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421 Commits (d00a5b19ab0be0b460f07f4cee44c43e84320deb)

Author SHA1 Message Date
Frank Dellaert c9a7796fc3 Added prior, now no longer segfaults... 2013-08-30 16:18:41 +00:00
Frank Dellaert 642e486ba9 Self-calibration example with GeneralSMFactor, compiles but throws an exception 2013-08-30 13:13:45 +00:00
Frank Dellaert d0cc7fbccc File with common simulated data. 2013-08-30 04:23:45 +00:00
Richard Roberts 8e9556d900 Fixed dataset paths 2013-08-27 17:22:33 +00:00
Chris Beall 46ab10fb06 fix easy Kalman filter example 2013-08-19 21:32:51 +00:00
Chris Beall f3156d4717 fix when TBB is disabled 2013-08-19 15:51:06 +00:00
Alex Cunningham 4b12d6f794 Moved Symbol and LabeledSymbol to inference as they are no longer specific to nonlinear optimization 2013-08-19 15:32:16 +00:00
Chris Beall af173c1a1c fixed the basic examples. Discrete & Kalman filter examples are disabled for now per CMakeLists.txt 2013-08-16 17:13:45 +00:00
Richard Roberts f24496b8a0 Added w20000 dataset and simplified names of w100 and w10000 2013-08-15 20:17:27 +00:00
Richard Roberts 1ad8591b6a Added relinSkip option to SolverComparer, trapping/printing exceptions, and changed default batch mode to Cholesky 2013-08-15 20:17:24 +00:00
Richard Roberts dac4be44f1 Bug fix in SolverComparer 2013-08-15 20:17:23 +00:00
Richard Roberts 20b6e33362 Added w20000 dataset and simplified names of w100 and w10000 2013-08-15 20:17:02 +00:00
Richard Roberts a0b9dd2724 Added relinSkip option to SolverComparer, trapping/printing exceptions, and changed default batch mode to Cholesky 2013-08-15 20:16:59 +00:00
Richard Roberts 2321952f0a Bug fix in SolverComparer 2013-08-15 20:16:58 +00:00
Richard Roberts 19c69967a2 Printing number of threads in SolverComparer 2013-08-14 22:53:57 +00:00
Richard Roberts 4099c04dcd Added threads option to SolverComparer 2013-08-14 19:47:30 +00:00
Richard Roberts fee021e51c Fixed timing statement in SolverComparer 2013-08-14 17:39:38 +00:00
Richard Roberts deaabeb0bf Committing correct dataset files for Kitti IMU example 2013-08-13 21:04:44 +00:00
Richard Roberts 004ec887a1 Committing correct dataset files for Kitti IMU example 2013-08-13 21:04:01 +00:00
Richard Roberts 175965a6bf Merged from branch 'branches/unordered' 2013-08-12 21:52:43 +00:00
Richard Roberts e458b37f50 Removed UnorderedLinear example 2013-08-12 18:21:29 +00:00
Richard Roberts 18a72718aa Reenabled ISAM2 in SolverComparer 2013-08-11 19:29:01 +00:00
Richard Roberts 4c59e13f94 Reenabled ISAM2 in SolverComparer 2013-08-11 19:26:29 +00:00
Richard Roberts 4585fd1caa Merge branch 'svn/trunk' 
Conflicts:
	gtsam/navigation/tests/testInertialNavFactor_GlobalVelocity.cpp
	gtsam/nonlinear/ISAM2.cpp
	gtsam/nonlinear/ISAM2.h
	gtsam/slam/tests/testBetweenFactor.cpp
	gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp
	gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp
	gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp
	gtsam_unstable/slam/SmartProjectionFactor.h
 2013-08-11 18:16:56 +00:00
Richard Roberts 7f5de1c3bc Added simple Kitti example 2013-08-09 18:50:20 +00:00
Richard Roberts e2f8dd866d Merge branch 'svn/trunk' 
Conflicts:
	gtsam/linear/GaussianBayesTree.cpp
	gtsam/linear/GaussianBayesTree.h
	gtsam/linear/VectorValues.h
	gtsam/linear/tests/testVectorValues.cpp
	gtsam_unstable/nonlinear/sequentialSummarization.cpp
 2013-08-06 18:33:24 +00:00
Richard Roberts e39d100b6a Made most global unit tests compile, includes dogleg, iterative, kalman filter, etc 2013-08-06 13:44:22 +00:00
