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429 Commits (d28ef19b9a9a3d176d51541df11329cb38fada9b)

Author SHA1 Message Date
Luca e789553261 bug fix: hessianDiagonal seg-faulted with NULL factors 2014-02-15 16:48:15 -05:00
dellaert 95c13d64dc Minimal unit test, forgotten by @richardroberts :-) 2014-02-15 12:10:41 -05:00
dellaert 9af77a9d93 testSymmetricBlockMatrix target 2014-02-15 11:46:58 -05:00
dellaert a272264e7d Added unit test for hessianDiagonal 2014-02-14 01:38:08 -05:00
dellaert 2ab25b3f65 hessianDiagonal now unit tested for HessianFactor 2014-02-14 01:27:03 -05:00
Luca 2a3575fcbc added measure of fit between original and linearized model in LM 2014-01-27 22:02:02 -05:00
Frank Dellaert d7dc390130 Particle factor scaffold 2013-12-19 17:14:40 +00:00
Frank Dellaert 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
Frank Dellaert 51f2ba2c7e RotateFactor can help calibrate a rig *without* SLAM. Relevant math added to math.lyx 2013-12-18 04:45:34 +00:00
Frank Dellaert 8b9d6b78dc Optimization on the Essential manifold ! 2013-12-17 05:54:29 +00:00
Frank Dellaert 6459053cf9 Unit test for essential matrix with prototype code, and lyx file with derivatives 2013-12-17 05:24:12 +00:00
Frank Dellaert 7e8095c2ee Revived Sphere2, the S^2 manifold that can be used for directions in 3D space 2013-12-17 01:40:48 +00:00
Frank Dellaert d95ae93f91 Found and fixed the bug in multiplyHessian ! The storage scheme is evil ! 2013-11-01 19:37:24 +00:00
Frank Dellaert 4c47e6fcc4 targets 2013-10-31 20:15:20 +00:00
Frank Dellaert 4591835223 gradientAtZero is now implemented in the fcators (Richard says, need to work on efficiency) 2013-10-29 03:42:33 +00:00
Frank Dellaert f2941ce3b5 target 2013-10-27 02:15:29 +00:00
Andrew Melim 5e29bc5b67 Return set partitions from DFSMap 2013-10-26 22:22:31 +00:00
Frank Dellaert 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
Frank Dellaert 48dd3cb769 DSF with Map, allows more general types 2013-10-26 17:57:03 +00:00
Frank Dellaert 0dbd016ca9 Cleaned up DSFVector and added pairwise matches example 2013-10-26 15:02:30 +00:00
Frank Dellaert 02da1a439e Small change with map_values, target 2013-10-25 21:35:38 +00:00
Frank Dellaert 7f9036386c Targets and comments only 2013-10-25 05:58:32 +00:00
Luca Carlone 42538c0252 unit tested multiplyHessian in HessianFactor 2013-10-24 23:12:18 +00:00
Luca Carlone 6f7d4ddb50 added multiplyHessian in HessianFactor (not ready) 2013-10-24 22:22:29 +00:00
Frank Dellaert 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
Frank Dellaert c6d0cb4cba renamed Visual SLAM -> SFM, reserve SLAM for problems where we have odometry 2013-10-18 05:31:55 +00:00
Frank Dellaert 175cc03f11 some targets 2013-10-18 04:29:57 +00:00
Luca Carlone 85c52668c6 added targets 2013-10-18 01:25:15 +00:00
Frank Dellaert 1f293294fd Some refactoring in Cal3Bundler 2013-10-12 15:04:26 +00:00
Frank Dellaert 7d0674fe4b Inlined derivatives in Cal3DS2, gets rid of a lot of duplicated calculations. 2013-10-12 07:07:08 +00:00
Frank Dellaert 71466e8476 Added effing *unit tests* for PinholeCamera. It is pretty terrible that there were none ! 2013-10-12 05:15:01 +00:00
Frank Dellaert 0985758cec Added graphviz example to show how to produce cool graphs from GTSAM 2013-09-06 20:07:40 +00:00
