eac76cd0f0
Some progress on defining interface
2014-10-19 11:18:36 +02:00
6e142184cc
Implemented is_manifold and dimension for all types in testExpressionFactor
2014-10-19 00:35:25 +02:00
c32d2bb3b2
Fixed comments
2014-10-18 23:48:51 +02:00
d436d99146
Moved stuff to Manifold.h
2014-10-18 23:25:25 +02:00
fcda501ee2
double as manifold. No more LieScalar !
2014-10-18 18:13:33 +02:00
ed6a2b6eff
Charts !!!!
2014-10-18 17:11:28 +02:00
9c97b1d8a0
Some more refactoring
2014-10-18 16:45:04 +02:00
66b3081603
localCoordinates and retract
2014-10-18 15:02:22 +02:00
10cfd47404
TangentVector meta-function
2014-10-18 14:29:40 +02:00
ec69949f43
Point2 specialized
2014-10-18 14:22:01 +02:00
f08dc6c031
More boost-style traits
2014-10-18 14:16:24 +02:00
4c33444415
Snavely tested
2014-10-18 13:16:44 +02:00
bdf12b14b9
Add Snavely cost function
2014-10-18 12:35:02 +02:00
7018afdd58
Slight refactor of numerical derivatives
2014-10-18 12:34:05 +02:00
2972671064
Use boost::bind to avoid code duplication
2014-10-18 12:29:14 +02:00
db037c96c5
Implemented manifold_traits to allow numerical derivatives wrpt Matrix arguments
2014-10-18 12:12:25 +02:00
2cbba15573
ceres style functor
2014-10-18 00:29:18 +02:00
02d25f6658
New tests on traceSize
2014-10-16 15:07:05 +02:00
0bcca2c386
Drastic reduction in allocations at ExpressionFactor construction by having dims constructed imperatively, and using it for both keys_ and dimensions_
2014-10-16 14:16:58 +02:00
944422e295
Only ExpressionFactor needs dimensions! Also, add dimensions at construction -> speeds up linearize.
2014-10-16 11:15:47 +02:00
3413b98331
New storage sizes
2014-10-15 14:30:36 +02:00
4a854f7e22
No using namespace in headers
2014-10-15 11:01:27 +02:00
898c06ccbb
New multi-threaded, realistic SFM example (1M factors, not 1M calls on same factor)
2014-10-15 11:01:02 +02:00
79ff0c54f9
createUnknowns
2014-10-15 10:38:54 +02:00
649478f186
Should work but seg-faults
2014-10-15 01:19:14 +02:00
9b1c9bbf37
Allocate temporary matrix on the stack rather tahn on heap, and give VerticalBlockMatrix a view on it.
2014-10-15 00:56:06 +02:00
c88b2a5902
Fixed bizarre link erro as well as off-by-1 bug
2014-10-15 00:34:28 +02:00
0f055f7910
Pass matrix to VerticalBlockMatrix constructor
2014-10-15 00:28:53 +02:00
625b939b66
Another very significant speed-up of reverseAD pipeline, by template specialization of the leaf case for fixed matrices. Unfortunately, while this sped up reverse AD for our SFM kernel by 300%, reverseAD was only 6%, and is now 2% of total time. So, time to look elsewhere.
...
Oh, and, it is clear that the Identity matrix for Leaf only expressions is completely known at compile time: Eigen::Matrix<double, T::dimension, T::dimension>::Identity(). That should nicely speed up many a PriorFactor (replacement).
2014-10-14 23:40:21 +02:00
baaeaacabe
Made dimensions constant property. Now performance is ***blazing***, way past custom factors.
2014-10-14 17:46:57 +02:00
c971207abf
Switched to vector for dimensions
2014-10-14 17:16:31 +02:00
1c3f328fb2
Successful switch to Blocks !
2014-10-14 15:43:41 +02:00
f3e1561105
Prepare VerticalBlockMatrix for filling
2014-10-14 11:13:49 +02:00
4c76f39009
Now uses dimensions
2014-10-14 09:55:34 +02:00
d8d94d0c34
dimensions implemented and tested
2014-10-14 09:53:47 +02:00
781cc6daa9
keys now from expression_
2014-10-14 08:59:01 +02:00
0a41b0a027
Moved meta-programming tests to testExpressionMeta.cpp
2014-10-14 08:53:16 +02:00
ef5bf03c81
Clean up
2014-10-13 23:04:30 +02:00
70f0caf0e3
Experimenting w Fusion
2014-10-13 22:50:47 +02:00
dda91df6e1
On the way to full fusion: Optional meta-function now separate from Jacobian.
2014-10-13 18:32:58 +02:00
ba0b68110f
Boost Fusion needed to access values :-(
2014-10-13 13:56:51 +02:00
a52ff52941
Try some meta-transforms
2014-10-13 13:34:00 +02:00
1c1695353e
Now we can apply ExecutionTrace and Expression as meta-functions
2014-10-13 13:04:37 +02:00
c11d7885e1
Comments
2014-10-13 11:55:16 +02:00
74269902d7
Big collapse now realized all the way through
2014-10-13 11:37:47 +02:00
da0e5fe52f
The great collapse: instead of two recursively defined classes, there is now only one. The Record class is now a (recursive) inner class.
2014-10-13 10:50:05 +02:00
bc9e11f43c
Pre-big collapse: prototype recursively defined inner Record2 type
2014-10-13 10:10:46 +02:00
7fde47c48b
No more JacobianTA typedefs -> all use Jacobian<T,A> now.
2014-10-13 09:25:06 +02:00
7848d74928
Detailed explanation of recursive class composition pattern.
...
Jacobian type now defined in argument.
2014-10-13 08:49:12 +02:00
7f621af54a
Fixed bug
2014-10-13 00:57:11 +02:00
2e8d868cd2
keys have been implemented
2014-10-13 00:37:46 +02:00
a9d9fcd241
FunctionalNode inherited for all three functional ExpressionNode sub-classes
2014-10-13 00:31:03 +02:00
8100d89094
So much better as methods
2014-10-12 23:57:08 +02:00
55cc4ba56c
Switched names of fold result and meta-function that is folded over
2014-10-12 23:31:58 +02:00
ef21a4ba4a
Major re-org in preparation of recursive Functional nodes
2014-10-12 23:03:33 +02:00
408be628d2
Small change in meta-programming, big improvement in clarity
2014-10-12 22:17:21 +02:00
107bcd8bb4
Going forwards, we default to reverse :-)
2014-10-12 22:04:40 +02:00
4d1eb05c7d
Passing JacobianMap as an argument now..
2014-10-12 20:16:08 +02:00
dc541f1051
made traceSize an instance variable
2014-10-12 18:52:12 +02:00
7a5f48f6dd
Fixed typo in assert
2014-10-12 12:20:12 +02:00
fea2eb0b5f
Inlined VerticalBlockMatrix construction
2014-10-12 11:05:43 +02:00
ed62271f81
Dealing with constrained noise model
2014-10-12 10:52:07 +02:00
86d3e559e6
Merge branch 'feature/BAD' into feature/BAD_linearize
2014-10-11 23:07:40 +02:00
c9f80536c0
Added a constraint model
2014-10-11 23:07:23 +02:00
3c6f7a42e6
Merge branch 'feature/BAD' into feature/BAD_linearize: easier trace/dTdA access
2014-10-11 22:31:43 +02:00
c776e87f78
Refactoring for readability/sanity
2014-10-11 21:33:07 +02:00
0c7ea68f2f
Now overwriting linearize as preparation for direct VericalBlockMatrix
2014-10-11 17:05:53 +02:00
1bac83381f
Merge remote-tracking branch 'origin/feature/BAD_meta' into feature/BAD: Now the Record structures are recursively generated using template meta-programming, basically mpl::fold
...
Conflicts:
gtsam_unstable/nonlinear/Expression-inl.h
2014-10-11 15:20:12 +02:00
88f9a423c5
Numbered types avoid ambiguity
2014-10-11 14:19:39 +02:00
ecf6462a25
Victory!! Unit tests work!
2014-10-11 13:07:58 +02:00
599e232d1d
traceSize, two tests work
2014-10-11 12:11:22 +02:00
9585823d5d
...but works with correct size !
2014-10-11 11:32:52 +02:00
deed7b8018
Unary prints, but still-faults downstream
2014-10-11 11:30:06 +02:00
05f78b6dca
Re-factor, allow traceExecution
2014-10-11 11:29:42 +02:00
1f692638f5
Accessing matrices works
2014-10-11 11:04:39 +02:00
69b69a0bc8
placement new works! And sophisticated Trace::print
2014-10-11 11:03:35 +02:00
eef2d49e8d
First prototype, segfaults
2014-10-11 10:27:30 +02:00
e09e24964a
No need to have all of T as template parameter
2014-10-11 09:00:03 +02:00
820988b04e
Do casting inside Trace
2014-10-11 08:52:24 +02:00
52fc6f2db4
Testing old trace
2014-10-11 08:41:39 +02:00
820e9553ee
TestBinaryExpression friend
2014-10-11 08:17:46 +02:00
a2d2d82e0e
some namespace management
2014-10-11 07:39:13 +02:00
23485a0e71
New and consistent naming: ExecutionTrace = whole tree, CallRecord = local information left by the function.