Richard Roberts ede0805fac Global find+replace to remove Ordered 2013-08-05 22:31:44 +00:00
Richard Roberts cb7eb1b510 Find+replace Ordered headers 2013-08-05 22:31:33 +00:00
Duy-Nguyen Ta 95ffb0c4ea fix ofstream filename c_str compilation issues 2013-08-02 13:33:23 +00:00
Richard Roberts af8f302402 Fixed SolverComparer for unordered 2013-08-01 21:57:55 +00:00
Richard Roberts c6f29cd827 Modifications to SolverComparer - only write soln to output file, read dataset instead of input graph in batch mode 2013-08-01 21:57:50 +00:00
Richard Roberts fcc6b804d1 Switched SolverComparer to QR 2013-08-01 21:57:05 +00:00
Richard Roberts 15ae7b553a Modifications to SolverComparer - only write soln to output file, read dataset instead of input graph in batch mode 2013-08-01 15:38:15 +00:00
Richard Roberts 2705d85fa7 Merged from branch 'trunk' 2013-07-31 18:55:15 +00:00
Richard Roberts ab083b22c5 Added SolverComparer script for doing regression tests across branches and with datasets 2013-07-31 18:53:26 +00:00
Richard Roberts c413789a0a Linking examples with Boost program options library 2013-07-31 18:53:25 +00:00
Richard Roberts 5f9564dfb9 Added Victoria Park dataset to examples data folder 2013-07-30 14:32:54 +00:00
Richard Roberts 3ade190128 Renamed old classes to "Ordered" and removed "Unordered" name from new classes 2013-07-29 23:55:40 +00:00
Richard Roberts 594c0412cb Adjusted parameters 2013-07-27 18:33:42 +00:00
Richard Roberts 5d0629c91a More detailed timing in UnorderedLinear script 2013-07-26 18:00:38 +00:00
Richard Roberts e6eb0b928e Updated UnorderedLinear script 2013-07-26 01:10:14 +00:00
Richard Roberts 6b1e1d16d5 Added (de)serialization to UnorderedLinear timing example so that it loads faster 2013-07-23 18:34:24 +00:00
Richard Roberts 2f088dca9f Added UnorderedLinear script to compare results and timing between old code and new code 2013-07-09 17:50:53 +00:00
Richard Roberts 123657e3d0 Merged from branch 'trunk' 2013-06-24 15:28:16 +00:00
Frank Dellaert 2efc4294b8 Plaza 1 dataset 2013-06-24 12:05:44 +00:00
Frank Dellaert 456a16526e Vector3 2013-06-22 01:29:26 +00:00
Frank Dellaert 05f883f953 C++ cleanup and dataset switch 2013-06-22 00:49:00 +00:00
Frank Dellaert f1ee3b353c C++ Range SLAM example to compare with Boots13icml 2013-06-21 14:13:59 +00:00
Frank Dellaert 6f2cbbb709 Added two new datafiles 2013-06-20 06:50:50 +00:00
Richard Roberts d5e721a1d0 Continued work on unordered classes and elimination algorithm 2013-06-06 15:36:11 +00:00
Chris Beall 32b3eebf07 removed redundant shared_ptr typedefs in Cal3_S2 and Cal3_S2Stereo 2013-05-08 19:21:00 +00:00
Richard Roberts 9223da18c9 Fixed linking to gtsam library in examples 2013-03-13 18:36:25 +00:00
Richard Roberts 89b50e7679 Renamed tic -> gttic and toc -> gttoc to avoid conflict with PCL tic/toc 2012-10-02 20:18:41 +00:00
Richard Roberts c44f8f7f80 Fixed examples from timing statement change (missed) 2012-10-02 18:49:48 +00:00
Chris Beall 4297d24c96 changed tabs to spaces for consistent indentation in all of GTSAM 2012-10-02 14:40:07 +00:00
Yong-Dian Jian af652b0e04 remove simpleSPCG 
reorg SubgraphSolver
add unit test for SubgraphSolver
 2012-09-03 19:43:08 +00:00
Frank Dellaert 9230458e06 Planar SLAM example from factor graph talk 2012-08-24 22:03:24 +00:00
Frank Dellaert abdf46d494 Synchronizing C++ and MATLAB example again. Please coordinate with me before changing the values in the examples: changing them generates work in the manual and in the MATLAB examples. 2012-08-05 18:44:36 +00:00
Frank Dellaert f70af2ef38 Fixed up examples to be a bit less verbose and match up with the manual again. 2012-08-05 16:59:14 +00:00
