36
fixed possible connectivity issue when smart factors are degenerate
2014-05-23 17:49:42 -04:00
c2705902cb
added dynamic outlier rejection (with unit tests) for smart pose factors
2014-05-22 22:32:12 -04:00
e0500f7b18
added and renamed unit tests
2014-05-22 21:28:00 -04:00
4f91f94d1e
included possibility to linearize to Jacobian for smart Pose factors
2014-05-22 21:27:46 -04:00
1062e41de3
shut up some warnings on Windows
2014-05-06 22:57:26 -04:00
842554a230
Unit test fixes for quaternion mode and also rotation matrix + full expmap mode.
2014-05-06 20:03:45 -04:00
05c1e572b6
Moved TSAMFactors.h from tsam to gtsam
2014-05-05 10:14:36 -04:00
5c420f1aec
added references
2014-05-04 18:16:40 -04:00
1ed07ca4ed
Moved to unstable
2014-05-03 12:23:20 -04:00
185c572b5a
removed wrong base class
2014-04-24 11:28:41 -04:00
8c657f8857
slight change in implementation of hessianBlockDiagonal
2014-04-23 19:00:15 -04:00
d9e93f316a
error computation now does not include noise model
2014-04-23 18:43:14 -04:00
2b52bad569
optimized point damping
2014-04-23 15:15:48 -04:00
e56666e85c
fixed print function
2014-04-23 14:53:01 -04:00
37b750411f
added gradientAtZero with raw memory access
2014-04-22 18:38:12 -04:00
dd780e356c
fixed computation of linearized error in implicit schur factors
2014-04-21 18:59:33 -04:00
926b4c6443
removed temporary variables - minor
2014-04-14 11:41:55 -04:00
6ef11bb297
removed debug statements
2014-04-09 21:14:38 -04:00
4bdefc3f70
removed debug bloks
2014-04-09 21:04:52 -04:00
dc7b5d58c0
implemented efficient update of Hessian matrix via Schur complement
2014-04-09 21:01:03 -04:00
4123053c81
progress on grouping - still seg faults
2014-04-08 18:55:42 -04:00
310fce3be9
last updates from smartFactors project (these files are now removed from that project)
2014-04-06 14:25:46 -04:00
02fc860d9e
add smartfactor base classes, smartProjectionPoseFactor, and its unit test to gtsam_unstable
2014-03-27 13:14:13 -04:00
6f692b1547
Merge branch 'develop'
...
Conflicts:
gtsam/base/SymmetricBlockMatrix.cpp
gtsam/linear/JacobianFactor-inl.h
gtsam_unstable/geometry/tests/testTriangulation.cpp
2014-03-12 12:57:59 -04:00
9007d1ca72
Copy constructor and return const &
2014-03-06 21:07:54 -05:00
691e9884d7
Const correctness, comments, and templated Eigen blocks (esp. important in integrate)
2014-03-06 21:05:11 -05:00
4c5cb4d8ec
Removed some unused code that was causing warnings
2014-02-23 18:51:48 -05:00
89e6d2f1e8
Removed some commented-out includes
2014-02-18 13:44:25 -05:00
661a157553
Working on standardizing/simplifying building unit tests and examples. Much simpler cmake function to add a glob of tests, doing away with convenience libraries, and removing other options that we never change from their defaults.
2014-02-13 01:34:31 -05:00
5ef681bc4a
Changed Vec() to Vector().
2014-02-05 13:59:21 -05:00
381899640e
Moved TransformBtwRobotsUnaryFactor to gtsam_unstable from svn version.
2014-02-04 14:13:25 -05:00
4b8c17ec77
Changed target name to 'gtsam' instead of 'gtsam-shared' and 'gtsam-static'. Modified CMake options to only allow building either static or shared, but not both. Enabled GTSAM_BUILD_TYPE_POSTFIXES by default on all platforms.