2014-10-10 17:45:39 +02:00
5cfe761f27
Timing multi-threaded code
2014-10-10 17:17:20 +02:00
ae93dd9869
Commented out repeated arguments
2014-10-10 13:57:37 +02:00
58bbce482d
Ternary works, same caveat
2014-10-10 13:33:13 +02:00
406467e341
Binary works, but it's ugly and does not work for repeated types
2014-10-10 13:29:56 +02:00
24714e48c5
Works for Unary !
2014-10-10 12:38:26 +02:00
f8468bd596
Recursion done
2014-10-10 12:31:40 +02:00
40fc6f5c03
Working prototype
2014-10-10 12:29:01 +02:00
dd1b931802
Successfully defined Jacobian
2014-10-10 12:03:13 +02:00
732ff54b83
More experiments
2014-10-10 11:41:01 +02:00
8e264f4289
Attempt at defining Trace recursively
2014-10-09 14:38:16 +02:00
5e5457b390
Renamed entry point to startReverseAD to emphasize it is only called once
2014-10-09 13:42:43 +02:00
563c4d214c
Renamed BADFactor -> ExpressionFactor
2014-10-09 13:00:56 +02:00
7e069191e5
Slight refactor
2014-10-09 10:58:46 +02:00
a38a0ae9e1
Some comments
2014-10-09 00:21:10 +02:00
9ebe1e6d10
Super-speedup by specializing to 2-dimensional output (for now). Using some template magic.
2014-10-08 23:50:17 +02:00
31c138d0d6
Profile Bin(Leaf,Un(Bin(Leaf,Leaf))) by default
2014-10-08 17:52:46 +02:00
abb92632b8
Empty derived destructors are not needed
2014-10-08 17:32:46 +02:00
6a1bc6e242
Documentation
2014-10-08 17:28:33 +02:00
4ac065fab4
Show explanation of timing
2014-10-08 17:27:46 +02:00
ce2dcaeb3b
Tagged union, lightweight
2014-10-08 15:39:59 +02:00
390842e1f7
Put Trace in front
2014-10-08 13:58:15 +02:00
ba9faa68b6
New Leaf/noise tests
2014-10-08 13:56:54 +02:00
d7022a21c7
More samples to average
2014-10-07 20:11:19 +02:00
c4a92acde1
Avoid argument temporaries
2014-10-07 19:35:44 +02:00
84987aa351
Deal with Rot3 changes
2014-10-07 19:35:20 +02:00
3c1c9c6d12
Switch to pointers - nice improvement
2014-10-07 18:11:12 +02:00
982dc29d2f
Time ternary version as well
2014-10-07 18:10:53 +02:00
e4392c0a3b
JacobianTrace no longer templated
2014-10-07 16:11:55 +02:00
83d77271d9
Ternary now fixed
2014-10-07 13:04:04 +02:00
613cb0bb12
Binary functions now take fixed Jacobians
2014-10-07 01:01:46 +02:00
921b79f446
No more default argument
2014-10-07 01:01:16 +02:00
0a6fe0f0a8
No more default argument
2014-10-07 00:44:40 +02:00
7a4f307342
moved biasedGPS and GaussMarkov to unstable
2014-10-06 13:11:40 -04:00
e48b38ca21
Fixing uncalibrate (does not yet compile)
2014-10-06 15:45:26 +02:00
e5c3f4228a
Some fixed size in UnaryExpression
2014-10-06 14:22:18 +02:00
51eab1068f
Time the most common SFM expression
2014-10-06 13:57:37 +02:00
5c96b7f38d
Made naming more suggestive of AD process rather than generic H1,H2...
2014-10-06 13:19:01 +02:00
0ed96dda33
Avoid alloc and copy
2014-10-06 12:14:15 +02:00
c748fdb404
Re-did with move semantics. Dangerously imperative.
2014-10-06 12:13:52 +02:00
69f74014aa
add traceExecution in TernaryExpression
2014-10-05 17:40:11 -04:00
cc3c0fcfec
add trace structure for reverse AD in TernaryExpression
2014-10-05 17:38:09 -04:00
0421d05d44
add forward() in TernaryExpression
2014-10-05 17:36:53 -04:00
0a7db2d252
Merge remote-tracking branch 'origin/feature/BAD' into feature/BAD
2014-10-05 16:16:19 -04:00
40565564f5
TernaryExpression is added
2014-10-05 16:09:24 -04:00
632810ff9a
Now only inline add, for performance
2014-10-05 21:53:40 +02:00
33c1d072a4
Add switch between inline add and JacobianMap as a new class.
2014-10-05 21:49:30 +02:00
5b13306104
Split out starting the AD process vs. propagating it, is more efficient than starting with a useless identity matrix
2014-10-05 19:27:52 +02:00
ff9dd8eb8d
Removed some obsolete code
2014-10-05 19:09:16 +02:00
caf742d5e1
Better names
2014-10-05 17:20:55 +02:00
001504a432
JacobianTrace base, and avoid copying JacobianMaps.
2014-10-05 17:12:38 +02:00
2718662467
Removed debug printing
2014-10-05 15:01:36 +02:00
fdf9c10b42
Implemented value and now testBADFactor also runs
2014-10-05 15:00:10 +02:00
8db2cd17fc
Finished constant Trace and *everything* just works!!! Amazing :-)
2014-10-05 13:41:20 +02:00
7c19542245
Leaf Trace compiles
2014-10-05 13:37:51 +02:00
75445307b2
Unary Trace done
2014-10-05 13:33:23 +02:00
8e527a2251
Binary Trace compiles, runs
2014-10-05 13:27:41 +02:00
303d37a716
Separate hierarchy
2014-10-05 11:22:14 +02:00
6fb10a5de9
Rename, emphasizing is forward AD
2014-10-03 21:13:34 +02:00
3f017bf51f
An optimized version
2014-10-03 14:35:39 +02:00
c20b588fe0
timing, is pretty bleak for Expressions
2014-10-03 14:19:23 +02:00
a5b92f0342
MUCH simpler by just using boost::bind to turn methods into functions
2014-10-03 13:18:25 +02:00
bdf5451565
Typedefs
2014-10-03 12:52:35 +02:00
c8dd361080
Common base class BinaryExpression
2014-10-03 12:48:28 +02:00
987b123ec9
NullaryMethodExpression and UnaryFunctionExpression, derived from UnaryExpression
2014-10-03 12:40:26 +02:00
aefad1e548
MAJOR refactor: I now use separate functions for value (only) and "augmented", for combined value-derivatives. The latter returns a new templated class, Augmented<T>.
2014-10-03 10:25:02 +02:00
da4cfe6fdc
ternary test
2014-10-02 23:39:17 +02:00
59af1c4b6d
Major refactor that does not ask for derivatives when argument is constant. Also split combine into double add, added print, and moved those two statics to ExpressionNode.
