c04ceed07b
Commented out print statements in unit test
2013-08-19 21:04:36 +00:00
697f185aad
Fixed missing print function in Rot3Q
2013-08-19 20:35:44 +00:00
5ead55c8b2
Added version information to config.h
2013-08-19 17:53:03 +00:00
f24496b8a0
Added w20000 dataset and simplified names of w100 and w10000
2013-08-15 20:17:27 +00:00
1ad8591b6a
Added relinSkip option to SolverComparer, trapping/printing exceptions, and changed default batch mode to Cholesky
2013-08-15 20:17:24 +00:00
dac4be44f1
Bug fix in SolverComparer
2013-08-15 20:17:23 +00:00
004ec887a1
Committing correct dataset files for Kitti IMU example
2013-08-13 21:04:01 +00:00
3e2afaf726
Fixed dataset search in IMUKittiExampleGPS
2013-08-13 21:03:58 +00:00
7e1eb5727d
Moved VO and advanced Kitti IMU matlab examples to unstable
2013-08-13 21:03:54 +00:00
4b3021b818
Moved ImuFactor and CombinedImuFactor into main gtsam, and moved InertialNavFactor family into gtsam_unstable.
2013-08-13 21:03:48 +00:00
c0c5abb125
Created branch /branches/2.4 from /trunk:18250
2013-08-12 21:50:33 +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
a518dae06a
Fixed GPS Kitti example, VO works but bad results
2013-08-12 20:45:44 +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
0320baf3f7
Small updates in IMUKittiExampleVO
2013-08-11 22:57:54 +00:00
d46902ea06
Working IMUKitti example with VO only (slow!)
2013-08-11 22:45:58 +00:00
18a72718aa
Reenabled ISAM2 in SolverComparer
2013-08-11 19:29:01 +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
f9de5838f6
Added optional return information to the 'marginalizeLeaves' method of
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iSAM2
2013-08-10 17:16:10 +00:00
485624f8d6
Added access to the set of fixed variables (the variables involved in
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linear marginal factors) from iSAM2
2013-08-10 17:15:56 +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
2f84788c2a
Adjusted sigma
2013-08-09 19:03:38 +00:00
7f5de1c3bc
Added simple Kitti example
2013-08-09 18:50:20 +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
0cb6e97803
Added stack function that takes a vector of matrix blocks
2013-08-09 16:24:45 +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
7b0c559091
Fixed bug in 32 bit version - now calls correct keyformatter
2013-08-09 14:55:26 +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
b0c96f9bf6
unwhitenedError.
2013-08-08 20:14:12 +00:00
27cabb62f1
added unwhitenedError to BetweenFactorEM.
2013-08-08 20:13:39 +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
7c07c70802
Changed Between and Prior Factors and NonLinearEquality back to NoiseModelFactor.
2013-08-08 16:08:35 +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
6959ad5e6f
Fix error when wrapping a library using Rot3 to matlab: "type stored... is N5gtsam4Rot3E but requested type was N5gtsam4Rot3E", because gtsam is linked 2 times: one with the library, one with the mex, and somehow Rot3 is not virtual and exists in both. Moving print implementation to cpp seems to fix this problem.
2013-08-08 08:51:52 +00:00
8cf7b6723f
comment on how to pass this test
2013-08-08 08:46:55 +00:00
1631222a29
fix streaming tests to agree with new print in matlab column vector style
2013-08-08 08:44:00 +00:00
Luca Carlone
Richard Roberts
Zsolt Kira
Vadim Indelman
Chris Beall
Stephen Williams
Alex Cunningham
Duy-Nguyen Ta