2014-01-30 14:41:25 -05:00
fe55148dd7
deleted redundant files for imu factors
2014-01-27 17:38:01 -05:00
96296333ae
remove all LieVector(size_t m, ...), which doesn't check parameter's type and it's also dangerous
2014-01-23 18:35:29 -05:00
c4eec5d549
fix Vector_() remained
2014-01-23 02:16:04 -05:00
8641816b21
fix Vector_() in gtsam_unstable and tests
2014-01-23 02:03:12 -05:00
880d9a8e3c
Switched to new Eigen built-in special comma initializer
2013-12-16 21:33:12 +00:00
0b3aac7048
Fix Matrix_(...) to Mat() <<... in gtsam_unstable
2013-11-13 05:51:03 +00:00
ec78d54f37
Removed old Index typedef and IndexFormatter
2013-11-08 16:35:28 +00:00
5defdbe73f
Fixed compile problems on windows
2013-11-05 16:06:10 +00:00
de55dc0d66
Fix Vector_() to Vec() in gtsam_unstable/slam
2013-10-22 04:56:01 +00:00
6e7302283e
moved smart factors for smartFactors_ceres
2013-10-21 15:35:23 +00:00
a1402018ca
added computePoints functionality in smartFactorsCreator
2013-10-19 22:42:51 +00:00
92f0bb64b2
added tests on smartHessianFactor with Cal3Bundler
2013-10-19 22:00:43 +00:00
916d730fce
Updated BAL example with readBAL functionality (work in progress)
2013-10-19 02:05:51 +00:00
d5790376d7
cleaning (2)
2013-10-18 23:15:47 +00:00
81c183199a
cleaning and removing useless things
2013-10-18 23:14:34 +00:00
3a139587ee
minor changes
2013-10-17 01:18:22 +00:00
6f6061c6c2
fixed make check
2013-10-16 00:58:41 +00:00
45e1fe832d
fixed issues
2013-10-16 00:54:56 +00:00
01f6ee56e4
templated version for Kitti, triangulation, and factorCreators
2013-10-15 22:43:10 +00:00
c27f4f6bcb
added possibility to read initialization from file in ProjectionFactorCreator
2013-10-15 19:16:38 +00:00
4f2d233e67
added test on Hessian
2013-10-15 14:57:48 +00:00
b77f7f77a4
created infrastructure for testing BAL datasets
2013-10-15 02:02:53 +00:00
44ae90f523
added SmartHessianProjection factor: allows different calibrations and noises for the cameras
2013-10-14 22:33:15 +00:00
0ad2dc6f81
removed "using" from header
2013-10-12 21:08:27 +00:00
9ad033fc45
Added unit tests on projectPointAtInfinity and backprojectPointAtInfinity. Fixed error projectPointAtInfinity. Deleted projectPointAtInfinity
2013-10-12 19:29:07 +00:00
71039164b2
Added "using namespace boost::assign" to allow use of +=
2013-10-12 17:15:36 +00:00
b51a8380c4
added boost include
2013-10-12 16:21:15 +00:00
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,
...
replace ensureHasOrdering with direct COLAMD call.
Current Smart Projection factor version works in batch mode
2013-10-10 20:21:40 +00:00
e799c9ffa9
tabs converted to two spaces
2013-10-10 17:52:57 +00:00
121e71431a
SmartFactorsCreator + initial fix in kitti example
2013-10-09 17:13:19 +00:00
426b4d79cf
testSmartProjectionFactor - disabled
2013-10-08 14:28:50 +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
bf40956592
Merged from Hmf6_unordered 970392249a8c50153f24594c9c81acb740cedd06
2013-10-03 19:51:56 +00:00
a6dd4c0464
testing on kitti
2013-09-30 20:39:55 +00:00
441dcec64e
added unit test for selective relinearization
2013-09-28 21:25:08 +00:00
9ad72e9523
included rank tolerance in Smart factor constructor
2013-09-28 18:49:26 +00:00
d10ffee4d4
management of degeneracy
2013-09-28 00:49:37 +00:00
e10a0a0650
bool to disable selective relinearization
2013-09-26 23:09:50 +00:00
8168d4a186
commented test
2013-09-26 23:09:48 +00:00
22ccd4b4b4
update to smartFactor
2013-09-26 23:09:47 +00:00
70a448f43e
Efficient implementation of Selective Linearization
2013-09-26 15:07:56 +00:00
73e72a98bd
Selective relinearization
2013-09-26 01:06:55 +00:00
9f68c04792
Initial implementation of selective relinearization
2013-09-20 20:19:58 +00:00
0e5069c26c
Added toy example on SmartRangeFactors
2013-09-14 00:21:10 +00:00
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
b3d500f58c
Added optional flag_bump_up_near_zero_probs.
2013-08-29 22:43:09 +00:00
86d21aaa05
Added optional flag_bump_up_near_zero_probs.
2013-08-29 22:42:33 +00:00
141958123a
Working version of rotation only smart factor
2013-08-28 17:37:58 +00:00
df36ee643a
Added option to start with an M step.
2013-08-28 16:56:57 +00:00
0422b9cfef
degenerate case in smart vision factor
2013-08-28 16:07:58 +00:00
633220a9dd
degenerate case in SmartProjectionFactor
2013-08-28 16:07:56 +00:00
19ddf3f228
minor speedup
2013-08-28 14:47:57 +00:00
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
138a7ea28c
minor fixes - removed unnecessary boost optional
2013-08-27 17:48:59 +00:00
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
e6d5c2bf73
updated to the new gtsam version.
2013-08-23 18:15:28 +00:00
6ab49e95da
Added cref_list_of.
2013-08-23 18:12:59 +00:00
e439a298b8
disabled until debugging is done.
2013-08-23 16:18:18 +00:00
77e02a332e
Added TransformBtwRobotsUnaryFactorEM. May need to move to MAST later.
2013-08-23 15:24:16 +00:00
f6402916d6
added flag_bump_up_near_zero_probs_.
2013-08-23 15:22:50 +00:00
ca3956adc1
minor changes.