2014-10-02 23:28:19 +02:00
166396d6f6
Added tests with constant Expression
2014-10-02 23:26:59 +02:00
e7e7b3806f
New test with constant argument
2014-10-02 20:28:37 +02:00
d5709facf6
Added Pose2SLAMExample
2014-10-02 20:20:00 +02:00
8f856ceaf8
Renamed
2014-10-02 20:19:49 +02:00
df17758469
Assume H pre-allocated as usual, and *move* Jacobians to avoid allocations
2014-10-02 13:30:16 +02:00
0800b83285
Slight efficiencies
2014-10-02 11:44:16 +02:00
bef23a2008
ExpressionExample now only uses BADFactors and yields same result as SFMExample
2014-10-02 11:21:24 +02:00
ebb091d390
BadFactor is now a functioning NoiseModelFactor
2014-10-02 11:01:39 +02:00
3f5aa0f23e
Expression version of SFMExample (in progress)
2014-10-01 14:10:54 +02:00
ce53346a9e
Added Symbol versions
2014-10-01 13:12:07 +02:00
0d94eeb480
Created expressions.h header
2014-10-01 11:25:49 +02:00
254f8c5f75
Possible naming convention
2014-10-01 11:01:38 +02:00
a6c1ba19cc
Concise version
2014-10-01 10:53:35 +02:00
d45250a989
Fixed dim
2014-10-01 10:45:57 +02:00
d935172ac5
Tightened
2014-10-01 10:43:03 +02:00
8f6eae922a
Tightened/cleaned up
2014-10-01 10:36:24 +02:00
837b2a6bc0
Fixed the member function with very ugly syntax
2014-09-30 23:13:07 +02:00
c68c2d2dac
Prototype code for passing methods. Does not work (uncomment line 61)
2014-09-30 13:19:44 +02:00
ae17f8a82f
Some refactoring, new static method "combine"
2014-09-30 13:00:37 +02:00
374140abb8
Moved all BAD stuff to nonlinear
2014-09-30 12:34:03 +02:00
1aa7b570f9
Added BADFactor header and created new test
2014-09-30 12:30:15 +02:00
ef52e12f87
Split off BADFactor code from Expression
2014-09-30 12:29:57 +02:00
5a1ea6071b
Split off ExpressionNode hierarchy
2014-09-30 12:20:02 +02:00
e2f6f01941
Some cleanup of headers/old code
2014-09-30 12:12:17 +02:00
e789de2353
Check derivatives of compose
2014-09-29 12:14:59 +02:00
05c49601ed
Added Expression header
2014-09-29 12:06:04 +02:00
de3e1c3ed1
Fixed the product compilation
2014-09-29 07:22:25 +02:00
10a35f3535
Structure for compose. Does not compile (uncomment line 492)
2014-09-28 17:50:36 +02:00
7be6ac0e8c
Now compiles but product construction fails because optional derivatives can't be delivered by the operator*()
2014-09-28 10:22:19 +02:00
11187a4c0d
I added operator logic but can't get it to compile
2014-09-27 18:22:37 +02:00
ab1f4c1e32
keys now functional
2014-09-27 16:08:59 +02:00
186afcc95e
Made constructors private
2014-09-27 15:58:34 +02:00
e487979b0f
Removed obsolete typedefs
2014-09-27 15:49:25 +02:00
cde9a41acc
Formatting only
2014-09-27 15:48:07 +02:00
768c7f00e1
Removed the clone method
2014-09-27 15:01:02 +02:00
9eed7e10fe
Added testBAD.run target, fixed an issue with getKeys
2014-09-27 14:08:31 +02:00
1a00d7e3d9
Second draft of the BAD implementation
2014-09-27 11:39:46 +02:00
e0a9eb63ce
Fix for Windows: renamed some tests
2014-09-24 16:47:07 -04:00
b47837462e
Unit test succeeds !!!
2014-09-21 18:54:01 +02:00
4bc82da85c
Compile with optional derivatives
2014-09-21 18:36:19 +02:00
8e3a0f4847
Prototype [jacobians] code
2014-09-21 18:22:28 +02:00
583c81ffea
Implemented uncalibrate, value test succeeds
2014-09-21 17:59:34 +02:00
6a5e4191a3
UnaryExpression
2014-09-21 17:43:47 +02:00
b89f65cccc
BinaryExpression
2014-09-21 17:37:09 +02:00
59b0e6a657
Progress on error
2014-09-21 17:13:25 +02:00
d9fafc1bf1
No more base class
2014-09-21 16:48:24 +02:00
7a64e2e546
Class hierarchy
2014-09-21 16:30:30 +02:00
6532966f62
Call JacobianFactor constructor with map
2014-09-21 13:11:55 +02:00
c7b6a9af12
Now use old-style factor to create expected value and derivatives
2014-09-21 05:33:53 -04:00
a76c27d074
Now just linearize
2014-09-18 18:33:11 -04:00
b19132e004
First version of test, with vector of Matrices
2014-09-18 17:10:39 -05:00
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
f75f26fb63
Fix for Mac
2014-07-22 22:00:33 -04:00
8bad295209
Changed initial noise generation for SmartStereoProjectionFactorExample to Y direction, changed noise generation scale
2014-07-22 12:49:09 -04:00
a297434148
Modified SmartStereoProjectionFactorExample to write optimized poses to file
2014-07-22 09:08:38 -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
e7c82652af
Added option to increase initial error in SmartStereoProjectionFactorExample
2014-07-16 14:45:56 -04:00
f4dc6a3a95
Fix metis linking in tests
2014-07-16 14:45:12 -04:00
d68e6b9add
Noisemodel dimension 2->3
2014-07-15 13:09:12 -04:00
4c076fca2d
Added SmartStereoProjectionFactor example
2014-07-15 10:14:23 -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
946cc5338a
Merge branch 'develop' into feature/timing_scripts_build
...
Conflicts:
gtsam_unstable/CMakeLists.txt
2014-06-21 08:55:49 -07:00
7485a8f2d5
Merge remote-tracking branch 'origin/develop' into feature/concurrent-calibration
2014-06-20 13:48:26 -04:00
3bacdbbec5
Move Smart Projection Factor wrapper to stable
2014-06-20 13:41:51 -04:00
a34dff1397
Merge remote-tracking branch 'origin/feature/new_imu_factors' into develop
2014-06-20 13:32:34 -04:00
67e0e71802
First script to experiment with Concurrent calibration estimation
2014-06-13 12:17:45 -04:00
9f796565d0
print optimization errors for now
2014-06-12 16:24:03 -04:00
8bee2cd70f
Fixed unstable examples never getting built
2014-06-12 14:40:24 -04:00
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
2591f7dca2
Fixed missing gtsam_unstable/partition tests
2014-06-07 19:01:13 -07:00
87f5818776
Move smart projection factor
2014-05-31 15:33:19 -04:00
41de41deec
minor cleanup
2014-05-30 19:37:03 -04:00
a7a209ce0c
Minor fixes and documentation cleanup
2014-05-30 13:31:35 -04:00
625b7b0743
Monocular Smart Projection factor example based on stereo data
2014-05-30 11:58:07 -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
b83a996731
Fixed SmartProjectionPoseFactor matlab wrapping
2014-05-13 17:04:16 -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
0450c58d66
silence warning
2014-05-06 12:06:07 -04:00
9373711a85
Finish TSAMFactors
2014-05-06 01:34:56 -04:00
2f180d1d02
Remove using namespace std from header files
2014-05-05 16:35:22 -04:00
0a2385711b
MATLAB wrapping of TSAMFactors
2014-05-05 10:14:56 -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
92c9e9c0aa
Fixed "unused" warnings
2014-05-03 12:23:49 -04:00
1ed07ca4ed
Moved to unstable
2014-05-03 12:23:20 -04:00
5402f9fa20
Removed smartProjectionPoseFactor from matlab wrapper; it was causing matlab crashes
2014-05-02 11:12:10 -04:00
8dbd7c175c
added SmartProjectionFactor to matlab wrapper
2014-05-01 15:55:37 -04:00
ce13807d10
added script to run and save tests in a simplified way
2014-05-01 12:56:24 -04:00
32e1a8f994
tried some changes for wrapping
2014-05-01 10:48:54 -04:00
2cb448fa24
adding SmartProjectionPoseFactor to wrapper
2014-04-30 16:17:32 -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
e232b6085b
wrapping smart factors
2014-04-15 11:06:38 -04:00
bd218feada
Merge branch 'develop'
2014-04-15 10:57:20 -04:00
f63db8859b
addind wrapper for smart factors
2014-04-15 10:56:17 -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
2908197f1a
Merge branch 'develop'
2014-04-06 14:35:32 -04:00
310fce3be9
last updates from smartFactors project (these files are now removed from that project)
2014-04-06 14:25:46 -04:00
e98b90bd2a
Make building of metis/partition optional via cmake flag
2014-04-04 15:49:04 -04:00
02fc860d9e
add smartfactor base classes, smartProjectionPoseFactor, and its unit test to gtsam_unstable
2014-03-27 13:14:13 -04:00
178b7f29da
clang warnings
2014-03-17 21:56:50 -04:00
9ffc928536
Correct signed vs unsigned comparison warnings
2014-03-17 12:07:54 -04:00
719592258b
Remove unused variable
2014-03-17 12:04:40 -04:00
68297dedb5
Removed unused variable
2014-03-16 16:36:07 -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
f5ce1d865e
A custom linearize for speed
2014-03-04 02:50:28 -05:00
b1013163e7
Switched to TriangulationFactors: huge improvement
2014-03-02 15:51:02 -05:00
5c466a7914
Moved to header file
2014-03-02 15:36:29 -05:00
a7f98a8316
Drastically simplified by passing cameras
2014-03-02 15:33:56 -05:00
f3ee25f1a8
TriangulationFactor, first version
2014-03-02 14:56:50 -05:00
dfee108e53
Some more refactoring
2014-03-02 13:49:42 -05:00
bf779af3d1
added twoPoses test
2014-03-02 13:44:18 -05:00
7b93cd207c
fixed header bloat
2014-03-02 13:34:43 -05:00
68401cf216
removed Cheirality testing in that GTSAM mode
2014-03-02 13:16:36 -05:00
ba6f857663
Removed some copy/paste
2014-03-02 13:02:21 -05:00
bf1f5037d0
Fixed warning
2014-03-01 20:41:05 -05:00
e9eb706786
Fix conflict
2014-02-24 11:37:43 -05:00
ed8b1eeaa1
Converted another loop to use insert like was fixed in the previous commit (wasn't a problem this time but am matching the style to the other file)
2014-02-24 09:29:30 -05:00
3e0904e250
remove unneeded/wasteful loop
2014-02-23 23:12:25 -05:00
1770f44ad9
Fixed a number of clang warnings
2014-02-23 18:53:48 -05:00
4c5cb4d8ec
Removed some unused code that was causing warnings
2014-02-23 18:51:48 -05:00
485b3b475a
Fixed a typo that disabled the testTriangulation tests.
