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11294 Commits (c5681d8e5930b51e98aee3157d808b997e3ba009)

Author SHA1 Message Date
lcarlone fd9bd43cb0 added remove functionality in BatchIncrementalSmoother with test 2016-08-04 23:54:34 -04:00
lcarlone b59a58278b fixed unit test! 2016-08-04 23:38:39 -04:00
lcarlone 4e8968e3f5 starting to add remove functionality in fixedLagSmoothers, test does not pass.. 2016-08-04 18:46:26 -04:00
Duy-Nguyen Ta 9187b47432 [mEstimator] virtualize and implementing sqrtWeight instead of weight to speed up a bit 2016-08-04 15:54:04 -04:00
Enrique Fernandez 2fdb6ce48f Remove unused indices in batch step 
In the batch step (in recalculate) we need to remove the unused indices
from the variable index, otherwise the elimination would throw an
exception saying:

  "Requested to eliminate a key that is not in the factors"
 2016-08-04 09:32:08 -04:00
Enrique Fernandez 86d1d42c36 Fix CCOLAMD base cases for 0 and 1 variables 
In both cases there's no need to find out any ordering at all:
- For 0 variables, an empty Ordering is returned.
- For 1 variable, an Ordering with that 1 variable is returned.
 2016-08-04 09:22:14 -04:00
lcarlone e0869719fa now SmartFactorBase doesn't know about stereoPoint2 (removed also header). The functionality to check if the right pixel is missing has been moved to SmartStereoProjectionFactor, removing the casting. 2016-08-02 22:56:48 -04:00
lcarlone a93c1e86f2 Merge remote-tracking branch 'origin/feature/heterogeneousSmartFactorNoise' into feature/heterogeneousSmartFactorNoise 2016-08-02 18:50:54 -04:00
lcarlone e54159c695 Merge branch 'develop' into feature/heterogeneousSmartFactorNoise 
# Conflicts:
#	gtsam_unstable/slam/SmartStereoProjectionFactor.h
 2016-08-02 18:50:18 -04:00
Frank Dellaert 25bf277cde Merged in fixSmartFactorExample (pull request #270) 
added functionalities to smart factors
 2016-08-02 11:47:24 -07:00
Luca 938454916f improved test, and slightly loosened tolerance when using MKL 2016-07-31 20:10:31 -04:00
Luca 9336c0b8c0 added comment and made variables const when possible 2016-07-31 18:47:30 -04:00
Luca 55ccc66de2 added comment 2016-07-31 18:43:35 -04:00
Luca f009633384 exposed point status in smart factors to keep uniformity with mono smart factors 2016-07-31 18:33:58 -04:00
Luca 6a21f1b730 adapted stereoSmart factors to use "outlier" and "far point" statuses 2016-07-31 18:31:38 -04:00
Luca 0b4927cafe exposed new degeneracy flags in smart factors (they were already exposed in triangulation and only partially exposed in smart factors) 2016-07-31 18:22:49 -04:00
Luca c9e43e7435 bug fix: added check on whether to modify Jacobians, depending on whether they are boost::none or not 2016-07-29 16:40:30 -04:00
Luca 20c13580cc deleted unused variables in unit test 2016-07-29 16:34:18 -04:00
Luca 76353cb10d fixed bug with smart measurement calling .vector(): Point2 does not admit .vector() for some cmake configuration. Using using casting: more elegant now! 2016-07-29 12:14:09 -04:00
lcarlone bb32cadfb0 minor fix 2016-07-28 17:20:34 -04:00
lcarlone 50d6532fe1 the ultimate test: smartStereoFactors generalize smartFactors in that they work in the purely monocular case! 2016-07-27 23:48:58 -04:00
Luca b82af4f5cc got rid of vector() as suggested by Chris 2016-07-26 10:54:07 -04:00
