f88c928ca0
refactor QPSolver into its own class
2014-08-06 10:55:22 -04:00
c0e201f06c
Detailed comments for choosing the step size
2014-08-06 10:55:22 -04:00
f00d673646
Detailed comments about the lambda<0 condition for good ineq <=0 constraints, wrt the Lagrangian L = f(x) - lambda*c(x)
2014-08-06 10:55:21 -04:00
9fd78faf4b
first ineq QP test passed!
2014-08-06 10:55:21 -04:00
cb02a95f94
fix bug in weightedPseudoInverse dealing with negative weights of ineq constraints
2014-08-06 10:55:21 -04:00
cb37b025e9
small improvement on negative weights
2014-08-06 10:55:20 -04:00
ba1273ae6b
fix bug in NoiseModel signs for ineq weights. Unittest dual graph
2014-08-06 10:55:20 -04:00
a31e9568a1
QPSolver in progress. Finish building dual graph, but not tested.
...
Use mixed constrained noise with sigma < 0 to denote inequalities.
Working set implements the active set method, turning inactive inequalities
to active one as equality constraints by setting their corresponding sigmas to 0
and vice versa. Dual graph now has to deal with mixed sigmas.
2014-08-06 10:55:20 -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
92b113d173
minor
2014-07-30 19:01:11 -04:00
cedabdce81
added first order Gauss Markov model
2014-07-30 18:51:12 -04:00
001f61ce32
removed size
2014-07-30 15:26:48 -04:00
c298c27793
implemented and unit tested initial version of GPS factor
2014-07-30 14:43:24 -04:00
bc982293ab
New unit tests for quaternary pose+transform+landmark+calibration factor
2014-07-29 21:55:14 -04:00
fc58bf36fb
changed test names
2014-07-28 11:57:42 +02:00
6bf13d914e
documentation and minor cleanup
2014-07-25 17:11:28 -04:00
f848ce882f
print landmark number
2014-07-25 17:11:13 -04:00
5b9954ab11
Simulation for concurrent IMU, camera, IMU-camera transform estimation during flight with known landmarks
2014-07-25 15:44:31 -04:00
1548c8e34e
added comments and fixed warning
2014-07-25 14:13:27 -04:00
fb55e2c17f
print linearization threshold
2014-07-22 22:03:04 -04:00
cbad9aa783
Hessian tests work, too
2014-07-22 22:02:20 -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
bc2e9959fa
Added matlab wrapper for Rot3AttitudeFactor.
...
Added a couple of functions to access data from the class in Matlab
2014-07-18 16:46:58 -04:00
e06c2cfacc
change few function parameters to const reference to improve preformance of TransformBtwRobot factors
2014-07-18 15:59:14 -04:00
52a090d1c1
Working version with between factor and added principal point estimation plot
2014-07-18 11:10:47 -04:00
d85c9986b3
Merge branch 'develop' of https://bitbucket.org/scamp39/gtsam_examplefork into develop
2014-07-16 14:46:16 -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
089ac4e743
Additionally templated JacobianFactorSVD on measurement type, and Jacobian_SVD unit tests now pass for SmartStereoFactor
2014-07-15 14:43:01 -04:00
d68e6b9add
Noisemodel dimension 2->3
2014-07-15 13:09:12 -04:00
48db3fc6c6
remove duplicate test
2014-07-15 13:08:51 -04:00
4c076fca2d
Added SmartStereoProjectionFactor example
2014-07-15 10:14:23 -04:00
bdc3036d90
Added matlab support for AHRSFactor.
2014-07-15 00:14:13 -04:00
4d50156ff1
Actually accelerometer and gravity has no place in the AHRS factor. Basically this factor integrates rotations based on gyroscope data.
...
Removed all of acc and gravity things.
2014-07-14 23:40:30 -04:00
73ec571f4b
Added another test, fixed a bug in the factor w.r.t initializing measurement covariance.
2014-07-14 23:14:02 -04:00
b721a7ce1f
Added tests in testAHRSFactor and corrected AHRSFactor so that it works.
...
added target in .cproject.
Note that not all tests work. In particular the IMUbias jacobian fails because the dimensions of expected and actual are different.
2014-07-12 23:45:46 -04:00
5f3217ccf8
plot condition number
2014-07-11 08:58:45 -04:00
a7ccc27b3e
Merge remote-tracking branch 'origin/develop' into feature/concurrent-calibration
2014-07-11 08:57:01 -04:00
b900828905
Merged gtborg/gtsam into develop
2014-07-10 11:04:07 -04:00
ff30413f23
minor cleanup. First few tests pass now due to making StereoCamera project like PinholeCamera
2014-07-10 08:50:23 -04:00
94ca4463fe
throw when reaching parts of code that need to be fixed
2014-07-10 08:48:37 -04:00
3bfdc12ae4
change landmark initialization to use monocular triangulation (doesn't really make a difference, but probably slower), and extra debug statements
2014-07-10 08:48:01 -04:00
d191b0cebb
space between double angle-brackets
2014-07-10 07:58:56 -04:00
0801246058
revert include path change
2014-07-10 07:57:19 -04:00
fc513e584d
move derivative for calibration to third slot to be consistent with PinholeCamera interface
2014-07-10 07:55:52 -04:00
391a29bcaf
const correctness
2014-07-10 07:51:24 -04:00
thduynguyen
Vadim Indelman
Luca
cbeall3
dellaert
Stephen Camp
Jing Dong
krunalchande