2014-02-23 18:50:58 -05:00
efcf58161c
Spelling correction for adjacency, correct unused var warnings and unsigned vs signed int comparision warnings
2014-02-23 17:55:18 -05:00
adeac28527
Graph reduction unit test pass
2014-02-23 17:47:39 -05:00
46c52bc957
Issues with key index versus graph index is source of the problem re heap trashing. Need to verify GenericGraph but seems that properly odering the keys fixes the issues.
2014-02-23 17:42:21 -05:00
2c5c38c855
Unit tests pass using GenericGraph 2D, use of GenericGraph 3D causes heap corruption during prepare graph for some unknown reason
2014-02-23 16:37:09 -05:00
0aa32a748f
Updating to new metis interface. Need to address prepareMetisGraph since its causing core dump on second edgeseparator test
2014-02-21 18:20:43 -05:00
05e42ba452
Test Separator unit test passes. Partially
2014-02-21 11:21:08 -05:00
1ff9309533
Parition builds partially. Computing edge separate is no longer a separate function in METIS. testFindSep fails
2014-02-20 14:36:14 -05:00
f48b8e593c
Move tests to folder
2014-02-20 12:27:58 -05:00
4c86ea1ab5
Merge branch 'develop' of bitbucket.org:gtborg/gtsam into feature/partition
2014-02-20 10:10:04 -05:00
89e6d2f1e8
Removed some commented-out includes
2014-02-18 13:44:25 -05:00
ed4e1a8e57
Merge branch 'develop' of bitbucket.org:gtborg/gtsam into feature/partition
2014-02-17 12:41:09 -05:00
3293df1529
Removed duplicate link libraries during wrap
2014-02-17 00:43:14 -05:00
f283150eb4
Using macro for creating examples to remove cmake code copy/paste
2014-02-13 13:24:14 -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
2e1e4951e1
Merge branch 'develop' of bitbucket.org:gtborg/gtsam into feature/partition
2014-02-09 13:45:41 -05:00
9d2c5888b8
Made cmake slightly nicer when using Xcode - removed a couple unnecessary prints, and removed .run targets when using Xcode since they're not needed and clog up the project view.
2014-02-08 11:14:43 -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
1d9aa38a62
Move partition over
2014-01-28 19:38:28 -05:00
fe55148dd7
deleted redundant files for imu factors
2014-01-27 17:38:01 -05:00
38846aaac6
remove FixVector(size_t m, ...)
2014-01-23 19:08:20 -05:00
376892f67f
fix FixVector(size_t m, ...), which also has dangerous behavior
2014-01-23 19:02:24 -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
dd447f2c6c
Moved all common methods in new file Rot3.cpp
...
git-svn-id: https://svn.cc.gatech.edu/borg/gtsam/trunk@20416 898a188c-9671-0410-8e00-e3fd810bbb7f
2013-12-21 18:30:46 -05:00
848f992b98
fixed two tests that did not pass with Quaternions
...
git-svn-id: https://svn.cc.gatech.edu/borg/gtsam/trunk@20414 898a188c-9671-0410-8e00-e3fd810bbb7f
2013-12-21 18:30:46 -05:00
d7dc390130
Particle factor scaffold
2013-12-19 17:14:40 +00:00
880d9a8e3c
Switched to new Eigen built-in special comma initializer
2013-12-16 21:33:12 +00:00
f664df729c
Updated to new wrap functions in gtsam cmake
2013-12-16 21:32:55 +00:00
abbbd02979
reintroduced triangulation.cpp with non-templated functions
2013-12-09 21:28:43 +00:00
5f87cbea7f
New SymmetricBlockMatrix interface - should be safer as all exposed functions use symmetric matrix expressions and the internal uninitialized values below the diagonal are never exposed.
2013-11-26 23:49:53 +00:00
4e2b658588
some excel file I forgot to check in
2013-11-23 19:04:43 +00:00
a27f97dec4
Fix in ConcurrentFilteringAndSmoothing - one elimination call was using the default elimination function instead of the one from the parameters.
2013-11-21 15:42:17 +00:00
0608e9a05b
Added support for MKL in Eigen and fixed several errors and warnings within Eigen when using MKL
2013-11-18 19:23:23 +00:00
2896a45d1f
Fix Matrix_(...) to Mat() <<...
2013-11-13 06:08:59 +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
199505db5f
Changed API for triangulation to use vectors of pinhole cameras, or a vector of poses and a single calibration
2013-11-06 06:31:46 +00:00
5defdbe73f
Fixed compile problems on windows
2013-11-05 16:06:10 +00:00
a28e04988d
Some documentation, and extra optimize test. In debug mode the unit test fails because it does not throw the right exception, but everything else seems fine.
2013-11-01 01:04:34 +00:00
efeb7b4f8a
fixed warning on cheirality exception
2013-10-31 01:32:48 +00:00
5a71336ddd
Fixed a compile error with Clang 5.0 on OS Mavericks
2013-10-30 12:15:43 +00:00
73b82a00eb
added possibility to disable Cheirality in triangulation.h using cmake flag
2013-10-29 23:38:31 +00:00
3c33e44c46
Fixed compile errors on windows
2013-10-29 04:24:14 +00:00
788f69c00e
Add header for size_t since gcc requires
2013-10-28 18:07:19 +00:00
b88e15e694
Faster variant of DSFMap, if not as elegant.
2013-10-27 03:45:12 +00:00
d1a62b0cc1
Killed other variants
2013-10-27 02:50:47 +00:00
f4b7ab54b0
Several DSFMap variants
2013-10-27 02:18:42 +00:00
5e29bc5b67
Return set partitions from DFSMap
2013-10-26 22:22:31 +00:00
14ab4f6355
Quadratic growth in nr images to be expected.
2013-10-26 20:21:10 +00:00
b80859211c
Timing DSF variants: functional DSF is faster than in-place, but both way slower than DSFMap, which in turn is slower than DSFBase
2013-10-26 20:14:01 +00:00
4e68feff37
Small improvements
2013-10-26 20:12:49 +00:00
48dd3cb769
DSF with Map, allows more general types
2013-10-26 17:57:03 +00:00
19966fe112
Added pairwise matching example
2013-10-26 16:08:18 +00:00
fccdc46180
Fixed some compile errors related to rename
2013-10-25 19:16:15 +00:00
def9b84e45
Added virtual solve method to NonlinearOptimizer that you can override, e.g., with Ceres
...
See example in testNonlinearOptimizer
As part of this, I also merged SuccessiveLinearizationParams into NonlinearOptimizerParams, which is now in its own separate file NonlinearOptimizerParams.h
2013-10-25 18:27:43 +00:00
11edeca3e3
removed example that was moved to smartFactors_ceres
2013-10-23 19:28:39 +00:00
6d288a193d
another unit test for distinct calibrations, more documentation
2013-10-22 15:52:10 +00:00
e98c80aad0
removed nontemplated triangulation functions. Improved unit tests and documentation
2013-10-22 15:31:46 +00:00
de55dc0d66
Fix Vector_() to Vec() in gtsam_unstable/slam
2013-10-22 04:56:01 +00:00
87f9a2ab03
Fix Vector_() to Vec() in gtsam_unstable/nonlinear
2013-10-22 04:35:21 +00:00
2a178515b3
Fix Vector_() to Vec() in gtsam_unstable/examples
2013-10-22 04:30:13 +00:00
6587f9781c
Fix Vector_() to Vec() in gtsam_unstable/dynamics
2013-10-22 04:22:50 +00:00
b8ce816de2
2013-10-21 22:00:12 +00:00
d57f61e5ab
removing include which no longer exists
2013-10-21 18:23:00 +00:00
6e7302283e
moved smart factors for smartFactors_ceres
2013-10-21 15:35:23 +00:00
8b68c71614
2013-10-20 02:20:07 +00:00
5bf761a67a
minor changes to BAL example
2013-10-19 23:07:16 +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
796d9c7a67
added functionalities in dataset.cpp (writeBALfromValues) and BAL example
2013-10-19 20:28:20 +00:00
916d730fce
Updated BAL example with readBAL functionality (work in progress)
2013-10-19 02:05:51 +00:00
de5f8ee354
templated calibration object in triangulateDLT
2013-10-19 02:05:49 +00:00
aa1f1582f5
KITTItoBALConverted checked in
2013-10-19 00:57:01 +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
f7e90bbe86
temporary disabled -
2013-10-18 06:17:01 +00:00
1400498b72
Back to old calibration
2013-10-18 04:31:14 +00:00
7901e0d795
Switch to Cal3Bundler
2013-10-18 04:01:07 +00:00
9997e0b8ea
EPI: Optimize landmark position using LM using SVD triangulation as initialization.