Frank Dellaert 93f995065f Aligned example with manual, fixed example make targets 2012-08-04 21:56:21 +00:00
Frank Dellaert 297fbfa1a5 Odometry example was deliberately not using Symbols... Fixed... 2012-08-04 20:18:42 +00:00
Richard Roberts 711b28ae01 Merge remote-tracking branch 'svn/trunk' into remove_slam_namespaces 
Conflicts:
	matlab/examples/Pose2SLAMExample_graph.m
 2012-08-03 21:02:27 +00:00
Richard Roberts da1a732eff Merged duplicate Pose2SLAMExample_graph.m examples in different directories 2012-07-30 18:34:50 +00:00
Stephen Williams 08c72e2a8d Updated Pose2SLAMExample_graph to remove SLAM namespaces 2012-07-30 14:59:18 +00:00
Richard Roberts 5177f31a5d Merge remote-tracking branch 'svn/trunk' into remove_slam_namespaces 
Conflicts:
	gtsam/nonlinear/SuccessiveLinearizationOptimizer.h
	matlab/examples/Pose2SLAMExample_circle.m
	matlab/examples/Pose2SLAMExample_graph.m
	matlab/examples/StereoVOExample_large.m
	tests/testGradientDescentOptimizer.cpp
 2012-07-27 19:01:43 +00:00
Frank Dellaert b32931f879 Examples that show rotation-first strategy 2012-07-27 04:44:02 +00:00
Frank Dellaert 5becf405f8 load2D wrapped, but pair argument does not work? 2012-07-26 01:40:07 +00:00
Stephen Williams a44b602d19 Changed parameter name from CG to CONJUGATE_GRADIENT 2012-07-25 21:04:00 +00:00
Stephen Williams f865a9e551 Removed SLAM namespaces from Localization Example 2012-07-22 16:03:42 +00:00
Stephen Williams 61b82c9109 Tiny code formatting change 2012-07-22 15:47:07 +00:00
Stephen Williams 412ffa38c7 Created a iSAM2 version of the Visual SLAM example 2012-07-22 15:15:12 +00:00
Stephen Williams 5d46beed86 Put the relinearization interval back to 3 for the iSAM example 2012-07-22 14:59:22 +00:00
Stephen Williams 71c6458e96 Updated ExtendedKalmanFilter and relkated example, removing the need for the 'inl' header 2012-07-22 14:57:34 +00:00
Stephen Williams ff522a73c0 Updated documentation on SimpleRotation example 2012-07-22 05:43:44 +00:00
Stephen Williams e3a6282ff8 Removed SLAM namespaces from SPCG example. Still needs better documentation by someone who knows what SPCG is. 2012-07-22 05:34:22 +00:00
Stephen Williams 45d1c4f0ed Removed SLAM namespaces from OdometryExample 2012-07-22 05:21:32 +00:00
Stephen Williams 67e2d832fe Updated the VisualSLAM examples, removing the SLAM namespaces 2012-07-22 04:52:01 +00:00
Stephen Williams 5da5adb2f1 Combined the PlanarSLAM examples into a single example without SLAM namespaces 2012-07-22 04:36:40 +00:00
Stephen Williams d259320aed Combined the two versions of Pose2SLAMExample into a single example without SLAM namespaces 2012-07-22 04:35:12 +00:00
Duy-Nguyen Ta abc29ea2ca capitalize static functions Level and Lookat in CalibratedCamera and PinholeCamera for matlab wrapper 2012-07-16 15:24:27 +00:00
Frank Dellaert 801e0a065a sift features 2012-06-24 04:20:16 +00:00
Frank Dellaert 2d0ce1c3ca Streamlining of SLAM namespaces: 
planarSLAM Values and Graph now derive from Pose3SLAM. 
visualSLAM Values and Graph now derive from pose3SLAM.
Several methods have been renamed to make them consistent through these 4 namespaces:
addPrior -> addPosePrior
addHardConstraint -> addPoseConstraint
addOdometry/addConstraint -> addRelativePose
All gtsam and matlab examples/tests run.
PS: please don't use the deprecated typedefs in these namespaces.
 2012-06-24 02:48:12 +00:00
Duy-Nguyen Ta eecafcebe7 Fixing Pose2SLAMwSPCG and make a unittest in testPose2SLAM for optimizeSPCG(). Why does SPCG need a constraint between 
2 poses to work? GaussNewton still works fine without the constraint!
