Luca
|
c4bd02c3fa
|
split of measurement covariance into diagonal blocks.
|
2014-12-11 19:54:42 -05:00 |
|
Luca
|
d9a7f516ef
|
making test more complicated
|
2014-12-11 19:34:20 -05:00 |
|
Luca
|
dcc028518f
|
added unit test and removed approximation in covariance propagation
|
2014-12-11 15:46:33 -05:00 |
|
Luca
|
3c840e1bf3
|
fixed matlab wrapper
|
2014-12-11 12:23:18 -05:00 |
|
Luca
|
295fd7385a
|
minor renaming
|
2014-12-11 12:20:54 -05:00 |
|
Luca
|
af04b834b9
|
using fixed-size matrix/vector when possible
|
2014-12-11 11:28:43 -05:00 |
|
Luca
|
c4fafd9268
|
added unit test, improved computation
|
2014-12-11 11:06:47 -05:00 |
|
Luca
|
9dbca87c86
|
fixed evaluate error to compy with additive Gaussian noise model. Still to be optimized, but unit tests pass :-)
|
2014-12-10 20:51:26 -05:00 |
|
Luca
|
1dfd9d2ae7
|
cleaned up unit test
|
2014-12-10 16:56:31 -05:00 |
|
Luca
|
36358308fd
|
minor code optimization in ExpmapDerivative
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2014-12-10 16:56:21 -05:00 |
|
Luca
|
b3f0f3877c
|
capitalized ExpmapDerivative and LogmapDerivative
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2014-12-10 16:16:29 -05:00 |
|
Luca
|
57d83be48a
|
matrix definition on same line
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2014-12-09 19:05:14 -05:00 |
|
Luca
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b96a463b10
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ok, fixed updatePreintegratedMeasurements with optionalJacobian
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2014-12-09 18:32:38 -05:00 |
|
Luca
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d809a952df
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started to include optionalJacobian: compiles after merge to develop and all unit tests pass
|
2014-12-09 18:03:54 -05:00 |
|
Luca
|
bf8de1341b
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Merge branch 'develop'
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2014-12-09 17:13:30 -05:00 |
|
Luca
|
e82b815a48
|
renamed right jacobian of expmap and logmap (removed "right", according to Frank's suggestion :-)
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2014-12-09 17:10:04 -05:00 |
|
Luca
|
1e8402231c
|
applied (to some extend) the naming convention proposed by Frank
|
2014-12-09 16:59:30 -05:00 |
|
Luca
|
b593a6a2d5
|
removing redundant lines and using jacobian computation from base class
|
2014-12-09 16:41:29 -05:00 |
|
Luca
|
5f17e1fb98
|
fixed noise propagation. Luca&Christian: insight is that preintegration noise acts on rotations as R * expmap(noise), while before it was expmap( logmap(R) + noise)
|
2014-12-09 16:34:43 -05:00 |
|
Luca
|
013c8a4cef
|
added extra test on covariance propagation
|
2014-12-09 16:05:39 -05:00 |
|
Luca
|
d22868d524
|
removed multiple definitions of trivial matrices (eye,zero)
|
2014-12-09 15:55:24 -05:00 |
|
Luca
|
2c1d72e7d7
|
tested Jacobians computation (G) for combined IMU factor
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2014-12-09 15:50:41 -05:00 |
|
Luca
|
53b59bf488
|
added truth revealing unit test for Combined Imu factor (and fixed latest changes, that, moving updatePreintegratedMeasurements before, were creating a bug)
|
2014-12-09 15:17:26 -05:00 |
Frank Dellaert
|
2d231edd1b
|
Merged in fix/windowsExpressions (pull request #69)
