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667 Commits (c20b588fe078d34ddd05a469be64ceedfabf3372)

Author SHA1 Message Date
dellaert b89f65cccc BinaryExpression 2014-09-21 17:37:09 +02:00
dellaert 59b0e6a657 Progress on error 2014-09-21 17:13:25 +02:00
dellaert d9fafc1bf1 No more base class 2014-09-21 16:48:24 +02:00
dellaert 7a64e2e546 Class hierarchy 2014-09-21 16:30:30 +02:00
dellaert 6532966f62 Call JacobianFactor constructor with map 2014-09-21 13:11:55 +02:00
dellaert c7b6a9af12 Now use old-style factor to create expected value and derivatives 2014-09-21 05:33:53 -04:00
dellaert a76c27d074 Now just linearize 2014-09-18 18:33:11 -04:00
dellaert b19132e004 First version of test, with vector of Matrices 2014-09-18 17:10:39 -05:00
Jing Dong be68cc0047 add given marginals to update_noiseModel to improve speed 2014-09-15 03:03:25 -04:00
Jing Dong 1a7653730c fix headers for TransBtwRobotFactorEM 2014-09-13 18:12:28 -04:00
Vadim Indelman 6b890cec0e added updateNoiseModels functionality 2014-09-10 00:24:32 +03:00
Chris Beall 2634b2e890 Finish concurrent-calibration 2014-08-12 16:00:20 -04:00
Chris Beall 50c8313233 Rename TransformProjectionFactor to ProjectionFactorPPP 2014-08-12 15:55:28 -04:00
Chris Beall 2c3f6e563d Renamed TransformCalProjectionFactor to ProjectionFactorPPPC to follow new naming convention 2014-08-12 15:29:05 -04:00
Vadim Indelman bcab483574 Changed norm to determinant. 2014-08-01 21:51:52 +03:00
Vadim Indelman 89410fe1ee added updateNoiseModels_givenCovs to BetweenFactorEM. 2014-08-01 21:11:19 +03:00
cbeall3 bc982293ab New unit tests for quaternary pose+transform+landmark+calibration factor 2014-07-29 21:55:14 -04:00
Jing Dong b5b1bbfba0 improve TransBtwRobotEM factor's preformance by removing redundant unwhitenedError calc 2014-07-18 17:11:21 -04:00
Jing Dong e06c2cfacc change few function parameters to const reference to improve preformance of TransformBtwRobot factors 2014-07-18 15:59:14 -04:00
cbeall3 f4dc6a3a95 Fix metis linking in tests 2014-07-16 14:45:12 -04:00
cbeall3 f261a6ddbc Merge remote-tracking branch 'origin/develop' into feature/concurrent-calibration 2014-07-02 15:49:47 -04:00
cbeall3 8bc87e8f4f Transform + Calibration examples and factor 2014-07-01 16:33:23 -04:00
cbeall3 5b2f4a2c3a Move Transform factors to unstable 2014-07-01 16:03:35 -04:00
Vadim Indelman 991906181b Updating EM factor (to accout for uncertainty in states) 2014-06-30 20:43:25 +03:00
Richard Roberts 946cc5338a Merge branch 'develop' into feature/timing_scripts_build 
Conflicts:
	gtsam_unstable/CMakeLists.txt
 2014-06-21 08:55:49 -07:00
cbeall3 7485a8f2d5 Merge remote-tracking branch 'origin/develop' into feature/concurrent-calibration 2014-06-20 13:48:26 -04:00
cbeall3 3bacdbbec5 Move Smart Projection Factor wrapper to stable 2014-06-20 13:41:51 -04:00
cbeall3 a34dff1397 Merge remote-tracking branch 'origin/feature/new_imu_factors' into develop 2014-06-20 13:32:34 -04:00
cbeall3 67e0e71802 First script to experiment with Concurrent calibration estimation 2014-06-13 12:17:45 -04:00
cbeall3 9f796565d0 print optimization errors for now 2014-06-12 16:24:03 -04:00
cbeall3 8bee2cd70f Fixed unstable examples never getting built 2014-06-12 14:40:24 -04:00
Richard Roberts 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
Richard Roberts 2591f7dca2 Fixed missing gtsam_unstable/partition tests 2014-06-07 19:01:13 -07:00
cbeall3 87f5818776 Move smart projection factor 2014-05-31 15:33:19 -04:00
cbeall3 41de41deec minor cleanup 2014-05-30 19:37:03 -04:00
cbeall3 a7a209ce0c Minor fixes and documentation cleanup 2014-05-30 13:31:35 -04:00
cbeall3 625b7b0743 Monocular Smart Projection factor example based on stereo data 2014-05-30 11:58:07 -04:00
Luca 386ed2e510 Merge branch 'develop' 
Conflicts:
	gtsam_unstable/slam/SmartFactorBase.h
 2014-05-28 18:11:39 -04:00
cbeall3 2699605943 Fix return type mismatch 2014-05-28 11:31:17 -04:00
Luca 8806c15b36 fixed possible connectivity issue when smart factors are degenerate 2014-05-23 17:49:42 -04:00
Luca c2705902cb added dynamic outlier rejection (with unit tests) for smart pose factors 2014-05-22 22:32:12 -04:00
