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9841 Commits (b6c2ab66642c4b52012e69c4951a782f309ae26d)

Author SHA1 Message Date
Luca b6c2ab6664 Merge branch 'feature/heterogeneousSmartFactorNoise' into feature/improvementsIncrementalFilter 2016-08-16 19:08:31 -04:00
Luca 2a6d372b0a Merge branch 'develop' into feature/heterogeneousSmartFactorNoise 2016-08-16 18:54:18 -04:00
Luca 79844753b8 added another tiny test 2016-08-16 18:53:19 -04:00
Luca 4c07399e3f fixed test according to cheirality flag 2016-08-14 20:29:36 -04:00
Luca 7e3aa7aa9a wrapped throw StereoCheiralityException inside #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION 2016-08-14 20:03:54 -04:00
Luca 7e44a1776e added default string on print 2016-08-14 19:20:38 -04:00
Luca c1b00e28b1 created SmartFactorParams class collecting common parameters in smartProjectionFactor and smartStereoProjectFactor classes. This largely reduced copy-paste. SmartStereoProjectionParams is now a typedef 2016-08-14 18:54:00 -04:00
lcarlone ad984807bf Merge branch 'feature/heterogeneousSmartFactorNoise' into feature/improvementsIncrementalFilter 2016-08-06 23:28:48 -04:00
lcarlone edcf94591d added functions to get/set smart stereo parameters with unit test 2016-08-06 23:27:54 -04:00
Frank Dellaert 0de62ab879 Merged in bugfix/boost_1_60_Compatibility (pull request #273) 
Fixed compile error on BOOST 1_60_0
 2016-08-06 00:46:17 -07:00
= 38fd695228 Fixed compile error on BOOST 1_60_0 2016-08-05 22:34:38 -04:00
lcarlone 359a61a547 added print function to FixedLagSmoother::Result struct 2016-08-05 16:04:54 -04:00
lcarlone fc799abad7 Merge branch 'feature/heterogeneousSmartFactorNoise' into feature/improvementsIncrementalFilter 2016-08-05 00:04:20 -04:00
lcarlone 82014c4311 targets for unit tests 2016-08-05 00:03:24 -04:00
lcarlone fd9bd43cb0 added remove functionality in BatchIncrementalSmoother with test 2016-08-04 23:54:34 -04:00
lcarlone b59a58278b fixed unit test! 2016-08-04 23:38:39 -04:00
lcarlone 4e8968e3f5 starting to add remove functionality in fixedLagSmoothers, test does not pass.. 2016-08-04 18:46:26 -04:00
lcarlone e0869719fa now SmartFactorBase doesn't know about stereoPoint2 (removed also header). The functionality to check if the right pixel is missing has been moved to SmartStereoProjectionFactor, removing the casting. 2016-08-02 22:56:48 -04:00
lcarlone a93c1e86f2 Merge remote-tracking branch 'origin/feature/heterogeneousSmartFactorNoise' into feature/heterogeneousSmartFactorNoise 2016-08-02 18:50:54 -04:00
lcarlone e54159c695 Merge branch 'develop' into feature/heterogeneousSmartFactorNoise 
# Conflicts:
#	gtsam_unstable/slam/SmartStereoProjectionFactor.h
 2016-08-02 18:50:18 -04:00
Frank Dellaert 25bf277cde Merged in fixSmartFactorExample (pull request #270) 
added functionalities to smart factors
 2016-08-02 11:47:24 -07:00
Luca 938454916f improved test, and slightly loosened tolerance when using MKL 2016-07-31 20:10:31 -04:00
Luca 9336c0b8c0 added comment and made variables const when possible 2016-07-31 18:47:30 -04:00
Luca 55ccc66de2 added comment 2016-07-31 18:43:35 -04:00
Luca f009633384 exposed point status in smart factors to keep uniformity with mono smart factors 2016-07-31 18:33:58 -04:00
Luca 6a21f1b730 adapted stereoSmart factors to use "outlier" and "far point" statuses 2016-07-31 18:31:38 -04:00
Luca 0b4927cafe exposed new degeneracy flags in smart factors (they were already exposed in triangulation and only partially exposed in smart factors) 2016-07-31 18:22:49 -04:00
Luca c9e43e7435 bug fix: added check on whether to modify Jacobians, depending on whether they are boost::none or not 2016-07-29 16:40:30 -04:00
Luca 20c13580cc deleted unused variables in unit test 2016-07-29 16:34:18 -04:00
Luca 76353cb10d fixed bug with smart measurement calling .vector(): Point2 does not admit .vector() for some cmake configuration. Using using casting: more elegant now! 2016-07-29 12:14:09 -04:00
lcarlone bb32cadfb0 minor fix 2016-07-28 17:20:34 -04:00
lcarlone 50d6532fe1 the ultimate test: smartStereoFactors generalize smartFactors in that they work in the purely monocular case! 2016-07-27 23:48:58 -04:00
Luca b82af4f5cc got rid of vector() as suggested by Chris 2016-07-26 10:54:07 -04:00
lcarlone a5138bfb46 included body_P_sensor in smartStereoProjectionPoseFactor! 2016-07-25 22:13:25 -04:00
Luca 6c163b0a4d added test which optimize smartStereoFactor with missing measurements (uR) 2016-07-24 19:07:00 -04:00
Luca b90e224f59 added tests for error and triangulation 2016-07-24 18:56:04 -04:00
Luca cd9b4cd5ab moved common definitions to base class 2016-07-24 18:31:55 -04:00
Luca f2bec78a58 first implementation of smartStereo with possibly left-only pixel measurements 2016-07-24 18:27:20 -04:00
Luca 3c15ef5d1e great simplification in stereo triangulation: converting stereo into a set of monocular cameras, then proceed as in the monocular case 2016-07-24 16:11:07 -04:00
Luca 8acc331663 Merge branch 'develop' into fixSmartFactorExample 
# Conflicts:
#	gtsam/geometry/triangulation.h
 2016-07-24 15:07:28 -04:00
Luca 5e9dfdd0b6 deleted example (that I added at some point) since it is identical to SFMExample_SMartFactor 2016-07-24 14:57:59 -04:00
Luca ca18fc2c0a Merge branch 'develop' into fixSmartFactorExample 2016-07-24 14:43:56 -04:00
Luca 4f37edaeb9 added tests to check correct use of landmarkDistanceThreshold and dynamicOutlierRejectionThreshold 2016-07-24 14:42:25 -04:00
Luca 97712b39cc added unit test for get/set triangulation threshold 2016-07-24 14:00:31 -04:00
lcarlone 03fac5cd02 using max reprojection error (rather than average) for outlier rejection during triangulation 2016-07-13 17:04:23 -04:00
Chris Beall 34c6527558 Merged in feature/append_flags (pull request #238) 
Appended flags instead of overwriting
 2016-07-12 13:57:35 -07:00
lcarlone 245e802959 added comment on the function of rankTolerance 2016-06-29 12:34:18 -04:00
lcarlone 66d42a336f adding 2 more status items for triangulation results: outliers (dynamicOutlierRejection triggered) and farPoint (maxLandmarkDistance triggered) 2016-06-29 12:26:21 -04:00
Chris Beall f3fce5cb1c Merged in feature/windows-fixes (pull request #268) 
Windows CMake fix for subdirectories without tests
 2016-06-20 11:32:18 -04:00
Chris Beall 903d29214b Merged develop into feature/windows-fixes 2016-06-20 09:01:36 -04:00