113b9d2e74
Got rid of unnecessary LieVector usage that broke fixed-code
2014-10-22 01:32:59 +02:00
4b3e0dbcc0
Some new targets
2014-10-22 00:40:08 +02:00
06af482d61
Added test for Rot3 - all is good
2014-10-21 23:07:38 +02:00
1eb5e185e5
New numericalDerivatives with traits an Charts - still some segfaults, *and* there should be no need for (a) multiple prototypes to match against c++ pointers, (b) the use of explicit template arguments. A task for someone...
2014-10-21 18:50:52 +02:00
25ad9ade05
Moved AdaptAutoDiff into its own test
2014-10-21 10:42:30 +02:00
b0ea3b715b
fixed unit test for implicitSchur factor: Point covariance was not invertible, causing eigen weirdness
2014-10-20 11:03:53 -04:00
898c06ccbb
New multi-threaded, realistic SFM example (1M factors, not 1M calls on same factor)
2014-10-15 11:01:02 +02:00
cf4374563b
Fixed Dynamics Factor and added debug cout statements to help fix indeterminent linear system exception
2014-10-14 18:08:26 -04:00
0a41b0a027
Moved meta-programming tests to testExpressionMeta.cpp
2014-10-14 08:53:16 +02:00
563c4d214c
Renamed BADFactor -> ExpressionFactor
2014-10-09 13:00:56 +02:00
51eab1068f
Time the most common SFM expression
2014-10-06 13:57:37 +02:00
d098efca6f
Restored .cproject file with all targets intact
2014-10-06 10:30:30 +02:00
40565564f5
TernaryExpression is added
2014-10-05 16:09:24 -04:00
c20b588fe0
timing, is pretty bleak for Expressions
2014-10-03 14:19:23 +02:00
d5709facf6
Added Pose2SLAMExample
2014-10-02 20:20:00 +02:00
3f5aa0f23e
Expression version of SFMExample (in progress)
2014-10-01 14:10:54 +02:00
374140abb8
Moved all BAD stuff to nonlinear
2014-09-30 12:34:03 +02:00
1aa7b570f9
Added BADFactor header and created new test
2014-09-30 12:30:15 +02:00
9eed7e10fe
Added testBAD.run target, fixed an issue with getKeys
2014-09-27 14:08:31 +02:00
b19132e004
First version of test, with vector of Matrices
2014-09-18 17:10:39 -05:00
cedabdce81
added first order Gauss Markov model
2014-07-30 18:51:12 -04:00
c298c27793
implemented and unit tested initial version of GPS factor
2014-07-30 14:43:24 -04:00
fc58bf36fb
changed test names
2014-07-28 11:57:42 +02:00
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
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
d8a8d459ae
Moved test and timing targets to their correct locations
2014-06-22 18:51:35 -04:00
96e8dfaf66
Simplified this example a bit
2014-06-22 18:39:11 -04:00
ea0dbf05ef
Name change from k3,k4 to p1,p2 as in OpenCV
2014-06-18 14:36:09 -04:00
a84a9a67d6
moved targets
2014-05-31 18:07:55 -04:00
8fe24183eb
Lago timing
2014-05-31 14:37:29 -04:00
4afb11a2ed
Fixed up examples
2014-05-31 12:51:47 -04:00
8dba25f532
Rationalized some cholesky-related code as I was looking at it.