...
Works for both single camera and multi-camera (with different calibration) cases.
2013-10-18 02:56:10 +00:00
06812ed964
intermediate changes (work in progress)
2013-10-18 01:25:18 +00:00
3a139587ee
minor changes
2013-10-17 01:18:22 +00:00
12b19b6ca9
added input arguments for BAL testing
2013-10-16 23:17:29 +00:00
b95c1c14e4
minor adds
2013-10-16 02:50:57 +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
aa3729b098
Running, but to test
2013-10-15 19:16:39 +00:00
c27f4f6bcb
added possibility to read initialization from file in ProjectionFactorCreator
2013-10-15 19:16:38 +00:00
575e5b1693
Cosmetic corrections
2013-10-15 19:16:35 +00:00
16af82dc86
support multivalue variables
2013-10-15 18:25:05 +00:00
9bff152dbe
add template on triangulation
2013-10-15 18:01:06 +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
223da3e34f
fixed DiscreteBayesNet::sample.
2013-10-12 20:23:04 +00:00
939f694b33
first converged loopy belief test
2013-10-12 20:06:02 +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
8be7363a01
refactor and add more comments
2013-10-12 15:27:37 +00:00
b161a106c7
loopy belief in progress
2013-10-12 05:49:11 +00:00
35924f6055
disable printing
2013-10-11 21:59:36 +00:00
2570492fa6
disable printing
2013-10-11 21:58:09 +00:00
a5f1d68099
fix scheduling examples by adding the default key index ordering in Scheduler.
2013-10-11 21:55:31 +00:00
19d64460ba
check in fail DiscreteBayesNet::sample unittest.
2013-10-11 19:07:16 +00:00
8add3de3c2
fix compilation errors in unstable discrete examples
2013-10-11 19:01:12 +00:00
1531abd285
fix testCSP by using the default key ordering.
2013-10-11 17:48:44 +00:00
bf11f93cee
revive unstable discrete. testCSP still fails, but looks like the solution is valid. See comments in file.
2013-10-11 17:42:30 +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
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)
...
For projection factor version, we can specify a landmark-first ordering
2013-10-04 13:47:24 +00:00
43d56b120a
From Hmf6_unordered: getISAM2 and variables Reeliminated/Relinearized (d97dcacf186900d12003c399e7fe55e03ca34e3f)
2013-10-03 19:52:05 +00:00
0c7b2ec062
From Hmf6_unordered: Public isam2 - to be changed (10834edc1698d941be3203e8e6bea0bd4a573443)
2013-10-03 19:52:01 +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
4d31dd99f3
Hopefully fixed the mex build flags
2013-10-03 16:50:14 +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
7560a1f6e3
Typo fixed
2013-09-27 16:06:36 +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
b04d2f1512
ICRA version of Kitti dataset processing
2013-09-26 20:36:57 +00:00
d440901920
Fixed quoting on include paths for building the toolbox so that the toolbox builds again
2013-09-26 18:12:32 +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
c310bafc8a
ISAM2 option, increased num poses
2013-09-14 03:10:10 +00:00
0e5069c26c
Added toy example on SmartRangeFactors
2013-09-14 00:21:10 +00:00
5dc138aa09
wrap important bits of SmartRangeFactor
2013-09-13 21:00:48 +00:00
14e65ce607
Matrix initialization bug fix
2013-09-13 18:26:39 +00:00
7413b50da1
Support for running on entire kitti dataset.
...
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
a8d1072a02
Further optimization with another ~9% speed improvement.
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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
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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
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
3b7670c5aa
added TransformBtwRobotsUnaryFactorEM.
2013-08-23 15:24:46 +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
930c537991
Added TBB include directories when compiling matlab wrapper
2013-08-22 21:44:14 +00:00
0466e606b0
Added try/catch for triangulation exception
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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
ae958ad0f5
Fixed testConcurrentIncrementalFilter
2013-08-19 22:07:32 +00:00
568335d21f
In progress fixing filter/smoother unit tests
2013-08-19 21:33:13 +00:00
e42f8e5a35
fix documentation
2013-08-19 20:25:04 +00:00
ab51b50a9a
landmark triangulation now throws two different exceptions instead of returning boost::none. TriangulationCheiralityException and TriangulationUnderconstrainedException
2013-08-19 20:10:36 +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
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
fe860be33f
SmartProjectionFactor: Added add(measured, poseKey) method to incrementally add views to the same landmark.
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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
ce9e9b4a91
Added "TODO: correct?" comments
2013-08-16 21:16:07 +00:00
192962d96f
Fixed a couple problems in converted ConcurrentIncrementalFilter and ConcurrentIncrementalSmoother
2013-08-16 21:16:06 +00:00
68c6bf4a38
Added CMake code and preprocessor macros so that everything works without TBB and falls back on single-threading
2013-08-16 20:26:07 +00:00
2d413e05c6
Removed functions largely supersceded by newer bayes tree functionality
2013-08-16 16:32:19 +00:00
0212bbc30d
Fixed some unit tests
2013-08-16 04:11:02 +00:00
3701dc6322
Changes in CFS for unordered (still work in progress)
2013-08-15 22:12:09 +00:00
6337a65ce7
Updated Incremental Smoother to unordered
2013-08-15 22:12:07 +00:00
591a43a343
Added TBB linking flags to wrap build script
2013-08-15 17:44:17 +00:00
e4f65eacf8
Updating ConcurrentIncrementalSmoother/Filter to work with unordered (work in progress)
2013-08-14 19:12:24 +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
4dfa2506ab
ConcurrentFilterAndSmoother updated and working with the unordered version of GTSAM
2013-08-13 22:30:08 +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
5d0f8399ed
Fixed gtsam_unstable matlab wrapper
2013-08-12 22:26:37 +00:00
175965a6bf
Merged from branch 'branches/unordered'
2013-08-12 21:52:43 +00:00
13d829687c
Merged from branch 'trunk'
2013-08-12 21:49:59 +00:00
d9c9682f6e
Merge branch 'svn/trunk'
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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
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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
f1c9322d37
Removed old VerticalBlockView and SymmetricBlockView (replaced with VerticalBlockMatrix and SymmetricBlockMatrix)
2013-08-12 21:41:05 +00:00
6cba528671
Fixed include path
2013-08-12 18:21:27 +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
0db8e446d5
Disabled gtsam_unstable/nonlinear filters and smoothers
2013-08-11 18:40:39 +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
f41d4b879b
Added the ability to remove factors from ConcurrentIncrementalFilter
2013-08-10 17:16:47 +00:00
34a3a6ea49
Added the ability to remove factors from the ConcurrentBatchFilter
2013-08-10 17:16:38 +00:00
ebc6a66c3a
Updated to the marginal factor calculation in BatchFixedLagSmoother to
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be more efficient
2013-08-10 17:16:31 +00:00
12d003229a
Fixed missing '}'
2013-08-10 17:16:19 +00:00
c33c6e2c70
Added unit tests for Concurrent Incremental Filter and Smoother
2013-08-10 17:15:48 +00:00
915dc98bd2
Updated unit tests for Concurrent Batch Filter and Smoother
2013-08-10 17:15:38 +00:00
f656e93202
Created Concurrent Incremental Filter and Smoother
2013-08-10 17:15:31 +00:00
663c598591
Updated Concurrent Batch Filter and Smoother to the latest versions
2013-08-10 17:15:20 +00:00
1dc0e6192b
Added accessor functions for internal data structures to
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IncrementalFixedLagSmoother
2013-08-10 17:15:03 +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
c03172aca3
add prior on second camera
2013-08-09 15:31:15 +00:00
369e69b0d2
actually set everything to zero to turn factor off during linearization
2013-08-09 15:28:57 +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
5b7d7b3793
Closer to building and tests running
2013-08-08 20:45:44 +00:00
b0c96f9bf6
unwhitenedError.
2013-08-08 20:14:12 +00:00
27cabb62f1
added unwhitenedError to BetweenFactorEM.