Frank Dellaert d0cc7fbccc File with common simulated data. 2013-08-30 04:23:45 +00:00
Alex Cunningham f4fd43391f make targets 2013-08-16 19:47:24 +00:00
Alex Cunningham 2d413e05c6 Removed functions largely supersceded by newer bayes tree functionality 2013-08-16 16:32:19 +00:00
Alex Cunningham 0cb6e97803 Added stack function that takes a vector of matrix blocks 2013-08-09 16:24:45 +00:00
Luca Carlone 2e085ace91 Changes in SmartProjectionFactor 2013-08-05 19:25:08 +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 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
Alex Cunningham 19f7da62dd Refactored existing serialization functionality, added exposed interface for serialization 2013-06-12 19:30:20 +00:00
Alex Cunningham 361682c485 Working on a test for liquefy 2013-06-11 14:36:51 +00:00
Frank Dellaert 640fcd94b1 Added stream operator << 2013-06-05 23:41:46 +00:00
Frank Dellaert f4ad135040 testVelocityConstraint3.run target 2013-06-05 23:39:42 +00:00
Frank Dellaert 1d9000724d Moved AHRS to gtsam_unstable 2013-05-20 23:16:44 +00:00
Alex Cunningham 81f63bcc0e Rearranging summarization, now with unit test in gtsam 2013-05-08 10:11:45 +00:00
Alex Cunningham 26f5f93c60 Added Pose3::align() for labeled correspondences. Fixed depreciated make targets. 2013-04-29 18:06:33 +00:00
Alex Cunningham da334ed8a2 Added linear tools (including summarization) from MastSLAM 2013-03-23 20:19:36 +00:00
Alex Cunningham 3c2e037b16 Moved geometry components from MastSLAM for Pose3Upright, BearingS2, SimWall2D and SimPolygon2D 2013-03-23 20:19:30 +00:00
Frank Dellaert 38ee915669 Fixed targets 2013-03-19 18:05:59 +00:00
Alex Cunningham 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
Frank Dellaert ca4cf782f2 New, better expmap tests (quarter turn, half turn, full turn) 2013-01-03 16:00:25 +00:00
Alex Cunningham 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
Alex Cunningham 237da8b3a7 Moved LinearContainerFactor to gtsam/nonlinear and removed the now-redundant LinearizedFactor from gtsam_unstable 2012-11-21 19:41:24 +00:00
Alex Cunningham 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
Alex Cunningham 0ef12f2f20 Moved in reference frame factor from MastSLAM 2012-09-19 02:23:43 +00:00
Frank Dellaert cdf45105c2 Fixed shortcuts after adding several more problematic testcases 2012-09-17 00:29:03 +00:00
Frank Dellaert 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
Frank Dellaert de66a5cd4a Added unit test targets 2012-09-16 14:35:59 +00:00
Frank Dellaert 16c8cfb1cf Better set calculations 2012-09-16 13:28:50 +00:00
Frank Dellaert e26ab012de custom clique checks Combine and DiscreteBayesTree construction (testing 32000 configurations :-)) 2012-09-15 13:21:43 +00:00
Frank Dellaert c4c5dec9a3 Fixed testIterative unit tests 2012-09-05 03:06:22 +00:00
Richard Roberts fc1a43e585 Reverting - Fixed incorrect test case in testFactorGraph (reverse-merged from commit 34e4c87523093f77f26a5c378763a715d56452b7) 2012-08-31 15:18:36 +00:00
Alex Cunningham e5fe979ea5 Fixed incorrect test case in testFactorGraph 2012-08-31 02:19:00 +00:00
Alex Cunningham 878c79f265 Reworked PoseRotationPrior with better tests and no dependence on PartialPriorFactor 2012-08-27 16:51:52 +00:00
Alex Cunningham 12290dc7b2 Added linearization points to LinearContainerFactor. Fixed bug with localCoordinates() in Values 2012-08-27 01:11:37 +00:00
