Paul Drews
|
99fce3f5af
|
Added a few tests
|
2015-06-11 19:55:10 -04:00 |
|
Paul Drews
|
76ffc45ee7
|
Merged 'develop'.
Conflicts:
gtsam_unstable/geometry/Similarity3.cpp
gtsam_unstable/geometry/Similarity3.h
|
2015-06-11 19:54:54 -04:00 |
|
Paul Drews
|
f6ac546cc3
|
Added comparison to brute force matrix exponential
|
2015-06-11 13:56:35 -04:00 |
|
Paul Drews
|
5ceb7d9ddc
|
Fully implemented logmap/expmap, which are used for retract/localCoordinates
|
2015-06-10 16:36:56 -04:00 |
|
Paul Drews
|
0d5f0510ab
|
Expmap and Logmap, still incorrect around identity
|
2015-06-10 11:01:34 -04:00 |
dellaert
|
d385984f26
|
Working compose/between/inverse derivatives
|
2015-05-26 01:08:27 -07:00 |
|
dellaert
|
d060d4621e
|
PoseRTV is now implemented using ProductLieGroup
|
2015-05-25 23:50:00 -07:00 |
|
dellaert
|
9d522c72f3
|
internal::LieGroup needed if you also want Testable traits
|
2015-05-25 22:04:04 -07:00 |
|
dellaert
|
b23a51db6d
|
PoseRTV as ProductManifold works
|
2015-05-25 17:13:08 -07:00 |
cbeall3
|
f8ab4ef144
|
Change SimpleCamera from typedef back to regular class to make wrapping+serialiation work. Had to change some templates because vector<PinholeCamera> can't be upcast to vector<SimpleCamera>
|
2015-05-18 14:33:27 -04:00 |
|
dellaert
|
79d20b6c44
|
GTSAM-style formatting
|
2015-05-13 23:44:46 -07:00 |
Abe
|
13a4da21b2
|
misc bugfixes and cleanup from skydio
|
2015-05-13 22:26:24 -07:00 |
|
Frank Dellaert
|
e456923a74
|
Merged in feature/SimplerExpressions (pull request #135)
Expressions without MPL
|
2015-05-13 00:36:49 -07:00 |
Frank
|
057aef90d9
|
Fixed some more warnings on Ubuntu
|
2015-05-12 15:05:34 -07:00 |
|
Frank
|
4ba329c23b
|
Fixed many warnings on Ubuntu
|
2015-05-12 13:46:24 -07:00 |
|
dellaert
|
4f846ff75f
|
No more boost::mpl needed for Expressions
|
2015-05-12 01:33:33 -07:00 |
|
dellaert
|
81b3860991
|
Moved all internal data structures to internal namespace
|
2015-05-11 21:19:40 -07:00 |
|
dellaert
|
13dcc977f2
|
Moved Point2Vector wrapper from gtsam_unstable.h to gtsam.h
|
2015-05-03 17:31:08 -07:00 |
|
Chris Beall
|
b52ced7a09
|
Merged in fix/serialization_warnings (pull request #128)
Fix some unused variable warnings in the serialization code.
|
2015-04-20 15:00:45 -04:00 |
nsrinivasan7
|
a4fac2ab62
|
added cout style print statements for similarity
|
2015-04-12 15:38:40 -04:00 |
|
cbeall3
|
ea6f5e3fb9
|
Use TriangulationParameters
|
2015-04-08 21:36:11 -04:00 |
|
cbeall3
|
762a7b7435
|
Remove selective relinearization and state
|
2015-04-08 17:52:25 -04:00 |
|
cbeall3
|
51482ea358
|
Remove template parameter D, get from Base::Dim instead
|
2015-04-08 14:21:40 -04:00 |
|
dellaert
|
956b53dc3b
|
Fixed sign in stereo version
|
2015-03-12 09:51:44 -07:00 |
|
dellaert
|
2bdeac30f0
|
Fixed compile error w PointCov
|
2015-03-12 07:56:47 -07:00 |
|
dellaert
|
a4d1874af4
|
Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3
|
2015-03-09 17:51:16 -07:00 |
|
dellaert
|
faadf5b06f
|
Fully compiles now
|
2015-03-06 08:48:35 -08:00 |
Thomas Schneider
|
472821f16d
|
Merge remote-tracking branch 'upstream/develop' into fix/serialization_warnings
|
2015-03-06 17:10:59 +01:00 |
|
Thomas Schneider
|
ebf5746987
|
Fix some serialization warnings.
|
2015-03-06 16:12:09 +01:00 |
|
Chris Beall
|
3be6b16995
|
relax threshold from 1e-7 to 1e-6 to make test pass.
