b895760404
reenable veclib include path
2010-03-17 18:03:54 +00:00
0a48b45b12
Added insertSub() to tupleconfig to allow the insertion of a subtype of config at once.
2010-03-17 16:24:22 +00:00
1f6990635c
removed gsl code, fixed flags for inclusion of blas
2010-03-17 13:23:01 +00:00
b8167a1788
Changed blas inclusion to be smarter about what os is used, removed old GSL code
2010-03-17 13:19:48 +00:00
d5262135f4
1. to link with mac veclib, the compiler needs -DYA_BLAS, I changed matrix.cpp to handle both YA_BLAS and the linux's CBLAS flag
...
2. so the current plan is that linux just enables USE_BLAS_LINUX in configure.ac, and macos enables USE_BLAS_MACOS. Those two should be independent given USE_BLAS passed by the user when calling configure.
2010-03-16 21:16:36 +00:00
276c027ef3
Added mechanism to check for blas functionality.
2010-03-16 13:06:24 +00:00
ae98bb72fe
Added define for CBLAS to the mac version so that blas functions are actually used
2010-03-16 12:51:05 +00:00
5b86f2777b
added USE_BLAS_MACOS and changed old USE_BLAS to USE_BLAS_LINUX to make ublas compilable on mac
2010-03-15 20:10:36 +00:00
942893ebca
move trylambda before printing all the configs
2010-03-15 18:38:08 +00:00
a1273a91fc
Integrated blas into gtsam using autotools
2010-03-15 18:17:43 +00:00
3a5aeeeb0d
added test for insert function in TupleConfig that takes other configs
2010-03-15 16:34:40 +00:00
503fe46306
changed template argument names
2010-03-12 22:00:55 +00:00
10af1930bb
Eiffel datasets
2010-03-12 21:56:14 +00:00
00ac961c8a
I changed the name of SubgraphPCG to SubgraphSolver and put it in its own compilation unit
2010-03-12 19:19:21 +00:00
f217a5bd8a
I reverted back to the old expmap in Pose3 :-( It does not work well for Urban, and now it turns out Yong-Dian has problems, too. It seems there is still something that we do not quite understand about the whole Lie group optimization business. If you want to run with the new expmap, define CORRECT_POSE3_EXPMAP
2010-03-12 19:16:53 +00:00
91f020fee1
fixed namespaces
2010-03-12 18:52:04 +00:00
a4c769fddc
Added serialization to Pose2
2010-03-12 14:20:29 +00:00
26304b749a
MAJOR: I made the correct Pose3 expmap the default. It turns out that all but the transform_to derivatives were in fact correct (and I fixed transform_to based on new math in math.lyx), but there was still a wrong expmap and logmap in the header file that I forgot about. I now moved those the te cpp file. The new code, which executes a correct "screw motion" for the exponential map, is now linked in by default. If you want the old, incorrect behavior, configure with FASTER_BUT_INCORRECT_EXPMAP defined. Note that the old code is faster per expmap, but *converges* faster (and to a deeper minimum) and hence is faster overall in many cases.
2010-03-11 21:52:24 +00:00
b4a9ad2a9c
images
2010-03-11 21:48:01 +00:00
1cba03a490
Always do BOOST_FOREACH with a reference if you can! In this case, made a noticeable difference in performance by avoiding hundreds of thousands of mallocs.
2010-03-11 21:40:56 +00:00
84c25b2346
inverse action, much nicer
2010-03-11 21:39:44 +00:00
67fb7fa9ff
in-place house vector (was about 10% of all mallocs in Urban)
2010-03-11 15:04:31 +00:00
b726e8e5e2
typos
2010-03-11 13:45:39 +00:00
cf28e3ab04
Removed unused TupleConfigEnd global expmap and logmap as they were causing function resolution problems
2010-03-10 16:30:00 +00:00
d149afbec2
Adding lambdaMode flag - defaults to BOUNDED (bounds lambda at 1e5), CAUTIOUS is currently broken.
2010-03-10 16:27:38 +00:00
fb1396d1c3
zero method
2010-03-10 00:21:01 +00:00
e10938688e
removed dim_ (which was buggy) and added zero
2010-03-10 00:20:12 +00:00
0f78d861ad
version I gave to Jean Gallier
2010-03-10 00:12:05 +00:00
266ad062fe
added empty method
2010-03-09 22:26:24 +00:00
fd863fa7ac
added calibrate function which transforms image coordinates to intrinsic coordinates and added a unit test to check the validity
2010-03-09 22:23:33 +00:00
bfd5b5ab5d
remove tree files
2010-03-08 20:35:35 +00:00
9aa76cfcbd
0-based index bug fix
2010-03-08 18:45:22 +00:00
536dfd5ea1
fix calibrated camera
2010-03-08 15:43:35 +00:00
74f8102d29
Fixed warnings
2010-03-08 14:06:07 +00:00
d478767d4d
righ-hand-side
2010-03-08 03:56:49 +00:00
920d86ce35
Both GaussNewton and LM now exit immediately if initial error<absoluteThreshold, and pront out a messsage saying that if verbisty>=ERROR
2010-03-07 17:51:46 +00:00
d4447cbe48
inserted figures
2010-03-07 17:50:27 +00:00
e9ea8b426a
fixed a bug in equals
2010-03-07 06:29:23 +00:00
9b93731ed9
removed caching of size and dim in PairConfig as it was buggy
2010-03-07 06:16:49 +00:00
2f72d585c5
be a bit more verbose
2010-03-07 00:10:02 +00:00
3e2924a5bf
Uncommented some testSQP tests, which do work
2010-03-06 22:51:03 +00:00
7c3dbf164e
Fixed bug in ternary functions
2010-03-06 17:27:01 +00:00
294c7d806e
Changed Doxyfile to make graphviz images - needs to have graphviz installed
2010-03-06 02:43:21 +00:00
3cf36f4aee
Added remaining terms for derivatives of ternary factors
2010-03-05 22:27:57 +00:00
0eed38c7a0
VisualSLAM Graph is now a class and has convenience functions. These function as documentation (autocompletion and the like) and I think we should also have this style in addition to the generic add.
2010-03-05 15:48:01 +00:00
5ef0400e06
put Factorization class in its own file, and added checks in constructors that take shared pointers, so we get some more meaningful output rather than *segmentation error*
2010-03-05 15:09:09 +00:00
fccbaa2d6f
right folders
2010-03-05 05:41:21 +00:00
45b2eef13f
Adjoint
2010-03-05 03:02:23 +00:00
abf7758374
now datasets are in CitySALM/data/XXXX/xxxx.graph
2010-03-05 02:58:59 +00:00
43df7375c0
add helper functions
2010-03-05 00:55:36 +00:00
Kai Ni
Alex Cunningham
Frank Dellaert
Manohar Paluri
Richard Roberts
Viorela Ila
Yong-Dian Jian