Alex Cunningham 3794c2a7b7 Reworked PoseTranslationPrior so that it actually works now 2012-08-20 14:25:07 +00:00
Alex Cunningham d7f6a79967 Refactor in GaussianISAM to make solver easier to use/modify. Added non-const interface to nodes in Bayes Tree. Added separate eclipse make target for check (with default -j params) and "check j1" to force -j params. 2012-08-12 19:52:20 +00:00
Frank Dellaert 93f995065f Aligned example with manual, fixed example make targets 2012-08-04 21:56:21 +00:00
Alex Cunningham 73d64d04a8 Removed unused make targets, changed wrap structure for PosePartialPriors 2012-08-03 19:49:26 +00:00
Alex Cunningham b211c1070d Rearranged the inverse depth factor/camera, created a gtsam_unstable/geometry folder - run cmake to find the new/moved files 2012-08-02 20:47:16 +00:00
Frank Dellaert 5becf405f8 load2D wrapped, but pair argument does not work? 2012-07-26 01:40:07 +00:00
Alex Cunningham 8580d3dec5 Added clean_doc target to remove generated doxygen documentation 2012-07-15 19:57:31 +00:00
Alex Cunningham 88b51d45b8 Added doxygen support via cmake using 'make doc' 2012-07-14 21:39:58 +00:00
Alex Cunningham 6daa86f137 Fixed C++ versioning issue in wrap, now compiles and toolbox passes matlab tests, testWrap now compiles but does not pass 2012-07-10 14:21:56 +00:00
Alex Cunningham b33713a02e Merge branch 'master' into new_wrap_local 
Conflicts:
	.cproject
	gtsam.h
 2012-06-30 20:04:12 +00:00
Alex Cunningham 3c0ea754df make targets for cleaning wrap 2012-06-29 19:05:49 +00:00
Andrew Melim 6d776812d3 new wrap! :) 2012-06-26 18:52:27 +00:00
Frank Dellaert b1dbfab1b3 All SLAM Graph classes now derive from a common base class "EasyFactorGraph", to avoid duplicating the common optimize convenience methods. 2012-06-24 21:53:05 +00:00
Alex Cunningham 188478e4ed make targets for cleaning wrap, comments in gtsam.h 2012-06-23 19:24:57 +00:00
Alex Cunningham 9b473023e6 Fixed warnings 2012-06-23 18:12:15 +00:00
Frank Dellaert 10b4c87c07 Fixed duplicate path warnings. Let me know if this causes problems. Don't know exactly what the problem or correct fix was/is. 2012-06-22 21:46:19 +00:00
Frank Dellaert 7a48a03b25 targets, ignore 2012-06-22 18:26:05 +00:00
Alex Cunningham 8789201822 Added mechanism to create a constrained ordering directly from a NonlinearFactorGraph 2012-06-20 01:35:42 +00:00
Alex Cunningham 7c475d83c3 Comments and additional test regarding permutations and orderings 2012-06-20 00:01:49 +00:00
Frank Dellaert 4ec1cc9e5a ignore .mat files, more targets 2012-06-18 14:04:50 +00:00
Frank Dellaert 0b04e0273e Some targets 2012-06-13 10:50:56 +00:00
Alex Cunningham 9e26b32daa Fixed Symbol problem - related to using std::numeric_limits::max() statically on keys created outside of functions 2012-06-09 19:43:14 +00:00
Alex Cunningham f45c236585 Isolated exception case for use of Symbol.key(), removed use of Symbol in several tests. Removed "using namespace xxx" in header 2012-06-09 19:17:15 +00:00
Alex Cunningham a5f3f75d1d Removed mex make flag 2012-06-08 17:12:08 +00:00
Alex Cunningham 111ef8a0f0 Moved LinearizedFactor from MastSLAM, started on a test for LinearContainerFactor 2012-06-07 18:16:37 +00:00
Alex Cunningham 74138787e8 testPoseRTV no longer fails when using quaternions - still should add full analytical derivatives, however. 2012-06-06 12:44:06 +00:00