|
2015-03-06 00:32:43 -05:00 |
|
dellaert
|
758aab6e80
|
Cleaned up test
|
2015-03-05 10:41:49 -08:00 |
|
dellaert
|
b40c0f7f15
|
Fixed sign
|
2015-03-05 10:36:03 -08:00 |
|
dellaert
|
dc3d5f77fe
|
Extra stereo tests
|
2015-03-05 10:35:54 -08:00 |
|
dellaert
|
e6a90db2d5
|
Migrated to non-keyed Fblocks
|
2015-03-04 23:11:01 -08:00 |
|
dellaert
|
f28b083c14
|
Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3
Conflicts:
gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
|
2015-03-04 16:02:25 -08:00 |
|
dellaert
|
74605df641
|
Re-ordered methods in .h and .cpp to match them
|
2015-03-03 07:42:31 -08:00 |
|
dellaert
|
d8822e5b57
|
H1 works for rot/translation, but not scale :-(
|
2015-03-02 21:58:54 -08:00 |
|
dellaert
|
728991e31f
|
Fixed H2
|
2015-03-02 21:08:57 -08:00 |
|
dellaert
|
05198c091e
|
comment
|
2015-03-02 21:08:41 -08:00 |
|
dellaert
|
e0e5590856
|
matrix() returns 4*4 matrix \in GL(4)
|
2015-03-02 21:08:23 -08:00 |
|
dellaert
|
6bfda9fcba
|
Added prototype derivatives for transform_from
|
2015-03-02 20:34:56 -08:00 |
|
dellaert
|
fcd00450d3
|
Formatting, use Point3/Rot3, resolved link error of operator*(Point3)
|
2015-03-02 20:09:44 -08:00 |
|
dellaert
|
1e58c0b0a2
|
Comments and standard BORG formatting
|
2015-03-02 19:34:33 -08:00 |
|
Frank Dellaert
|
b2dcf35e77
|
Merged in feature/Similarity (pull request #117)
Sim3 Support
|
2015-02-26 23:33:37 +01:00 |
|
Paul Drews
|
6faa881de6
|
Make the code prettier.
|
2015-02-26 15:10:59 -05:00 |
|
dellaert
|
a375e7b5be
|
RADICAL2: The SmartProjectionPoseFactor (soon to be renamed SmartPinholePoseFactor, if it survives at all) now no longer stores shared calibrations. Values expect to contain PinholePoses not Pose3s now. The current state of affairs was simply a bug: one pose could be optimized for several different calibrations. It relied on the user to make sure all measurements for a specific pose to optimize were all given the same shared calibration, which was then stored *millions of times* in the pose factors. Instead, there is now *one* shared calibration per PinholePose unknown.
|
2015-02-26 13:55:16 +01:00 |
|
dellaert
|
a132d959f5
|
RADICAL: Got rid of sensor_pose. In the new PinholePose philosophy, this is entirely the responsibility of the CAMERA. Just like PinholePose, we can have a camera class that has a shared extra transform: it is part of the calibration. PinholePose itself is not able to do this, as the calibration is assumed 2D only, but it's easy to create a class and have the correct derivatives in place.
|
2015-02-26 12:06:43 +01:00 |
|
dellaert
|
0bf95ae7f6
|
Removed obsolete code, including slow Schur-complement versions
|
2015-02-26 11:44:51 +01:00 |
|
dellaert
|
fd71974ff3
|
Got mostly rid of computeEP: just a call to cameras.project2
|
2015-02-25 20:52:16 +01:00 |
|
dellaert
|
850470ef06
|
rename of computeJacobians overloads to better reflect functionality
|
2015-02-25 19:30:17 +01:00 |
|
Paul Drews
|
abfcfa1a17
|
Merged 'develop'.
|
2015-02-25 11:00:46 -05:00 |
|
Paul Drews
|
9991ae04f3
|
Fixed unit tests
|
2015-02-25 10:59:25 -05:00 |
|
Paul Drews
|
8a88f101db
|
Fix deprecation warnings
|
2015-02-24 21:58:17 -05:00 |
|
dellaert
|
d7b5156dcc
|
rename to reprojectionErrorAfterTriangulation
|
2015-02-25 01:14:36 +01:00 |
|
dellaert
|
eb28d0ffa8
|
Restored reprojectionErrors -> reprojectionError
|
2015-02-24 14:09:35 +01:00 |
|
dellaert
|
d6f54475c3
|
BIG change: SmartFactorBase and SmartProjectionFactor now templated on CAMERA
|
2015-02-23 12:43:43 +01:00 |
|
dellaert
|
64bb6b77d7
|
Merged in feature/SmartCT (pull request #107)
Refactoring of Smart Factors
|
2015-02-22 06:14:19 +01:00 |
zhaoyang
|
1d81572894
|
Capitalize static methods in ordering.h
This commit involves the API change. Related files in gtsam have been changed. All the tests examples run without issue.