Windows Fixes
|
2014-12-09 19:06:02 +01:00 |
Andrew Melim
|
1e778cf77b
|
No longer need to cast function pointers for expressions on Windows, with Optional Jacobian
|
2014-12-09 11:53:35 -05:00 |
|
Andrew Melim
|
137ea64200
|
Updating with OptionalJacobian
|
2014-12-09 11:49:47 -05:00 |
|
Andrew Melim
|
90676199dd
|
Adding comment relating to issue and move around fix preprocessor locations
|
2014-12-09 11:49:13 -05:00 |
|
Andrew Melim
|
3bd491bf66
|
Merge branch 'develop' into fix/windowsExpressions
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2014-12-09 11:04:30 -05:00 |
|
Andrew Melim
|
cea76a2848
|
More template handholding for windows
|
2014-12-08 21:48:59 -05:00 |
|
Andrew Melim
|
701dcc1c99
|
Correcting VLA issue, and add template specification for between Pose2 objects. More template specifcations will be needed on windows, unless another fix is found
|
2014-12-08 21:39:12 -05:00 |
|
Andrew Melim
|
fdc1d50801
|
Added comment
|
2014-12-08 20:48:36 -05:00 |
|
Andrew Melim
|
4f6ed03803
|
Fix missing symbol exports for windows
|
2014-12-08 20:45:24 -05:00 |
|
Luca
|
64dfde3ae6
|
in the process of adding tests for the combined imu factor (not there yet)
|
2014-12-08 20:28:28 -05:00 |
|
Andrew Melim
|
92f1f33818
|
Preprocessor warning does not work on windows. Use pragma message instead
|
2014-12-08 20:24:00 -05:00 |
|
Luca
|
b126d98609
|
included suggestions from Frank
|
2014-12-08 20:20:03 -05:00 |
|
Luca
|
dc13912ce2
|
moved jacobian computation to updateMeasurement functions, and fixed noise propagation. Luca&Christian: insight is that preintegration noise acts on rotations as R * expmap(noise), while before it was expmap( logmap(R) + noise)
|
2014-12-08 18:41:39 -05:00 |
|
Luca
|
02f92e4e04
|
included Jacobian of logmap in quaternion mode
|
2014-12-08 18:39:47 -05:00 |
|
Luca
|
54ee973309
|
changed naming in comments about expmap & logmap jacobians
|
2014-12-08 16:27:57 -05:00 |
|
Luca
|
f991c1a398
|
getting rid of rightJacobianSO3 (not completed yet)
|
2014-12-08 13:15:51 -05:00 |
|
Luca
|
422db08c69
|
included Jacobian for logmap and expmap, with unit tests (Note: only implemented for Rot3M, this will not work in quaternion mode)
|
2014-12-08 12:31:02 -05:00 |
|
Luca
|
d5d7594888
|
deleted hard-coded function from IMU unit test
|
2014-12-08 12:31:02 -05:00 |
Chris Beall
|
fbcb9a4d67
|
Fix intermittent optimization crash in Debug+TBB modes, exposed by testGeneralSFMFactor, etc.
|
2014-12-08 10:59:49 -05:00 |
|
Luca
|
2730dab4c6
|
made test more serious and easy to understand
|
2014-12-07 15:04:10 -05:00 |
|
Luca
|
ab54ca1697
|
addressed some of Frank's comments
|
2014-12-07 15:03:48 -05:00 |
|
Luca
|
aee20d669d
|
removed useless comments, added other comments
|
2014-12-07 13:58:13 -05:00 |
|
cbeall3
|
cd35db218b
|
Minor cleanup
|
2014-12-07 13:58:06 -05:00 |
|
cbeall3
|
b58064ce43
|
Stereo calibration can now be optimized
|
2014-12-07 13:58:06 -05:00 |
|
cbeall3
|
971a53cfb5
|
Fixed size vectors for all Logmap, localcoordinates and vector methods
|
2014-12-07 13:51:17 -05:00 |
|
Luca
|
6d571ca6b9
|
truth revealing unit test :-) re-established good functioning of IMU factor (TODO: fix CombinedImuFactor F & G)
|
2014-12-07 13:14:45 -05:00 |
|
cbeall3
|
bfd40014a2
|
comma initialization
|
2014-12-07 12:38:36 -05:00 |