2013-08-08 20:13:39 +00:00
4a4e16485c
Making more things in gtsam_unstable compile
2013-08-08 20:08:54 +00:00
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
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
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
6dd67a13fd
Changed to optimize entire graph instead of sub-graphs
2013-08-08 14:20:08 +00:00
a82262cf99
Included noise model and f term in SmartProjectionFactor
2013-08-08 14:00:26 +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
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
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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'
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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
2d60d2cdfa
Fixed more unit tests
2013-08-06 18:04:40 +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
cb7eb1b510
Find+replace Ordered headers
2013-08-05 22:31:33 +00:00
09643929fd
Making some tests compile
2013-08-05 22:31:26 +00:00
628d4e0d77
Disabled discrete for the time being
2013-08-05 22:30:52 +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
424ef0728f
Changed a filename to avoid having multiple object files of the same name in the library
2013-08-01 16:54:44 +00:00
2705d85fa7
Merged from branch 'trunk'
2013-07-31 18:55:15 +00:00
ed79432a69
Added MultiProjectionFactor, invoving n views (camera poses) observing a single landmark: work in progress
2013-07-31 18:02:56 +00:00
34998b3435
Added missing export tag
2013-07-31 15:36:39 +00:00
321a286f02
Revert "Brought some relevant changes from aspn-imu-factor branch"
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This reverts commit b08a11ffb27d14487115f20745f1cea17fcc55ee.
2013-07-31 15:26:48 +00:00
b62af20fdc
Revert "Removed extra 'typename'"
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This reverts commit 04fd69f56c1e1cbd934a54aeb415e2cf2132d236.
2013-07-31 15:26:46 +00:00
90cf73d4a7
Removed extra 'typename'
2013-07-31 15:25:05 +00:00
7345b40feb
Brought some relevant changes from aspn-imu-factor branch
2013-07-31 15:25:03 +00:00
201a7bfda5
adding triangulation function needed by new Schur complement factor
2013-07-30 18:52:06 +00:00
3ade190128
Renamed old classes to "Ordered" and removed "Unordered" name from new classes
2013-07-29 23:55:40 +00:00
b5c530d080
Merge branch 'svn/trunk'
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Conflicts:
CMakeLists.txt
2013-07-09 17:54:06 +00:00
ecb24ebd06
Fixes to include path ordering and boost libraries
2013-07-09 15:43:55 +00:00
d7767188b3
Merged from branch 'trunk'
2013-07-01 13:11:15 +00:00
f3aa2fde53
Fixed compile error
2013-06-25 17:22:45 +00:00
0837eab8f5
Scripts to test (still not working so-well) smart range factor
2013-06-25 17:13:02 +00:00
31a9319fca
Merge branch 'trunk'
2013-06-24 19:30:29 +00:00
bad9373aec
Merge branch 'trunk'
2013-06-24 19:30:24 +00:00
26df712592
Put new unit test global variables into anonymous namespaces. Removed dll export tag from SmartRangeFactor since it is a header-only class.
2013-06-24 19:30:00 +00:00
39910717d6
Picked the winner
2013-06-24 16:25:02 +00:00
34db300802
Fixed n<3 Jacobians
2013-06-24 16:18:48 +00:00
3383e52c5f
Split unit tests....
2013-06-24 16:02:17 +00:00
43fe036c32
Made more efficient by adding errors -> Jacobians back to 1*3, always. This is big savings if a landmark is seen from many poses.
2013-06-24 15:57:03 +00:00
aea4f31096
Fixed Jacobians, optimization works
2013-06-24 15:31:13 +00:00
123657e3d0
Merged from branch 'trunk'
2013-06-24 15:28:16 +00:00
b7dbcefa8b
simplified measurements_ to vector
2013-06-24 12:15:01 +00:00
4b412b0a4b
keys and Jacobians
2013-06-24 12:07:21 +00:00
40bc7070ff
Example in unstable, to use SmartRangeFactor
2013-06-24 12:06:47 +00:00
d041c5b8a8
Split up circle intersection code into three routines that are used in SmartRangeFactor
2013-06-24 08:24:56 +00:00
5f5e481394
AHRS mechanization small efficiency change (in progress)
2013-06-21 00:21:18 +00:00
e7334b89bd
Rebasing...
2013-06-20 17:08:30 +00:00
5ae4f21517
Added missing dll export tags to new functions
2013-06-20 16:05:23 +00:00
456d1b5cf7
Cleanup: moving old serialization function to gtsam_unstable, renaming matlab serializaion test
2013-06-19 17:50:09 +00:00
45b5389f8a
Serialized more classes in gtsam and gtsam_unstable
2013-06-19 17:50:07 +00:00
8f9d5ec2e2
Merge branch 'trunk'
2013-06-17 21:15:57 +00:00
d85c773f7c
Changes in AHRS - flat trim initialization added, some comments by Frank, aidingAvailablitiy function
2013-06-14 21:18:22 +00:00
9e3bfdc4f8
comments only
2013-06-11 14:36:54 +00:00
083e0c849e
Switched to templated version of liquefy() to allow for use with non-default clique types
2013-06-11 14:36:53 +00:00
83a1483e9f
Adding unit tests and a bugfix for liquefying bayes tree function
2013-06-11 14:36:52 +00:00
361682c485
Working on a test for liquefy
2013-06-11 14:36:51 +00:00
d5e721a1d0
Continued work on unordered classes and elimination algorithm
2013-06-06 15:36:11 +00:00
ebcc638ef5
renamed dist to distance (dist still works but now deprecated)
2013-06-05 16:11:36 +00:00
b2d4469cb3
Added missing export tag
2013-06-04 17:34:02 +00:00
1e5f9c742d
Revert "Modified Concurrent Filter to calculate marginals using a "shortcut" that allows constant-time updates during synchronization. Still need to test implementation."
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This reverts commit f24a4f4668006cfe9a3eeb1658b7df03c74490d5.
2013-05-22 00:05:03 +00:00
8e26da7396
Added matlab version of the Concurrent Filtering and Smoothing example
2013-05-21 21:07:45 +00:00
5f371a4e55
Modified Concurrent Filter to calculate marginals using a "shortcut"
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that allows constant-time updates during synchronization. Still need to
test implementation.
2013-05-21 21:07:43 +00:00
16c11c70fb
Fixes to compile on Windows
2013-05-21 17:24:49 +00:00
13d3f1cb6e
Updated Fixed-Lag smoother example
2013-05-21 14:57:40 +00:00
77c2e37a4d
remove unused debug variables
2013-05-21 00:03:05 +00:00
03977ba628
Added wrapping of AHRS
2013-05-20 23:28:38 +00:00
1d9000724d
Moved AHRS to gtsam_unstable
2013-05-20 23:16:44 +00:00
1c5061cf3c
Added optional flag to ConcurrentBatchFilter to control relinearization
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during syncs.
2013-05-17 08:06:06 +00:00
d4ec018d0f
Added constructors to Point2Vector
2013-05-13 20:48:09 +00:00
50866b9a0e
Partial fix for compiling statically on Windows
2013-05-13 18:04:36 +00:00
7d03d3c502
Moved pre-sync code to the update() call for the cuncurrent smoother
2013-05-09 18:59:22 +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
7ad3de6bc0
documentation
2013-05-08 20:10:49 +00:00
32b3eebf07
removed redundant shared_ptr typedefs in Cal3_S2 and Cal3_S2Stereo
2013-05-08 19:21:00 +00:00
9e39df6e88
Added PriorFactor and BetweenFactor with optional sensor pose
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transformations. Ideally these should simply be the PriorFactor and
BetweenFactor, but more investigation is needed.
2013-05-08 13:23:56 +00:00
f68e301458
Wrapped Inverse Depth Factor variants
2013-05-08 13:23:39 +00:00
54808f6d44
Added several experimental versions of an Inverse Depth Factor
2013-05-08 13:23:35 +00:00
acd6e629e8
Moved older functions back to gtsam_unstable, cleanup. All tests pass. Rearranged summarization wrap interfaces.
2013-05-08 10:13:57 +00:00
81f63bcc0e
Rearranging summarization, now with unit test in gtsam
2013-05-08 10:11:45 +00:00
36e66b2f0b
Fixed synchronization code in ConcurrentBatchFilter such that an empty graph does not trigger a segfault
2013-05-01 20:54:53 +00:00
444ab957c4
a numerical derivative version for DiscreteEulerPoincare'Factor, but currently disabled.