|
2015-02-21 13:16:03 -05:00 |
|
Paul Drews
|
b53c26c934
|
Merge remote-tracking branch 'origin/develop' into feature/Similarity
Conflicts:
.cproject
|
2015-02-20 00:36:52 -05:00 |
|
Paul Drews
|
f9ccd23d4a
|
Refactored into class and unit test
|
2015-02-19 01:21:20 -05:00 |
|
Paul Drews
|
42d8e1fcb2
|
Working Sim3 Transform
|
2015-02-13 09:06:08 -05:00 |
|
cbeall3
|
5afc3c4cea
|
again: overlooked Dim -> dimension because this factor has no unit test!
|
2015-01-28 16:48:12 -05:00 |
|
Paul Drews
|
db73a0dd1d
|
Working, with stub log/expmap and identity
|
2015-01-28 14:55:13 -05:00 |
|
Paul Drews
|
10b56a115c
|
Working Similarity3 transform with unit tests.
|
2015-01-26 13:38:32 -05:00 |
|
Paul Drews
|
c6b3535dda
|
retract works, local coordiantes still broken
|
2015-01-25 01:28:16 -05:00 |
|
Paul Drews
|
a87a3dd987
|
Rotation works, translation and scale incorrect
|
2015-01-24 22:42:48 -05:00 |
|
cbeall3
|
b1cea2bee7
|
overlooked Dim -> dimension because this factor has no unit test!
|
2015-01-23 14:29:25 -05:00 |
|
Paul Drews
|
d28ef19b9a
|
Merge remote-tracking branch 'origin/develop' into feature/Similarity
Partial update of Similarity to BAD
Conflicts:
.gitignore
|
2015-01-23 08:10:21 -05:00 |
|
Paul Drews
|
bade68fa33
|
Simple single prior optimization
|
2015-01-12 12:58:17 -05:00 |
|
Paul Drews
|
a88b10eacc
|
Working similarity3 transform with unit tests
|
2015-01-07 09:57:48 -05:00 |
|
Paul Drews
|
89460fe931
|
Unit tests still fail, but believed to be correct.
|
2015-01-02 09:02:43 -05:00 |
|
dellaert
|
e119846280
|
Updated examples and test
|
2014-12-28 19:10:41 +01:00 |
|
dellaert
|
c58f2c15dc
|
Moved to gtsam
|
2014-12-28 19:09:12 +01:00 |
|
dellaert
|
3587ad4e2c
|
Merge remote-tracking branch 'origin/develop' into feature/SoundSlam
Conflicts:
examples/SFMExampleExpressions.cpp
|
2014-12-28 18:53:09 +01:00 |
|
dellaert
|
7c455efe50
|
Made Event into new-style manifold
|
2014-12-28 18:24:00 +01:00 |
|
dellaert
|
2ee192e950
|
Fix header
|
2014-12-28 18:23:22 +01:00 |
|
dellaert
|
f9c353d4a5
|
Merge remote-tracking branch 'origin/develop' into feature/SoundSlam
Conflicts:
.cproject
gtsam/base/LieMatrix.h
gtsam/base/LieVector.h
gtsam/base/OptionalJacobian.h
gtsam/base/tests/testOptionalJacobian.cpp
gtsam/geometry/Cal3_S2Stereo.h
gtsam/geometry/CalibratedCamera.h
gtsam/geometry/PinholeCamera.h
gtsam/geometry/Point2.h
gtsam/geometry/Point3.h
gtsam/geometry/Pose2.cpp
gtsam/geometry/Pose2.h
gtsam/geometry/Pose3.cpp
gtsam/geometry/Pose3.h
gtsam/geometry/Rot2.cpp
gtsam/geometry/Rot2.h
gtsam/geometry/Rot3.cpp
gtsam/geometry/Rot3.h
gtsam/geometry/Rot3M.cpp
gtsam/geometry/Rot3Q.cpp
gtsam/geometry/Unit3.cpp
gtsam/geometry/tests/testRot3.cpp
gtsam/nonlinear/AdaptAutoDiff.h
gtsam/nonlinear/Expression-inl.h
gtsam/nonlinear/Expression.h
gtsam/nonlinear/tests/testExpression.cpp
gtsam/slam/RangeFactor.h
timing/timeAdaptAutoDiff.cpp
timing/timeCameraExpression.cpp
|
2014-12-28 17:45:41 +01:00 |
|
dellaert
|
9b5136d35c
|
Moved examples
|
2014-12-28 17:15:14 +01:00 |
|
dellaert
|
401ee70364
|
Fixed overload resoltion error in template matching by removing overloads in traits