 2012-06-22 23:40:04 +00:00
Frank Dellaert 1d95a379b7 Fixed compile problem that prevented install 2012-06-22 21:57:46 +00:00
Duy-Nguyen Ta 6f1ea87a00 clean up noise model: Remove Shared[NoiseModel] classes and headers, typedef for backward compatibility in NoiseModel.h. Fix all tests and examples to create shared noise models through static functions in noise model classes. Fix MATLAB wrapper and examples as well. Add tests for MATLAB examples 2012-06-22 19:36:49 +00:00
Yong-Dian Jian 9cb903fe08 1. remove a redundant constructor of PinholeCamera 
2. remove a "backproject_from_camera" function from PinholeCamera, please use "backproject" directly
 2012-06-19 15:28:22 +00:00
Frank Dellaert c77e8176c7 Balbianello images for larger SFM example 2012-06-18 14:04:20 +00:00
Chris Beall 562ec1b630 simplified basic StereoVOExample to use only 3 artificial landmarks and 2 poses 2012-06-14 17:33:58 +00:00
Chris Beall a6ea70da7b small three pose VO example 2012-06-14 05:10:12 +00:00
Chris Beall 642e180ff7 renamed StereoVO data files 2012-06-14 04:51:42 +00:00
Frank Dellaert aeeb47d470 Fixed up comments 2012-06-12 05:01:12 +00:00
Frank Dellaert c8cb0d00c8 Rename 2012-06-12 04:57:07 +00:00
Frank Dellaert 7638da4192 Rename 2012-06-12 04:56:44 +00:00
Alex Cunningham b602e75a99 Removed the use of the ADD_CLONE_NONLINEAR_FACTOR macro, documented instances of clone() in factors 2012-06-09 21:06:06 +00:00
Yong-Dian Jian 734a18b02e old spcg solver fixed 2012-06-09 02:42:45 +00:00
Abhijit Kundu 9fdb28f9bf Minor Improvements 2012-06-08 23:28:22 +00:00
Yong-Dian Jian 913160462a in the middle of resurrecting spcg 2012-06-08 16:45:16 +00:00
Richard Roberts d188ed2e1a Removed using namespace in header files 2012-06-08 14:33:59 +00:00
Abhijit Kundu 6fe2b77a25 In the middle of evaluating performance of DiscreteSequentialSolver vs DiscreteMarginals 2012-06-08 00:18:32 +00:00
Abhijit Kundu bd8a3b8e9a UGM_chain now uses DiscreteMarginals instead of DiscreteSequentialSolver 2012-06-07 23:20:40 +00:00
Alex Cunningham d70622abe0 Rearranged matlab folders to avoid calling utility functions "examples" 2012-06-07 20:09:54 +00:00
Alex Cunningham 2288a6bc1f fixed compile error due to NonlinearISAM change 2012-06-07 17:47:19 +00:00
Alex Cunningham df7ffe5923 Now installs matlab *.fig files with examples 2012-06-07 15:45:29 +00:00
Chris Beall e0686484b6 fixed compile errors 2012-06-07 14:53:39 +00:00
Frank Dellaert bf21239e41 printStats 2012-06-07 14:29:18 +00:00
Frank Dellaert 8644f81dc8 VisualiSAM, going crazy. MATLAB is amazing! 2012-06-07 13:16:28 +00:00
Duy-Nguyen Ta ce71979c8c VisualISAMExample_triangle 2012-06-07 07:43:56 +00:00
Duy-Nguyen Ta 2a633b75c8 use surf instead of mesh for covarianceEllipse3D 2012-06-07 07:43:22 +00:00
Duy-Nguyen Ta 61e95f4ace temporarily revive the old VisualISAMExample 2012-06-07 07:06:54 +00:00
Frank Dellaert b10f4d09e3 iSAM with options 2012-06-07 06:14:47 +00:00
Frank Dellaert 9ef891198b Re-factored iSAM MATLAB example and wrapped more ISAM functions 2012-06-07 05:19:43 +00:00
Frank Dellaert c78e649042 create and use cameras, not poses 2012-06-07 04:09:22 +00:00
Frank Dellaert 903580abb4 Rotated display so Z is up, made axis square 2012-06-07 03:54:48 +00:00
Frank Dellaert 2414bfc3c9 Use correct calibration matrix K in camera creation 2012-06-07 03:35:06 +00:00
Frank Dellaert e986311566 small details 2012-06-07 02:18:24 +00:00
Duy-Nguyen Ta c518381373 VisualISAMExample in MATLAB: try to enable point priors. Disable logging images. 2012-06-06 21:21:49 +00:00