Alex Cunningham 3a9b647b8f Updated expected wrap values 2012-06-06 12:03:49 +00:00
Frank Dellaert d9e1c7b959 new target 2012-06-04 22:27:10 +00:00
Alex Cunningham 9efcf8e17c Added option to include path to mex executable in CMake 2012-06-04 21:01:25 +00:00
Alex Cunningham e1725fb8e3 Fleshed out support for building MEX binaries during gtsam build 2012-06-04 15:33:16 +00:00
Frank Dellaert 0baa83cf45 Another rename 2012-06-03 20:11:40 +00:00
Frank Dellaert bd7724781d Manhattan world example with covariances, in C++ and MATLAB 2012-06-03 18:20:48 +00:00
Frank Dellaert a2512475c9 Symbol.h is now included just in time, no longer by default everywhere. 2012-06-02 19:05:38 +00:00
Frank Dellaert 5160c2eb50 Significant API change in slam (GTSAM 2.0.1 or 2.1): to eliminate confusion and give the user more freedom in creating their own Keys, the different slam variants no longer create Symbol keys themselves. Instead, all interaction is done via Keys (which are just unordered, unsigned ints). All PoseSLAM unit tests and examples now just use sequential keys. However, a user can still create Keys using the Symbol constructor, which is illustrated in the landmark-based unit tests and examples. 2012-06-02 16:18:40 +00:00
Alex Cunningham efd94014b7 Added check.unstable target - currently runs each unstable group separately, however 2012-05-25 16:12:55 +00:00
Frank Dellaert 69e91e32b6 Fixed some test targets 2012-05-22 17:57:30 +00:00
Frank Dellaert 5145018053 Fixed some test targets 2012-05-22 12:28:17 +00:00
Alex Cunningham 54f6f3629c Added clone() functionality to nonlinear factors 2012-05-21 20:54:40 +00:00
Frank Dellaert f7349704f8 Moved constraint satisfaction stuff to gtsam_unstable (in progress!). 2012-05-15 00:47:19 +00:00
Alex Cunningham f2c7e891c4 Added 'unsigned char' as argument option to wrap, added make targets 2012-05-04 18:50:36 +00:00
Alex Cunningham a095b156c1 Added wrap support for gtsam_unstable 2012-05-03 17:03:27 +00:00
Frank Dellaert 29ea1450eb Removed some obsolete code in discrete 2012-05-03 12:23:34 +00:00
Frank Dellaert 88b46000e5 UGM (undirected graphical model) example, small, see http://www.di.ens.fr/~mschmidt/Software/UGM/small.html 2012-05-03 05:09:22 +00:00
Alex Cunningham 59a2c01c75 Fixed linking problem on gcc: lists of libraries to link against are order dependent 2012-04-16 17:02:48 +00:00
Alex Cunningham c4f31ea273 Added function to set random seed for static RNGf 2012-04-13 15:42:12 +00:00
Alex Cunningham 08bacd544f Added make targets for creating binary/source packages for gtsam 2012-04-10 17:13:59 +00:00
Alex Cunningham 204b36fc05 Changes to make ROS hooks work with cmake 2012-04-01 22:21:07 +00:00
Alex Cunningham 8a65b270ae Rearranged build targets 2012-03-22 18:53:49 +00:00
Alex Cunningham e6d1c37ded Adjusting warning flags, added "verbose" make targets 2012-03-04 17:46:29 +00:00
Alex Cunningham a0e3fe4730 Added invert() to Ordering to enable decoding of linearized factors, changed all target back to use workspace build settings (such as not -j5) 2012-02-29 16:05:43 +00:00
Alex Cunningham 58b64da525 Added better printout of configurable cmake options at the end of configuration 2012-02-29 04:11:48 +00:00
Alex Cunningham b5bb607a44 Added constructors to Values from filtered views 2012-02-27 21:05:05 +00:00