Luca e0500f7b18 added and renamed unit tests 2014-05-22 21:28:00 -04:00
Luca 4f91f94d1e included possibility to linearize to Jacobian for smart Pose factors 2014-05-22 21:27:46 -04:00
djensen3 b83a996731 Fixed SmartProjectionPoseFactor matlab wrapping 2014-05-13 17:04:16 -04:00
Chris Beall 1062e41de3 shut up some warnings on Windows 2014-05-06 22:57:26 -04:00
cbeall3 842554a230 Unit test fixes for quaternion mode and also rotation matrix + full expmap mode. 2014-05-06 20:03:45 -04:00
cbeall3 0450c58d66 silence warning 2014-05-06 12:06:07 -04:00
dellaert 9373711a85 Finish TSAMFactors 2014-05-06 01:34:56 -04:00
cbeall3 2f180d1d02 Remove using namespace std from header files 2014-05-05 16:35:22 -04:00
dellaert 0a2385711b MATLAB wrapping of TSAMFactors 2014-05-05 10:14:56 -04:00
dellaert 05c1e572b6 Moved TSAMFactors.h from tsam to gtsam 2014-05-05 10:14:36 -04:00
Luca 5c420f1aec added references 2014-05-04 18:16:40 -04:00
dellaert 92c9e9c0aa Fixed "unused" warnings 2014-05-03 12:23:49 -04:00
dellaert 1ed07ca4ed Moved to unstable 2014-05-03 12:23:20 -04:00
djensen3 5402f9fa20 Removed smartProjectionPoseFactor from matlab wrapper; it was causing matlab crashes 2014-05-02 11:12:10 -04:00
djensen3 8dbd7c175c added SmartProjectionFactor to matlab wrapper 2014-05-01 15:55:37 -04:00
djensen3 ce13807d10 added script to run and save tests in a simplified way 2014-05-01 12:56:24 -04:00
Luca 32e1a8f994 tried some changes for wrapping 2014-05-01 10:48:54 -04:00
djensen3 2cb448fa24 adding SmartProjectionPoseFactor to wrapper 2014-04-30 16:17:32 -04:00
Luca 185c572b5a removed wrong base class 2014-04-24 11:28:41 -04:00
Luca 8c657f8857 slight change in implementation of hessianBlockDiagonal 2014-04-23 19:00:15 -04:00
Luca d9e93f316a error computation now does not include noise model 2014-04-23 18:43:14 -04:00
Luca 2b52bad569 optimized point damping 2014-04-23 15:15:48 -04:00
Luca e56666e85c fixed print function 2014-04-23 14:53:01 -04:00
Luca 37b750411f added gradientAtZero with raw memory access 2014-04-22 18:38:12 -04:00
Luca dd780e356c fixed computation of linearized error in implicit schur factors 2014-04-21 18:59:33 -04:00
Luca e232b6085b wrapping smart factors 2014-04-15 11:06:38 -04:00
Luca bd218feada Merge branch 'develop' 2014-04-15 10:57:20 -04:00
Luca f63db8859b addind wrapper for smart factors 2014-04-15 10:56:17 -04:00
Luca 926b4c6443 removed temporary variables - minor 2014-04-14 11:41:55 -04:00
Luca 6ef11bb297 removed debug statements 2014-04-09 21:14:38 -04:00
Luca 4bdefc3f70 removed debug bloks 2014-04-09 21:04:52 -04:00
Luca dc7b5d58c0 implemented efficient update of Hessian matrix via Schur complement 2014-04-09 21:01:03 -04:00
Luca 4123053c81 progress on grouping - still seg faults 2014-04-08 18:55:42 -04:00
Luca 2908197f1a Merge branch 'develop' 2014-04-06 14:35:32 -04:00
Luca 310fce3be9 last updates from smartFactors project (these files are now removed from that project) 2014-04-06 14:25:46 -04:00
Andrew Melim e98b90bd2a Make building of metis/partition optional via cmake flag 2014-04-04 15:49:04 -04:00
jing 02fc860d9e add smartfactor base classes, smartProjectionPoseFactor, and its unit test to gtsam_unstable 2014-03-27 13:14:13 -04:00
cbeall3 178b7f29da clang warnings 2014-03-17 21:56:50 -04:00
Andrew Melim 9ffc928536 Correct signed vs unsigned comparison warnings 2014-03-17 12:07:54 -04:00
Andrew Melim 719592258b Remove unused variable 2014-03-17 12:04:40 -04:00
dellaert 68297dedb5 Removed unused variable 2014-03-16 16:36:07 -04:00
Luca 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
dellaert 9007d1ca72 Copy constructor and return const & 2014-03-06 21:07:54 -05:00
dellaert 691e9884d7 Const correctness, comments, and templated Eigen blocks (esp. important in integrate) 2014-03-06 21:05:11 -05:00
dellaert f5ce1d865e A custom linearize for speed 2014-03-04 02:50:28 -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
Richard Roberts bf1f5037d0 Fixed warning 2014-03-01 20:41:05 -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 1770f44ad9 Fixed a number of clang warnings 2014-02-23 18:53:48 -05:00