2014-05-28 10:36:26 -04:00
ededc01ec1
moved target
2014-05-25 13:03:05 -04:00
8806c15b36
fixed possible connectivity issue when smart factors are degenerate
2014-05-23 17:49:42 -04:00
e0500f7b18
added and renamed unit tests
2014-05-22 21:28:00 -04:00
5b717c801f
Moved eclipse targets into tests folder
2014-05-13 21:13:16 -04:00
2649b0fd7a
print variants for KeyList, KeyVector
2014-05-06 13:21:49 -04:00
108357992c
Optimize an incomplete BayesNet
2014-05-06 02:18:52 -04:00
0a2385711b
MATLAB wrapping of TSAMFactors
2014-05-05 10:14:56 -04:00
e65ddf4d87
cleaned up LM with Richard, before merge
2014-03-12 14:24:15 -04:00
fbfa287d4b
added parameters in "print" for LM
2014-02-17 17:43:45 -05:00
e789553261
bug fix: hessianDiagonal seg-faulted with NULL factors
2014-02-15 16:48:15 -05:00
95c13d64dc
Minimal unit test, forgotten by @richardroberts :-)
2014-02-15 12:10:41 -05:00
9af77a9d93
testSymmetricBlockMatrix target
2014-02-15 11:46:58 -05:00
a272264e7d
Added unit test for hessianDiagonal
2014-02-14 01:38:08 -05:00
2ab25b3f65
hessianDiagonal now unit tested for HessianFactor
2014-02-14 01:27:03 -05:00
2a3575fcbc
added measure of fit between original and linearized model in LM
2014-01-27 22:02:02 -05:00
d7dc390130
Particle factor scaffold
2013-12-19 17:14:40 +00:00
da5d9949e8
5 point example now written BAL file and read by test (so Jing can use it in ransac)
2013-12-18 20:39:56 +00:00
51f2ba2c7e
RotateFactor can help calibrate a rig *without* SLAM. Relevant math added to math.lyx
2013-12-18 04:45:34 +00:00
8b9d6b78dc
Optimization on the Essential manifold !
2013-12-17 05:54:29 +00:00
6459053cf9
Unit test for essential matrix with prototype code, and lyx file with derivatives
2013-12-17 05:24:12 +00:00
7e8095c2ee
Revived Sphere2, the S^2 manifold that can be used for directions in 3D space
2013-12-17 01:40:48 +00:00
d95ae93f91
Found and fixed the bug in multiplyHessian ! The storage scheme is evil !
2013-11-01 19:37:24 +00:00
4c47e6fcc4
targets
2013-10-31 20:15:20 +00:00
4591835223
gradientAtZero is now implemented in the fcators (Richard says, need to work on efficiency)
2013-10-29 03:42:33 +00:00
f2941ce3b5
target
2013-10-27 02:15:29 +00:00
5e29bc5b67
Return set partitions from DFSMap
2013-10-26 22:22:31 +00:00
b80859211c
Timing DSF variants: functional DSF is faster than in-place, but both way slower than DSFMap, which in turn is slower than DSFBase
2013-10-26 20:14:01 +00:00
48dd3cb769
DSF with Map, allows more general types
2013-10-26 17:57:03 +00:00
0dbd016ca9
Cleaned up DSFVector and added pairwise matches example
2013-10-26 15:02:30 +00:00
02da1a439e
Small change with map_values, target
2013-10-25 21:35:38 +00:00
7f9036386c
Targets and comments only
2013-10-25 05:58:32 +00:00
42538c0252
unit tested multiplyHessian in HessianFactor
2013-10-24 23:12:18 +00:00
6f7d4ddb50
added multiplyHessian in HessianFactor (not ready)
2013-10-24 22:22:29 +00:00
f6d4da5d40
cleaned up but for some reason it segfaults in Release, as if not linked with correct dataset code...
2013-10-18 06:04:48 +00:00
c6d0cb4cba
renamed Visual SLAM -> SFM, reserve SLAM for problems where we have odometry
2013-10-18 05:31:55 +00:00
175cc03f11
some targets
2013-10-18 04:29:57 +00:00
85c52668c6
added targets
2013-10-18 01:25:15 +00:00
1f293294fd
Some refactoring in Cal3Bundler
2013-10-12 15:04:26 +00:00
7d0674fe4b
Inlined derivatives in Cal3DS2, gets rid of a lot of duplicated calculations.