2013-05-01 17:30:21 +00:00
62f6089119
Updated matlab wrapping for moved factors
2013-04-30 17:50:48 +00:00
a069d24374
Moved PoseRotationPrior, PoseTranslationPrior and ReferenceFrameFactor to gtsam.slam
2013-04-30 17:50:47 +00:00
84ababc653
wrap SimpleHelicopter factors and fix a bug in noisemodel dimension
2013-04-30 17:21:42 +00:00
26c63ec122
increase tolerance in TEST( testPoseRTV, Lie )
2013-04-29 23:35:08 +00:00
e4a9c398c8
Factor for Discrete Euler Poincare' equation in SE3 for Simple Helicopter dynamics with correct dertivatives
2013-04-29 17:21:13 +00:00
224be276e4
Added a new summarization convenience function and cleaned up documentation
2013-04-26 18:27:22 +00:00
2b7d173c22
Added include path for generated headers when wrapping
2013-04-25 18:24:41 +00:00
009012005e
Removed VariableIndex from the class members as it was often left in an inconsistent state
2013-04-25 18:12:05 +00:00
1e1dfdd808
Updated BatchFixedLagSmoother to use the latest version of optimization and marginalization code
2013-04-25 18:10:21 +00:00
eeef9eab32
Generating config.h file in CMake with quaternion mode flag, dataset paths. Also added CMake option to use system-installed Eigen, which works by generating a global eigen include file containing the corresponding include paths.
2013-04-25 15:57:15 +00:00
5f3238634d
Added missing GTSAM_UNSTABLE_EXPORT tag
2013-04-25 15:57:06 +00:00
38af960c53
removed commented line
2013-04-24 17:34:49 +00:00
1c17065376
Removed unnecessary templated traits from partial pose priors - now uses rotationInterval and translationInterval
2013-04-24 17:34:48 +00:00
124a38f72d
Made unit test local vars/functions in anonymous namespace
2013-04-22 17:44:09 +00:00
cde44b2952
Finally finish implementing the Reconstruction factor for updating the poses of holonomic vehicles using discrete variational integrators (eq. 10 in [Kobilarov09siggraph]). Also, better approximation for the derivative of the inverse expmap wrt the lie algebra in Pose3. Test with numericalderivative.
2013-04-22 08:34:40 +00:00
c1f14d60be
Purged unused code
2013-04-19 12:16:18 +00:00
201ca3da9e
Removed debug print statement
2013-04-19 12:16:04 +00:00
3eade960b8
Fixed bugs in marginal generation. It is possible that the marginalization will be "perfect", resulting in no marginal factor. However, a factor was being created anyway.
2013-04-19 12:13:43 +00:00
541d416c84
comment for VelocityConstraint3::evaluateError
2013-04-17 21:25:15 +00:00
494885bf1d
factors for the pendulum discrete mechanics in position-momentum form to use with variational integrator
2013-04-16 19:07:59 +00:00
37d244e49b
fix bug in PendulumFactor2's jacobian
2013-04-16 02:17:19 +00:00
6a139bd0f8
Factors for the simple Pendulum dynamics for being used with explicit/implicit/sympletic Euler integrators as in [Stern06siggraph]
2013-04-15 21:31:47 +00:00
c2fb82b935
Added matlab wrapping for Fixed-Lag Smoothers and Concurrent Filters and Smoothers
2013-04-15 19:54:46 +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
f3007f5013
Moved the pre-sync code back into the presync() function call. This allows the Filter and Smoother to synchronize properly even when no call to smoother.update() has been made.
2013-04-12 13:05:20 +00:00
34d7742d95
Added first version of a Concurrent Filtering and Smoothing example
2013-04-12 12:53:34 +00:00
03db2b7e55
Modified comments
2013-04-12 12:53:05 +00:00
460a428c97
Provided default parameters for concurrent batch filter and smoother constructors
2013-04-12 12:52:29 +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
321de2f701
Removed debugging check from IncrementalFixedLagSmoother and added work around for tree reordering
2013-04-11 20:55:55 +00:00
c902908115
Added 'examples' folder to gtsam_unstable
2013-04-11 20:47:25 +00:00
95e97c2dfc
Changed the default 'enforceConsistency' flag to true in the Batch Fixed-Lag Smoother to match the incremental version
2013-04-11 20:07:58 +00:00
d44a9e3b75
Removed unused code from Concurrent Batch Filter unit test
2013-04-11 19:16:52 +00:00
f963aeb401
Completed rewrite of synchronization functions for the Concurrent Batch Filter
2013-04-11 19:16:15 +00:00
04d595dec1
Started re-implementing the synchronization functions for the Concurrent Filter
2013-04-11 12:43:42 +00:00
634a4c5ef9
Updated Concurrent Smoother for changes in the base class synchronization
2013-04-11 12:42:45 +00:00
0a459549f8
Updated synchronization interface to require the smoother and filter to track their own separator keys and values
2013-04-11 12:42:09 +00:00
08e6d8860b
wrap VelocityConstraint3
2013-04-11 12:07:42 +00:00
72325d673d
simple 3-way factor velocity constraint with LieScalar
2013-04-10 22:02:21 +00:00
1952337e23
Removed unused code from Concurrent Batch Smoother
2013-04-10 21:08:52 +00:00
dce575cb73
Refactored synchronization code for Concurrent Batch Smoother
2013-04-10 15:22:28 +00:00
e4b452473e
Removed variable index from equal test in ConcurrentBatchFilter
2013-04-10 15:21:50 +00:00
5cd020080b
Added marginalization code and unit tests to ConcurrentBatchFilter
2013-04-10 12:47:55 +00:00
ed560aa13a
Updated unit tests for changes in the Concurrent Filtering and Smoothing classes. Currently the synchronization tests are disabled.
2013-04-09 21:48:48 +00:00
0b5c07e543
Starting to clean up and refactor the Concurrent Filtering and Smoothing classes. Currently the synchronization is disables, as is the marginalization in the filter.
2013-04-09 21:24:05 +00:00
35cebaa873
Moved inertial nav factors and unit tests to gtsam/navigation
2013-04-09 20:04:10 +00:00
b68fee7b00
Fixed bug in hessian_equal in testConcurrentBatchFilter
2013-04-09 19:53:59 +00:00
ed90b00edf
Updated ConcurrentBatchSmoother to use LinearContainerFactors
2013-04-09 15:48:53 +00:00
4f064be4fa
Updated synchronization code for CConcurrent Filter
2013-04-09 15:39:24 +00:00
244ea20f9c
Clean-up.
2013-04-08 22:49:55 +00:00
4c6a460fa0
Fixed bugs in tic-toc statements for Concurrent Filter and Smoother
2013-04-08 17:42:26 +00:00
7c362b2cbd
Loosened unit test thresholds slightly to account for roundoff error on some systems
2013-04-05 19:12:46 +00:00
dd18366a2f
Loosened unit test thresholds slightly to account for roundoff error on some systems
2013-04-05 19:09:51 +00:00
b9820550e2
Added DLL export tags to new code
2013-04-05 19:06:28 +00:00
67e36febf2
Added DLL export annotations on new code
2013-04-01 19:29:53 +00:00
f773a34834
Renamed experimentalMarginalizeLeaves to marginalizeLeaves and added comment
2013-03-26 20:46:08 +00:00
233c8aa7bb
Moved summarization functions
2013-03-23 20:19:43 +00:00
f45c5c5f44
Actually installing headers from unstable/linear
2013-03-23 20:19:42 +00:00
a2bc0f8ae5
Fixing wrapped typedefs
2013-03-23 20:19:40 +00:00
045072746d
Cleaning up extraneous namespace references
2013-03-23 20:19:39 +00:00
da334ed8a2
Added linear tools (including summarization) from MastSLAM
2013-03-23 20:19:36 +00:00
a0b55c3ff7
Moved additional wrap definitions
2013-03-23 20:19:32 +00:00
3c2e037b16
Moved geometry components from MastSLAM for Pose3Upright, BearingS2, SimWall2D and SimPolygon2D
2013-03-23 20:19:30 +00:00
458707ed45
Small changes for Qualifier 2013 Scheduling
2013-03-19 18:05:13 +00:00
396732ff6a
Only call iSAM2 marginalize function if there are actually keys to marginalizae out
2013-03-18 22:28:14 +00:00
9e1a07fcec
Added debugging function to IncrementalFixedLagSmoother
2013-03-18 21:39:07 +00:00
f03be70770
Updated iSAM2 Marginalize call for the latest version of GTSAM
2013-03-18 21:32:43 +00:00
a54d177202
Added dll export tags and updated cmake scripts so that GTSAM can build as a shared library on windows
2013-03-13 18:56:21 +00:00
6111c099ab
Improved build of shared vs static GTSAM libraries - now possible to build either one or both, executables link to the shared if it is being build, or otherwise to the static. Also removed separate shared/static CMake flags for gtsam_unstable, now uses the same GTSAM_BUILD_SHARED and GTSAM_BUILD_STATIC as gtsam.
2013-03-13 18:17:39 +00:00
eacbaeb84d
Updated incremental version of the fixed lag smoother to use the in-development iSAM2 marginalize functionality
2013-03-05 20:54:00 +00:00
60d3ba2d0e
Added and incremental fixed-lag smoother using new iSAM2 marginalization functionality, and created a common base class for all fixed-lag smoother implementations.
