5bcc3d922c
Just always store transpose? Problem with optional was that the *empty* optional was copied from the Values, so we gained nothing.
...
However, this is expensive space-wise (double), and optimizes for a particular usage of Rot3, so does not seem good practice (see stack overflow discussion, as well). But the alternative is cumbersome.
2014-10-15 14:28:47 +02:00
c4bf680e96
Cached Rot3::transpose(). Inspired by @cbeall3 fix of Unit3, I realized that with one million points and 1000 cameras, the same Matrix3 (R_.transpose()) was computed a 1000 more times than needed. Especially with quaternions this would be expensive, even with Rot3Q.
2014-10-15 11:51:41 +02:00
2092705d12
Allow for other Eigen matrix types
2014-10-15 00:27:43 +02:00
027759300d
size_t argument for check
2014-10-14 11:13:09 +02:00
0c7ea68f2f
Now overwriting linearize as preparation for direct VericalBlockMatrix
2014-10-11 17:05:53 +02:00
84987aa351
Deal with Rot3 changes
2014-10-07 19:35:20 +02:00
e1c9ae95cb
Some fixed matrices
2014-10-07 19:35:06 +02:00
b704b7b1a1
Faster versions
2014-10-07 19:34:45 +02:00
8b37da54c9
between copy/paste :-(
2014-10-07 01:20:57 +02:00
467c94a01a
Fixed Jacobian version (copy/paste!)
2014-10-07 01:01:00 +02:00
0a6fe0f0a8
No more default argument
2014-10-07 00:44:40 +02:00
be3d39b395
Documentation
2014-10-07 00:31:48 +02:00
e289539312
New matrix definitions
2014-10-07 00:31:13 +02:00
399bf7c993
dimension
2014-10-07 00:30:42 +02:00
885a9235a6
Definition now in Matrix.h
2014-10-07 00:30:24 +02:00
a38ac5a107
More fixed-size definitions
2014-10-07 00:29:43 +02:00
ea40de6758
Fixed Jacobian versions
2014-10-06 21:37:05 +02:00
e48b38ca21
Fixing uncalibrate (does not yet compile)
2014-10-06 15:45:26 +02:00
f9695f058e
Fixed size matrix in project_to_camera
2014-10-06 14:22:49 +02:00
63d87e6497
resize is slightly more efficient
2014-10-06 12:54:40 +02:00
f887ca47b9
make_shared is a tad faster
2014-10-06 12:13:24 +02:00
930c77642e
Made tarnsform_to derivatives about twice as fast. Biggest culprit is still malloc.
2014-10-06 12:12:54 +02:00
90bc8349d5
Added reserve as suggested by Richard
2014-10-06 11:09:39 +02:00
e061143095
norm derivatives
2014-10-03 11:38:38 +02:00
df17758469
Assume H pre-allocated as usual, and *move* Jacobians to avoid allocations
2014-10-02 13:30:16 +02:00
8a196eb86e
A zero noiseModel_ never worked for NoiseModelFactor, regularizing this by explicit check
2014-10-02 11:01:14 +02:00
1dddb4046a
Comment only
2014-10-02 09:44:29 +02:00
2d76f200ce
Fixed compile error
2014-10-01 14:10:27 +02:00
c01c756d69
Created implementation file for NonlinearFactor and moved non-templated code there
2014-10-01 13:14:55 +02:00
2d29076187
Added Lie check
2014-09-29 12:05:46 +02:00
d02b5c4890
Cherry-picked: Added list_of.hpp dependence and fixed header order in doing so...
2014-09-23 11:42:53 +02:00
20b9c31465
The range adaptor scheme did not work for std::map TERMS in creating a JacobianFacor. Hence, I removed it - which I think is more readable - and replaced it with an explicit creationg of dimensions. I also added a test with std::map, which works.
2014-09-21 13:58:45 +02:00
3046d52d6e
Fix bugs in metis re building on Windows. Mostly version issues were new c math functions were redefined poorly in gklib and metis.
2014-09-18 10:45:01 -04:00
f9f6fadba4
Updating code documentation per issue #114
2014-09-15 11:52:40 -04:00
70956bb447
minor fixes for clang in C++11 mode on Mac
2014-09-08 15:52:07 -04:00
5bc4810dcb
Correcting bug fixes for Visual Studio. See bb issues #115,116,118 for more information
2014-09-08 15:19:54 -04:00
aacd3484c7
bug fix: different pose covariance structure between g2o (t,R) and gtsam (R,t)
2014-09-04 10:07:28 -04:00
8444680e6e
fixed unit test
2014-09-03 20:20:06 -04:00
08a6bff803
fixed issues in dataset and added comments
2014-09-03 20:18:46 -04:00
544e56f634
added examples
2014-09-03 15:40:57 -04:00
316ce41a22
removed comments
2014-09-03 15:31:30 -04:00
b19e758f5a
no test failures
2014-09-03 15:30:41 -04:00
103d2a8ae9
working unit tests
2014-09-03 15:23:35 -04:00
35d5b56b65
still debugging
2014-09-02 20:56:36 -04:00
8384c37179
fixed 1 unit test
2014-09-02 20:17:31 -04:00
366101176c
added initial failing unit test
2014-09-02 18:50:23 -04:00
15abbc484b
setting up the gradient method
2014-09-02 18:38:12 -04:00
f6adeb8fff
working example
2014-08-25 16:36:58 -04:00
330fbd730e
fix failing unit test (mac)
2014-08-22 10:40:16 -04:00
3bb9b38c1f
add "between" so Cal3_S2 can be used with BetweenFactor
2014-08-20 13:05:14 -04:00
dellaert
Andrew Melim
cbeall3
Luca