2013-10-12 07:07:08 +00:00
71466e8476
Added effing *unit tests* for PinholeCamera. It is pretty terrible that there were none !
2013-10-12 05:15:01 +00:00
0985758cec
Added graphviz example to show how to produce cool graphs from GTSAM
2013-09-06 20:07:40 +00:00
d0cc7fbccc
File with common simulated data.
2013-08-30 04:23:45 +00:00
f4fd43391f
make targets
2013-08-16 19:47:24 +00:00
2d413e05c6
Removed functions largely supersceded by newer bayes tree functionality
2013-08-16 16:32:19 +00:00
0cb6e97803
Added stack function that takes a vector of matrix blocks
2013-08-09 16:24:45 +00:00
2e085ace91
Changes in SmartProjectionFactor
2013-08-05 19:25:08 +00:00
05f883f953
C++ cleanup and dataset switch
2013-06-22 00:49:00 +00:00
f1ee3b353c
C++ Range SLAM example to compare with Boots13icml
2013-06-21 14:13:59 +00:00
cf5a43a6c6
WhiteNoiseFactor was defunct but now compiles and has at least one (simple) test. Shame on whomever moved this to GTSAM for not adding a test.
2013-06-18 04:37:46 +00:00
19f7da62dd
Refactored existing serialization functionality, added exposed interface for serialization
2013-06-12 19:30:20 +00:00
361682c485
Working on a test for liquefy
2013-06-11 14:36:51 +00:00
640fcd94b1
Added stream operator <<
2013-06-05 23:41:46 +00:00
f4ad135040
testVelocityConstraint3.run target
2013-06-05 23:39:42 +00:00
1d9000724d
Moved AHRS to gtsam_unstable
2013-05-20 23:16:44 +00:00
81f63bcc0e
Rearranging summarization, now with unit test in gtsam
2013-05-08 10:11:45 +00:00
26f5f93c60
Added Pose3::align() for labeled correspondences. Fixed depreciated make targets.
2013-04-29 18:06:33 +00:00
da334ed8a2
Added linear tools (including summarization) from MastSLAM
2013-03-23 20:19:36 +00:00
3c2e037b16
Moved geometry components from MastSLAM for Pose3Upright, BearingS2, SimWall2D and SimPolygon2D
2013-03-23 20:19:30 +00:00
38ee915669
Fixed targets
2013-03-19 18:05:59 +00:00
eed9cf1e5c
Fixed permutation function in BayesTree to properly update the nodes listing. Added assertion to removeClique() to fail under malformed bayes trees.
2013-02-18 18:26:36 +00:00
ca4cf782f2
New, better expmap tests (quarter turn, half turn, full turn)
2013-01-03 16:00:25 +00:00
a33bc9c909
After enabling building of timing scripts on make all, there were several tests that don't compile. Broken tests are currently disabled in cmake, in both base and linear subfolders
2012-12-29 02:23:32 +00:00
237da8b3a7
Moved LinearContainerFactor to gtsam/nonlinear and removed the now-redundant LinearizedFactor from gtsam_unstable
2012-11-21 19:41:24 +00:00
b4460850c6
Added tests for error() in linear factors for case when the VectorValues has more values than a factor does. Added subvector() to VectorValues to isolate a particular set of indices for use in HessianFactor::error().
2012-11-21 19:02:09 +00:00
0ef12f2f20
Moved in reference frame factor from MastSLAM
2012-09-19 02:23:43 +00:00
cdf45105c2
Fixed shortcuts after adding several more problematic testcases
2012-09-17 00:29:03 +00:00
db57f1872a
jointBayesNet function avoids conversion to factorgraph (which was converted back to a BayesNet in shortcut calculation)
2012-09-16 16:06:28 +00:00
de66a5cd4a
Added unit test targets
2012-09-16 14:35:59 +00:00
dellaert
Luca
krunalchande
Sungtae An
Frank Dellaert
Andrew Melim
Luca Carlone
Alex Cunningham