lcarlone a5138bfb46 included body_P_sensor in smartStereoProjectionPoseFactor! 2016-07-25 22:13:25 -04:00
Luca 6c163b0a4d added test which optimize smartStereoFactor with missing measurements (uR) 2016-07-24 19:07:00 -04:00
Luca b90e224f59 added tests for error and triangulation 2016-07-24 18:56:04 -04:00
Luca cd9b4cd5ab moved common definitions to base class 2016-07-24 18:31:55 -04:00
Luca f2bec78a58 first implementation of smartStereo with possibly left-only pixel measurements 2016-07-24 18:27:20 -04:00
Luca 3c15ef5d1e great simplification in stereo triangulation: converting stereo into a set of monocular cameras, then proceed as in the monocular case 2016-07-24 16:11:07 -04:00
Luca 8acc331663 Merge branch 'develop' into fixSmartFactorExample 
# Conflicts:
#	gtsam/geometry/triangulation.h
 2016-07-24 15:07:28 -04:00
Luca 5e9dfdd0b6 deleted example (that I added at some point) since it is identical to SFMExample_SMartFactor 2016-07-24 14:57:59 -04:00
Luca ca18fc2c0a Merge branch 'develop' into fixSmartFactorExample 2016-07-24 14:43:56 -04:00
Luca 4f37edaeb9 added tests to check correct use of landmarkDistanceThreshold and dynamicOutlierRejectionThreshold 2016-07-24 14:42:25 -04:00
Luca 97712b39cc added unit test for get/set triangulation threshold 2016-07-24 14:00:31 -04:00
lcarlone 03fac5cd02 using max reprojection error (rather than average) for outlier rejection during triangulation 2016-07-13 17:04:23 -04:00
Chris Beall 34c6527558 Merged in feature/append_flags (pull request #238) 
Appended flags instead of overwriting
 2016-07-12 13:57:35 -07:00
Ivan Jimenez 2ae903413a Merged develop into feature/LPSolver 2016-07-01 16:43:20 -04:00
= c98c772017 [TEST] added QPTest. Showcases failure to work on indeterminate linear systems. 2016-07-01 15:42:23 -04:00
= 15c6aa210b [TEST] Added Remaining Failing Tests AUG2D CONT-050 HS118 HS268 HS51 HS51 HS53 HS76 2016-07-01 13:02:59 -04:00
= ac1a02337e [TEST] Added Test HS35MOD 
[FEATURE] Added support for FX bounds for QPS Parsing format.
 2016-06-29 15:38:00 -04:00
= 4ba87c59e7 [TEST] Add HS35 
[TEST] Disabled HS118
 2016-06-29 15:24:27 -04:00
= adb3feeb1e Forgot to add as a vector instead of a double. 2016-06-29 15:10:36 -04:00
= 54e7e84c21 [TEST] HS118 no also tests for correctness of actual solution found. Removed debug statements. QPS files with ranges now work correctly. 2016-06-29 15:08:38 -04:00
lcarlone 245e802959 added comment on the function of rankTolerance 2016-06-29 12:34:18 -04:00
lcarlone 66d42a336f adding 2 more status items for triangulation results: outliers (dynamicOutlierRejection triggered) and farPoint (maxLandmarkDistance triggered) 2016-06-29 12:26:21 -04:00
= 427d938631 [FEATURE] Raw QP Untested handling of Ranges. 2016-06-28 22:08:01 -04:00
= b467e944cf [TEST] Now includes a test with QPS ranges 
[FEATURE] Parser Reads but doesn't handle ranges in QPS files.
 2016-06-28 20:53:59 -04:00
= ab045edf07 [BUGFIX] Now handles zero default on QPS files. 2016-06-28 20:39:36 -04:00
= c9efb4bbda [TEST] QP Now correctly handles negative constant values on hessian factors. 2016-06-28 19:51:51 -04:00
cbeall3 c21186c621 Merge branch 'develop' 2016-06-20 13:30:37 -04:00
Chris Beall f3fce5cb1c Merged in feature/windows-fixes (pull request #268) 
Windows CMake fix for subdirectories without tests
 2016-06-20 11:32:18 -04:00