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5674 Commits (c2069a26cdebdef1be8bec19584f18832991b64a)

Author SHA1 Message Date
dellaert e321ac60c0 Merge branch 'feature/LM/triangulation' 2014-03-02 18:20:47 -05:00
dellaert b1013163e7 Switched to TriangulationFactors: huge improvement 2014-03-02 15:51:02 -05:00
dellaert 5c466a7914 Moved to header file 2014-03-02 15:36:29 -05:00
dellaert a7f98a8316 Drastically simplified by passing cameras 2014-03-02 15:33:56 -05:00
dellaert f3ee25f1a8 TriangulationFactor, first version 2014-03-02 14:56:50 -05:00
dellaert dfee108e53 Some more refactoring 2014-03-02 13:49:42 -05:00
dellaert bf779af3d1 added twoPoses test 2014-03-02 13:44:18 -05:00
dellaert 7b93cd207c fixed header bloat 2014-03-02 13:34:43 -05:00
dellaert 68401cf216 removed Cheirality testing in that GTSAM mode 2014-03-02 13:16:36 -05:00
dellaert ba6f857663 Removed some copy/paste 2014-03-02 13:02:21 -05:00
dellaert 744d9f7c1c Cherry-picked Richard commit: Removed use of boost::range 'join' - replaced with a special flag to add one dimension in VerticalBlockMatrix and SymmetricBlockMatrix 2014-03-02 00:07:12 -05:00
Richard Roberts bf1f5037d0 Fixed warning 2014-03-01 20:41:05 -05:00
dellaert 15a69fa1ca Maybe this does not make a difference, and it's a bit ugly, but I was thinking this change would allow the methods in question to be more readily inlined by the compiler. 2014-03-01 19:26:58 -05:00
dellaert 98ae00f1ef Avoid malloc in common case? 2014-03-01 19:24:51 -05:00
dellaert fd376a5247 Avoid millions of mallocs when using Unit noise model 2014-03-01 18:10:21 -05:00
dellaert e4edaf359c Avoiding mallocs and working with fixed blocks where possible, makes a pretty noticeable difference in the inner linearize loop 2014-03-01 18:04:43 -05:00
hchiu 6b215ea8d9 Use reuse_diagonal_ with step policy to save computation time (same as Ceres). 2014-02-28 20:45:09 -05:00
hchiu 037ed7b931 Speed Optimization: Move sqrt computation to hessianDiagonal storation as Luca suggested. Got same values in unit tests (TestNonlinearOptimizer). 2014-02-28 18:09:10 -05:00
Richard Roberts 87c2f8a7ff Fixed a mismatched tic/toc and added a couple needed function entry tics 2014-02-28 17:36:07 -05:00
Luca e127f07336 fixed iteration counter 2014-02-26 14:36:51 -05:00
Luca a90c5797e0 lower bound on lambda in the right place 2014-02-26 12:56:41 -05:00
dellaert c3f0bf4949 Fixed localCoordinates bug in all three Calibration objects. 2014-02-26 10:30:34 -05:00
Frank Dellaert 2ea8b8243e Merged in feature/CalibrationLocalCoordinates (pull request #10) 
Fixed localCoordinates bug in all three Calibration objects.
 2014-02-26 10:23:42 -05:00
dellaert 3c0e1d0610 Fixed localCoordinates bug in all three Calibration objects. 2014-02-25 21:29:38 -05:00
Luca 49a1b7abca partially fixed unit test on LM 2014-02-25 21:09:05 -05:00
Luca 6217a0b6c4 fixed LM policy, using CERES 2014-02-25 21:02:30 -05:00
Richard Roberts 42d5399b44 Added a flag for installing GeographicLib, and logic for using the built-in or installed GeographicLib, and disabling relevant unit tests in case GeographicLib is unavailable. 2014-02-25 15:46:25 -05:00
Luca 6962072301 moved Jacobians on SO3 to Rot3 2014-02-24 14:00:14 -05:00
Luca 87687ff887 added simplest BAL file 2014-02-24 13:07:53 -05:00
Richard Roberts 1077a4b456 Merged in feature/partition (pull request #9) 
Partitioning code from TSAM
 2014-02-24 12:01:07 -05:00
Richard Roberts 7cd30a46e7 Merge branch 'origin/develop' 2014-02-24 11:58:39 -05:00
Richard Roberts 7105c31e5f Fixed strange cmake error/incompatibility in GeographicLib. 2014-02-24 11:58:06 -05:00
Andrew Melim e9eb706786 Fix conflict 2014-02-24 11:37:43 -05:00
Richard Roberts 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
cbeall3 3e0904e250 remove unneeded/wasteful loop 2014-02-23 23:12:25 -05:00
Richard Roberts 687d05405a Disabled GeographicLib unit tests and tools 2014-02-23 19:07:56 -05:00
Richard Roberts 1770f44ad9 Fixed a number of clang warnings 2014-02-23 18:53:48 -05:00
Richard Roberts fdd891c7c9 Fixed left-over "ordered" test factor in testExtendedKalmanFilter.cpp 2014-02-23 18:52:57 -05:00
Richard Roberts 4c5cb4d8ec Removed some unused code that was causing warnings 2014-02-23 18:51:48 -05:00
Richard Roberts 485b3b475a Fixed a typo that disabled the testTriangulation tests. 2014-02-23 18:50:58 -05:00
Andrew Melim efcf58161c Spelling correction for adjacency, correct unused var warnings and unsigned vs signed int comparision warnings 2014-02-23 17:55:18 -05:00
Andrew Melim adeac28527 Graph reduction unit test pass 2014-02-23 17:47:39 -05:00
Andrew Melim 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
Andrew Melim 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
Richard Roberts ac186a0ae4 Merge branch 'release/2.4.0' 2014-02-23 16:05:38 -05:00
Richard Roberts ec930cb796 Disabled GeographicLib examples 2014-02-23 16:05:26 -05:00
Richard Roberts 6a0f2e9b88 Merge branch 'origin/release/2.4.0' 
Conflicts:
	.cproject
	gtsam/geometry/Rot3.cpp
	gtsam/geometry/Unit3.cpp
	gtsam/geometry/Unit3.h
	gtsam/geometry/tests/testEssentialMatrix.cpp
	gtsam/geometry/tests/testSphere2.cpp
	gtsam/navigation/CMakeLists.txt
 2014-02-23 15:52:28 -05:00
Richard Roberts bf7f58112c Merge branch 'feature/isam2-cleaner-solve' 2014-02-22 20:24:17 -05:00
Richard Roberts 9f0959feac Merge branch 'develop' 2014-02-22 20:23:50 -05:00
Richard Roberts 2fd9401558 Added dogleg mode switch in SolverComparer 2014-02-22 17:14:20 -05:00