Alex Cunningham 64ca0df5df Rerranged make targets, added back missing cmake option 2012-02-24 21:35:36 +00:00
Richard Roberts 84f5d87b52 Reworked Values filtering to use boost range, so much less code and simpler syntax 2012-02-24 16:45:48 +00:00
Alex Cunningham 565185da02 Added cmake targets, expanded on the Values filtering test 2012-02-22 15:58:06 +00:00
Richard Roberts b9dd42d7af Project file 2012-02-21 22:18:40 +00:00
Richard Roberts 3bd1aa13fc Started print formatter 2012-02-20 17:02:59 +00:00
Richard Roberts 4e008377bd Updated project (testing) 2012-02-15 15:31:28 +00:00
Alex Cunningham 0409c1c7ee Adding faster compilation options for distribution in CMake 2012-02-14 18:03:29 +00:00
Alex Cunningham 9856a7c7aa Removing extraneous make targets 2012-02-13 21:37:10 +00:00
Richard Roberts 0d2a9018e3 Merged sub-branch into 2.0_prep branch 2012-02-08 22:05:24 +00:00
Richard Roberts 7e72051814 Trying to debug serialization error 2012-02-03 17:27:31 +00:00
Alex Cunningham c901ceee27 wrap: forward declarations now allow for namespaces 2012-02-01 15:19:34 +00:00
Alex Cunningham c43a9b4852 Added a variety of options to the cmake build, working on automating wrap execution/install 2012-01-31 19:59:15 +00:00
Alex Cunningham ec1053bfc2 Wrap now works in cmake 2012-01-31 05:28:05 +00:00
Alex Cunningham 910beebb8f Added wrap to build, assorted cleanup 2012-01-31 05:28:03 +00:00
Alex Cunningham 03b4743e7a Removed unnecessary cpp file in vSLAMexample, added CMake support for examples, used static linking to the real gtsam for tests 2012-01-31 05:28:02 +00:00
Alex Cunningham e45514e858 added tests folder to cmake build, fixed testSerialization due to namespace changes, set up linking with boost 2012-01-31 05:28:00 +00:00
Alex Cunningham 927ac34014 Now builds full gtsam library 2012-01-31 05:27:58 +00:00
Alex Cunningham a454d0cdf6 Rest of library and tests now build 2012-01-31 05:27:56 +00:00
Alex Cunningham c3030d175f geometry now builds with convenience targets and libraries 2012-01-31 05:27:54 +00:00
Alex Cunningham 623299e874 base targets now work 2012-01-31 05:27:52 +00:00
Alex Cunningham d8de7ce62c base works 2012-01-31 05:27:50 +00:00
Alex Cunningham 67aa0bf63d Fixed compile problems with NonlinearOptimizationParameters, removed redundant typedef 2012-01-29 01:24:27 +00:00
Alex Cunningham ac5d539afb Added SRI's Find cmake scripts and small comment changes in other cmake scripts 2012-01-27 20:28:13 +00:00
Frank Dellaert 2429aab681 combined check/install target 2012-01-22 20:21:37 +00:00
Frank Dellaert b1e6f3c526 new linear class: Gaussian Density 2012-01-22 06:27:14 +00:00
Frank Dellaert a209741e60 Additional Kalman filter constructor takes covariance 2012-01-17 20:04:37 +00:00
Alex Cunningham ea1ef1fa85 removed doc make target 2012-01-15 21:42:39 +00:00
Alex Cunningham 94cbee4208 Updated expected toolbox code to match updated states 2012-01-15 19:09:34 +00:00
Frank Dellaert 9b5ac235e2 Optimized StereoCamera.project derivative 2012-01-08 05:09:11 +00:00
Frank Dellaert a032a93cf7 Optimized CalibratedCamera.project derivative 2012-01-08 04:06:29 +00:00
Frank Dellaert 1813942b6b added a timing script for Pose3 2012-01-07 21:09:03 +00:00
Alex Cunningham 38afd1cf47 Added more targets for release version 2012-01-06 17:01:21 +00:00