159f9eee1e
Added SmartProjectionFactorExample_kitti.cpp.
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Currently loads kitti dataset after processing by VO code (stereo_factors.txt and camera_poses.txt)
Creates graph after N landmarks have been seen, runs it through SmartProjectionFactor
Verification of output is still needed; LM seems to optimize but poses don't seem to change.
2013-08-08 03:11:42 +00:00
f423d6f2a8
SmartProjectionFactor: More cleanup, added more tests, added some timing
2013-08-07 23:32:40 +00:00
6556fb5b1e
Fixed a couple errors and warnings
2013-08-07 21:57:25 +00:00
4d357fd639
Fixed small issue with ambiguous function
2013-08-07 19:58:58 +00:00
410d8773eb
Added comments with instructions for choosing a different version of boost
2013-08-07 18:58:36 +00:00
d33f435eab
Added BetweenFactorEM with 2 indicator variables.
2013-08-07 15:25:00 +00:00
2b1a533477
Fixing issues with boost::assign
2013-08-07 13:29:35 +00:00
c2f5adc7d0
Cleaned up code: Removed commented out code, added debug condition
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If debug is enabled, both blockwise and full implementations are performed and then compared
2013-08-07 13:05:08 +00:00
c0ccec4656
Working on ISAM2
2013-08-07 02:56:39 +00:00
981148a92d
Created branch /branches/unordered-isam2 from /branches/unordered:18052
2013-08-07 02:55:32 +00:00
7aa1c61dcd
Fixed problem is JacobianFactor combine with zero-row factors
2013-08-06 23:55:38 +00:00
b2b7b0b3f3
Fixing more compile problems: Switched BayesTree-inst.h function to use a functor struct rather than an address of a template function - seems to compile. Small include fixes elsewhere
2013-08-06 20:21:43 +00:00
375f7c16e6
Working on fixing ISAM
2013-08-06 19:56:48 +00:00
89310ceb09
Syntax
2013-08-06 19:56:45 +00:00
6fc1464d7b
print Point3 in matlab's column vector style
2013-08-06 18:49:03 +00:00
e2f8dd866d
Merge branch 'svn/trunk'
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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
b0c25f2668
Split timing benchmark that had appeared inside a test to a separate timing script
2013-08-06 18:30:27 +00:00
43ebc2c55e
Upgraded Eigen to the new release: 3.2.0
2013-08-06 18:24:06 +00:00
b823354e44
Exclude null factors from remaining factors when building elimination tree
2013-08-06 18:21:54 +00:00
22aaf47e3d
Turns out GaussianConditional-inl.h was needed after all
2013-08-06 18:16:25 +00:00
2d60d2cdfa
Fixed more unit tests
2013-08-06 18:04:40 +00:00
18b71ef110
Fixed some unit tests
2013-08-06 18:04:37 +00:00
49e93a71b0
No noise model in smallExample
2013-08-06 18:04:36 +00:00
b3428881bd
Fixed key formatting
2013-08-06 18:04:35 +00:00
cee0a234ac
Fixing compile problems
2013-08-06 17:50:50 +00:00
dde245ef3b
Merging
2013-08-06 17:50:49 +00:00
db287b0d73
Fixing compile problems
2013-08-06 17:50:47 +00:00
4a7308844f
Added fixme comment
2013-08-06 17:50:46 +00:00
cfcb27802a
Added flag "-std=c++11" so that system would compile with gcc
2013-08-06 17:50:45 +00:00
69d87d2de3
Added fix for issue with TBB library finding (with Richard)
2013-08-06 17:50:45 +00:00
e1991ff49c
Fixed warnings
2013-08-06 17:36:05 +00:00
9fbb86165e
Fixed NoiseModelFactor constructors
2013-08-06 17:36:04 +00:00
8ae920d85a
Fixed matrix/noise model sizes in JacobianFactor::splitConditional after constrained QR
2013-08-06 17:36:03 +00:00
1424c01fa9
Renamed all typedefs of specific EliminationTraits to EliminationTraitsType to avoid name problem on GCC
2013-08-06 17:09:20 +00:00
0fb15c7ec6
Fixed another problem in HessianFactor merge constructor
2013-08-06 17:09:16 +00:00
6bf6cc8bdd
Point3 and Rot3 dexpInvL
2013-08-06 16:26:35 +00:00
3fbc0c739f
Fix in testGaussianBayesTree
2013-08-06 16:18:09 +00:00
c5b0e14b12
Removed files that turned into directories
2013-08-06 16:17:00 +00:00
9c160e1def
Removed files that turned into directories
2013-08-06 16:16:45 +00:00
cd40e6c450
Removed files that turned into directories
2013-08-06 16:16:23 +00:00
ea400a8e59
Removed files that turned into directories
2013-08-06 16:16:10 +00:00
cfc065acc1
Removed files that turned into directories
2013-08-06 16:16:02 +00:00
77f0f0f5f6
Disabled testSerializationSLAM for the time being
2013-08-06 16:10:13 +00:00
b6c404ff79
Fix in BayesTree shortcuts
2013-08-06 16:10:12 +00:00
61fe49ab7e
Added EliminateableFactorGraph::marginal and eliminatePartialSequential with vector of keys instead of ordering
2013-08-06 16:10:11 +00:00
972695da3a
Bug fix in Hessian combine constructor
2013-08-06 16:10:10 +00:00
8bd19e5ef8
Added Ordering::COLAMDConstrainedFirst function
2013-08-06 16:10:08 +00:00
81b9fc33b7
in diag with matrices: initialize the result with zeros first.
2013-08-06 15:35:37 +00:00
bcae0afd31
Putting sub matrices along the diagonal of a big matrix. dexpL for Rot3 and Point3
2013-08-06 14:24:10 +00:00
5692fb5e98
Fixed HessianFactor combining into dense factor with ordering
2013-08-06 13:44:50 +00:00
Zsolt Kira
Richard Roberts
Alex Cunningham
Vadim Indelman
Duy-Nguyen Ta