Duy-Nguyen Ta 31d88649f7 fix bug in VisualISAM matlab example 2012-06-06 18:08:30 +00:00
Duy-Nguyen Ta 3e36890fd1 VisualISAMExample in MATLAB. Doesn't look quite right... 2012-06-06 09:41:06 +00:00
Duy-Nguyen Ta bb89cdda76 axisLength for plotting Pose2 in MATLAB 2012-06-06 09:40:24 +00:00
Duy-Nguyen Ta 3a28baf3c8 simplify VisualSLAMExample code in MATLAB 2012-06-06 09:39:55 +00:00
Duy-Nguyen Ta a8ffa407ae remove noise sampler in visualSLAM examples 2012-06-06 09:36:10 +00:00
Abhijit Kundu 59960a8d14 Changes to Discrete Examples 2012-06-06 03:25:56 +00:00
Duy-Nguyen Ta e6a0663540 rotate and color 3D covariance ellipses for visual SLAM example with Frank 2012-06-05 23:51:12 +00:00
Alex Cunningham ad3b431c4d Moved building of wrap libraries to a cmake macro and moved install for matlab components to the appropriate folder 2012-06-05 18:05:00 +00:00
Chris Beall 1241bf383a stereo VO Matlab example and data 2012-06-05 17:54:29 +00:00
Alex Cunningham 02ce40546f Changed names of cmake flags to be more intuitive, fixed include/library path issues for building the mex binaries 2012-06-05 17:20:19 +00:00
Richard Roberts bef45d5b7b Merged from branch 'branches/windows' 2012-06-05 14:09:58 +00:00
Frank Dellaert 7b48e56d56 Plot marginals, sample 2012-06-05 13:29:26 +00:00
Frank Dellaert 10d6157d1d formatting/naming only 2012-06-05 13:29:04 +00:00
Richard Roberts 90578e2532 Merge remote-tracking branch 'svn/trunk' into windows 
Conflicts:
	gtsam.h
	wrap/CMakeLists.txt
 2012-06-05 13:11:34 +00:00
Duy-Nguyen Ta 715d663e4f VisualSLAM matlab example 2012-06-05 05:15:26 +00:00
Duy-Nguyen Ta 76a9e651cb minor variable renaming 2012-06-05 04:10:13 +00:00
Frank Dellaert fe1a9997cf simplified, sync with manual 2012-06-05 04:01:37 +00:00
Frank Dellaert 9560997bc7 Plotting 2012-06-05 03:51:21 +00:00
Frank Dellaert 9a8e083697 Rotate covariance ellipses correctly (plotPose2 stolen from ASPN) 2012-06-05 00:17:37 +00:00
Chris Beall 647b38c758 small improvements to plotting coordinate frames 2012-06-05 00:02:55 +00:00
Yong-Dian Jian 83f656f93d add the spcg example to matlab 2012-06-04 20:14:41 +00:00
Yong-Dian Jian 74322b0764 remove the optional 2012-06-04 17:23:45 +00:00
Duy-Nguyen Ta f7d7c5b9c8 change filename for visualSLAM examples 2012-06-04 16:05:13 +00:00
Richard Roberts 9c8377f476 Merge remote-tracking branch 'svn/trunk' into windows 
Conflicts:
	examples/Pose2SLAMExample.cpp
	examples/vSLAMexample/CMakeLists.txt
	examples/vSLAMexample/vISAMexample.cpp
	gtsam/nonlinear/ISAM2-impl.cpp
	gtsam/slam/pose2SLAM.cpp
	gtsam/slam/tests/testGeneralSFMFactor.cpp
	gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp
	gtsam/slam/tests/testPlanarSLAM.cpp
	gtsam/slam/tests/testPose2SLAM.cpp
	tests/testDoglegOptimizer.cpp
	tests/testGraph.cpp
 2012-06-04 14:13:37 +00:00
Chris Beall d40d8879ae removed vSLAMExample directory reference 2012-06-04 12:34:58 +00:00
Duy-Nguyen Ta 9c6eba4cf8 remove old visual SLAM example and its data 2012-06-04 08:51:34 +00:00
Duy-Nguyen Ta 4fbdd979a1 small rewording 2012-06-04 08:51:03 +00:00
Duy-Nguyen Ta 4eee4b72f4 add better visualSLAM examples 2012-06-04 08:31:26 +00:00
Frank Dellaert be7828b8cf Pose3SLAM example works (MATLAB only) 2012-06-04 05:53:51 +00:00
Frank Dellaert 198279f4ff Michael's example with our conventions... 2012-06-04 05:51:36 +00:00
Chris Beall ae78b89c6f finished wrapping visualSLAM namespace 2012-06-04 02:41:14 +00:00
Frank Dellaert 877e9d4045 new Pose3SLAM examples in C++ and MATLAB 2012-06-04 00:41:13 +00:00
Yong-Dian Jian 5aee7b4439 add doxygen-comment to spcg solver 2012-06-03 20:24:58 +00:00