2013-02-27 20:23:47 +00:00
2b27c14dac
Fixed compile errors on windows
2013-02-24 19:09:52 +00:00
6fef6cf7d5
Added Fixed Lag Smoother and Concurrent Filtering and Smoothing to gtsam_unstable
2013-02-19 21:37:17 +00:00
bc16edd2ac
Added Equivalent IMU factor to gtsam_unstable
2013-02-19 21:24:44 +00:00
8fc5ab527d
Comments only - appear to be unnecessary variables?
2013-02-14 20:42:14 +00:00
542d396d3b
Missing qualifying namespace on sqrt in InertialNavFactor_GlobalVelocity.h
2013-02-05 21:52:51 +00:00
6572400bc3
Improved handling of Boost shared libraries on Windows
2013-02-04 21:28:39 +00:00
4f5b9f2074
added imu factor (global velocity)
2013-01-24 21:01:10 +00:00
880d98e068
Chain test on Cholesky
2012-12-11 19:14:39 +00:00
7851d5553b
Updated MATLAB cholesky scaling experiment
2012-12-11 19:14:36 +00:00
879417cb0d
more documentation and cleanup: missed a file
2012-11-29 18:20:39 +00:00
6b67238dd3
more documentation and cleanup
2012-11-29 18:19:28 +00:00
ca16f341f9
Changed badscale to a more reasonable value in Cholesky scaling test
2012-11-26 19:21:13 +00:00
60f29fde15
MATLAB tests for Cholesky scaling and preconditioning
2012-11-23 23:24:58 +00:00
237da8b3a7
Moved LinearContainerFactor to gtsam/nonlinear and removed the now-redundant LinearizedFactor from gtsam_unstable
2012-11-21 19:41:24 +00:00
cba120c96d
LinearContainerFactor now includes ability to "relinearize" when supplied with an original linearization point
2012-11-21 19:02:13 +00:00
00b12c7dc1
Added simple matrix-math eliminate and shortcut functions, and a simple matrix-math test of the feasibility of correcting root shortcut joint marginals.
2012-10-29 15:52:02 +00:00
c3f38349b4
Fixed include paths for matlab modules
2012-10-28 20:48:17 +00:00
f9494679d2
Added optional derivatives to 'inverse' and 'compose' for variable type 'PoseRTV'
2012-10-22 17:31:41 +00:00
89b50e7679
Renamed tic -> gttic and toc -> gttoc to avoid conflict with PCL tic/toc
2012-10-02 20:18:41 +00:00
c44f8f7f80
Fixed examples from timing statement change (missed)
2012-10-02 18:49:48 +00:00
4876cc7ff7
Revamped timing statements - much easier to use, exception-safe (see email to frankcvs list)
2012-10-02 18:36:39 +00:00
4297d24c96
changed tabs to spaces for consistent indentation in all of GTSAM
2012-10-02 14:40:07 +00:00
1985758d35
Updated interfaces and wrapped LinearContainerFactor
2012-09-21 14:19:57 +00:00
0ef12f2f20
Moved in reference frame factor from MastSLAM
2012-09-19 02:23:43 +00:00
f272a07e29
Moved DummyFactor to gtsam_unstable from MastSLAM - allows for adding sufficient connectivity for solvers to operate
2012-09-18 17:48:18 +00:00
49a952d237
more doxygen fixes
2012-09-07 19:12:02 +00:00
9e960b4589
doxygen fixes
2012-09-07 18:54:12 +00:00
6c2f213091
1. use DSFVector for spanning tree in SubgraphSolver
...
2. move DSFVector from unstable to stable
3. create Dummy.cpp to prevent base_unstable degenerate
2012-09-05 15:03:35 +00:00
d3b5c463ed
Fixed initialization bug
2012-09-03 17:22:09 +00:00
d8e0a95890
Small bug-fixes for managing linearization points
2012-09-03 03:06:08 +00:00
891fb2e038
comments only
2012-09-03 00:50:24 +00:00
2285b14c5f
Alternate matrix operation
2012-09-03 00:39:02 +00:00
878c79f265
Reworked PoseRotationPrior with better tests and no dependence on PartialPriorFactor
2012-08-27 16:51:52 +00:00
6b14e652ff
Fixed bug in equality check
2012-08-27 01:40:11 +00:00
12290dc7b2
Added linearization points to LinearContainerFactor. Fixed bug with localCoordinates() in Values
2012-08-27 01:11:37 +00:00
f9c3af7e3d
Fixed bug in key assignment
2012-08-26 04:16:47 +00:00
c60fc3ca2a
Relegated the PartialPriorFactor to gtsam_unstable
2012-08-24 21:39:56 +00:00
519ad72139
Made explicit instantiations in header file inline to avoid duplicate definition
2012-08-22 22:40:39 +00:00
9962a66e7c
Added utility functions for converting graphs with LinearContainerFactors, added direct order() to avoid the need to fake linearize.
2012-08-21 18:48:04 +00:00
bac1faa68e
Added ordering-less negate()
2012-08-20 18:28:19 +00:00
0aa72c986e
wrapped RelativeElevationFactor
2012-08-20 14:25:10 +00:00
e488871ffd
Fixed compile problem in toolbox for PoseTranslationPrior. Added planar tests.
2012-08-20 14:25:09 +00:00
3794c2a7b7
Reworked PoseTranslationPrior so that it actually works now
2012-08-20 14:25:07 +00:00
4fb9f3b39e
Moved RelativeElevationFactor from MastSLAM
2012-08-20 14:25:04 +00:00
83a853f6f1
Removed use of EasyFactorGraph
2012-08-04 19:48:52 +00:00
6f0c0fc7c5
Merged from branch 'trunk'
2012-08-03 21:09:59 +00:00
84924ad663
Removed remaining reference to slam namespace headers
2012-08-03 21:02:39 +00:00
d93aac12d0
Fixed ambiguous sqrt/atan errors
2012-08-03 21:02:37 +00:00
711b28ae01
Merge remote-tracking branch 'svn/trunk' into remove_slam_namespaces
...
Conflicts:
matlab/examples/Pose2SLAMExample_graph.m
2012-08-03 21:02:27 +00:00
73d64d04a8
Removed unused make targets, changed wrap structure for PosePartialPriors
2012-08-03 19:49:26 +00:00
b211c1070d
Rearranged the inverse depth factor/camera, created a gtsam_unstable/geometry folder - run cmake to find the new/moved files
2012-08-02 20:47:16 +00:00
4c836c6e3a
Wrapped Pose[Translation|Rotation]Factor
2012-08-02 19:57:10 +00:00
93d9023a61
added InverseDepth factor based on Montiel/Civera's paramaterization. MOntiel06rss, Civera08tro
2012-08-02 19:27:36 +00:00
e2e780de4d
Removed SLAM namespaces from testLinearizedFactor
2012-07-23 22:51:18 +00:00
46b2971e45
Removed imu dynamics example slam namespace
2012-07-22 18:49:07 +00:00
4b772b43cf
Simplified include handling in wrap: no more default includes, includes are not associated with a class or a namespace.
2012-07-17 18:30:02 +00:00
e9f710a1ac
More flexible handling of includes in wrap - can now use multiple includes both at the namespace and class levels, and namespace includes do not override the default class-name includes of their enclosed classes.
2012-07-17 15:51:35 +00:00
e4f74354ca
Wrapped factors in gtsam_unstable and updated PoseRTV
2012-07-13 21:55:05 +00:00
6c9608752e
Small cleanups / fixes in handling of compile options
2012-07-13 21:55:00 +00:00
191d73df0b
Simplified matlab wrapper cmake options
2012-07-13 21:54:52 +00:00
e337ab8b1d
Merge branch 'master' into wrap_mods_local
2012-07-10 18:36:21 +00:00
da5c924d58
Merged from branch 'trunk'
2012-07-06 18:37:55 +00:00
1abf81052f
Removed unused test file - linear containers to appear in MastSLAM
2012-07-06 14:48:25 +00:00
ce4968d498
Wrap cmake options to more easily link with additional libraries
2012-07-05 14:04:55 +00:00
14c384c0dd
wrap flags for gtsam_unstable
2012-07-05 14:04:53 +00:00
dellaert
Luca
Sungtae An
Paul Furgale
cbeall3
Jing Dong
Vadim Indelman
Stephen Camp
Vadim Indelman
Richard Roberts
djensen3
Andrew Melim
vindelman3
Frank Dellaert
Luca Carlone
Jing Dong
Chris Beall
Pablo Fernandez Alcantarilla
Zsolt Kira
Duy-Nguyen Ta
Alex Cunningham
Vadim Indelman
Stephen Williams
Kyel Ok
Yong-Dian Jian