2013-08-23 15:21:50 +00:00
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
c6cf4d2dab
Removed use of convenience libraries for tests - wasn't really supported in current version
2013-08-19 15:32:21 +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
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
09c4d8b712
Disabled testBetweenFactorEM because it is in progress for debugging
2013-08-16 21:57:49 +00:00
0212bbc30d
Fixed some unit tests
2013-08-16 04:11:02 +00:00
0514ad39c6
Smart projection factor working on Kitti
2013-08-14 19:12:23 +00:00
d7e6f43fa7
Updated to work with unordered GTSAM
2013-08-14 19:12:21 +00:00
16b4f0fe8b
Moved ImuFactor and CombinedImuFactor into main gtsam, and moved InertialNavFactor family into gtsam_unstable.
2013-08-13 21:04:31 +00:00
13d829687c
Merged from branch 'trunk'
2013-08-12 21:49:59 +00:00
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
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
7a027be7e5
Fixed unit tests compiling on windows
2013-08-12 16:25:13 +00:00
87a7c56c88
Switched to square root of covariance norm.
2013-08-12 16:11:48 +00:00
14931bcc7d
improved tests a little. basic 3 landmark test with smart projection factor fails!
2013-08-12 14:40:57 +00:00
ea3ca54cba
"Fixed" more unit tests
2013-08-11 19:01:06 +00:00
517a5037a7
Enabled more unit tests and either fixed them or have them print a "disabled" message during make check
2013-08-11 18:41:08 +00:00
f4d816dcf8
Disabled testSmartProjectionFactor and made print message about this
2013-08-11 18:40:57 +00:00
f240327f24
Fixed testIMUSystem and BetweenFactorEM
2013-08-11 18:40:47 +00:00
4585fd1caa
Merge branch 'svn/trunk'
...
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
bb4ad176da
Needed std::
2013-08-09 18:50:15 +00:00
1eae17561d
Taking ImuFactor noise model automatically from preintegrated measurement covariance
2013-08-09 18:50:14 +00:00
369e69b0d2
actually set everything to zero to turn factor off during linearization
2013-08-09 15:28:57 +00:00
b0c96f9bf6
unwhitenedError.
2013-08-08 20:14:12 +00:00
4a4e16485c
Making more things in gtsam_unstable compile
2013-08-08 20:08:54 +00:00
579e0931dc
Fixed different issues with EM.
2013-08-08 15:12:21 +00:00
b3ea3f9465
lines added to testSmartProjectionFactor
2013-08-08 14:30:26 +00:00
a82262cf99
Included noise model and f term in SmartProjectionFactor
2013-08-08 14:00:26 +00:00
f423d6f2a8
SmartProjectionFactor: More cleanup, added more tests, added some timing
2013-08-07 23:32:40 +00:00
d33f435eab
Added BetweenFactorEM with 2 indicator variables.
2013-08-07 15:25:00 +00:00
c2f5adc7d0
Cleaned up code: Removed commented out code, added debug condition
...
If debug is enabled, both blockwise and full implementations are performed and then compared
2013-08-07 13:05:08 +00:00
e2f8dd866d
Merge branch 'svn/trunk'
...
Conflicts:
gtsam/linear/GaussianBayesTree.cpp
gtsam/linear/GaussianBayesTree.h
gtsam/linear/VectorValues.h
gtsam/linear/tests/testVectorValues.cpp
gtsam_unstable/nonlinear/sequentialSummarization.cpp
2013-08-06 18:33:24 +00:00
e39d100b6a
Made most global unit tests compile, includes dogleg, iterative, kalman filter, etc
2013-08-06 13:44:22 +00:00
482c5df647
updates in SmartProjectionFactor: first working version with full and block version producing the same results (non-optimized)
2013-08-05 22:34:31 +00:00
ede0805fac
Global find+replace to remove Ordered
2013-08-05 22:31:44 +00:00
2e085ace91
Changes in SmartProjectionFactor
2013-08-05 19:25:08 +00:00
5518007317
adding test with regular projection factors for comparison, and bug fixes in SmartFactor test.
2013-08-05 17:58:32 +00:00
d1de6b29a9
adding 3 camera, 3 landmark test
2013-08-05 15:50:19 +00:00
39ec641c4a
Modifications to SmartProjectionFactor and unit test: work in progress
2013-08-05 15:09:03 +00:00
d1419a3d11
Added SmartProjectionFactor (+unit tests)
2013-08-02 23:35:39 +00:00
f273b8f915
Removed extra 'typename'
2013-08-02 16:04:29 +00:00
34dc67c1af
Brought some relevant changes from aspn-imu-factor branch (is correct this time)
2013-08-02 16:04:17 +00:00
dellaert
Andrew Melim
Natesh Srinivasan
Chris Beall
Richard Roberts
Luca
Jing Dong
Vadim Indelman
Vadim Indelman
vindelman3
Jing Dong
Luca Carlone
Frank Dellaert
Zsolt Kira
Chris Beall
Vadim Indelman
Alex Cunningham