|
2014-12-28 17:14:04 +01:00 |
|
dellaert
|
c4457682bc
|
Fixed header file
|
2014-12-28 17:13:20 +01:00 |
|
dellaert
|
a454327e7b
|
Moved include file
|
2014-12-28 16:44:32 +01:00 |
|
dellaert
|
111b9511ac
|
Moved timing files
|
2014-12-28 16:40:40 +01:00 |
|
dellaert
|
3ebcfc5ce0
|
make timing compiles
|
2014-12-28 16:37:54 +01:00 |
|
dellaert
|
097f0fb80d
|
Fix paths
|
2014-12-28 14:51:19 +01:00 |
|
dellaert
|
c8faa102e3
|
Moved EexpressionFactor related files to gtsam
|
2014-12-28 13:48:13 +01:00 |
|
dellaert
|
e5017984a1
|
traits_x -> traits
|
2014-12-26 16:47:51 +01:00 |
|
dellaert
|
aaf4588f20
|
Improved simple helicopter
|
2014-12-26 00:53:36 +01:00 |
|
dellaert
|
902e7e57e5
|
Fixing helicopter
|
2014-12-26 00:21:33 +01:00 |
thduynguyen
|
11858da42b
|
fix testSimpleHelicopter
|
2014-12-25 17:25:42 -05:00 |
|
dellaert
|
afe20d83bd
|
Dealing with Pose3 mojo loss
|
2014-12-25 20:04:28 +01:00 |
|
dellaert
|
47ff09f6c8
|
Pose3 lost its mojo! But there are errors in Expmap/Logmap derivatives around identity...
|
2014-12-25 19:43:32 +01:00 |
|
dellaert
|
5c0db68152
|
Fixed compile error from develop
|
2014-12-25 18:16:47 +01:00 |
|
dellaert
|
78386ad144
|
Merge ExmapeDerivative/LogmapDerivative changes from 'origin/develop' into feature/tighteningTraits
Conflicts:
gtsam/base/LieScalar.h
gtsam/geometry/Point2.h
gtsam/geometry/Point3.h
gtsam/geometry/Rot3.h
gtsam/geometry/Rot3M.cpp
gtsam/geometry/Rot3Q.cpp
gtsam/geometry/tests/testRot3.cpp
|
2014-12-24 13:55:15 +01:00 |
|
dellaert
|
d9f5681dc2
|
Fixed warning
|
2014-12-24 11:34:53 +01:00 |
|
dellaert
|
3d15868ece
|
Renamed internal::LieGroup -> internal::LieGroupTraits
|
2014-12-24 01:34:33 +01:00 |
|
dellaert
|
ea3b4624d8
|
Testable concept prereqs check
|
2014-12-23 14:56:48 +01:00 |
Mike Bosse
|
52ec4f0784
|
fixed serialization tests
|
2014-12-23 12:35:49 +01:00 |
|
dellaert
|
c6ae119414
|
Tightened what is needed for Lie, i.e., fewer versions of retract/localCoordinates
|
2014-12-22 23:42:52 +01:00 |
|
dellaert
|
f5c9c24330
|
Corrected sillyness
|
2014-12-22 23:41:42 +01:00 |
|
dellaert
|
355b938f3a
|
Point3 loses its mojo (superfluous Lie/Manifold stuff)
|
2014-12-22 17:22:45 +01:00 |
|
dellaert
|
5473550eea
|
Using traits in many places (forced by loss of Point2 mojo)
|
2014-12-22 16:02:33 +01:00 |
|
Mike Bosse
|
4a708c855f
|
fixed testExpressionFactor.cpp
|
2014-12-22 11:33:52 +01:00 |
|
Mike Bosse
|
a6f612844f
|
fixed testTSAMFactors.cpp
|
2014-12-22 09:39:51 +01:00 |
|
dellaert
|
06c3696176
|
Fixed more problems so everything compiles now after splitting up concepts into Group/Manifold/Lie/VectorSpace. Still 25 tests that fail.
|
2014-12-22 02:52:31 +01:00 |
|
dellaert
|
99a50a2f87
|
Split up concepts into Group/Manifold/Lie/VectorSpace. Also fixed some implementations and put in exceptions elsewhere, rather than CONCEPT_NOT_IMPLEMENTED macro.
|
2014-12-22 02:50:52 +01:00 |
|
dellaert
|
79d8514528
|
MASSIVE edit: made Testable its own concept, and moderinized Testable.h to use Testable traits. This required adding Testable traits in many classes.
|
2014-12-21 22:02:57 +01:00 |
|
dellaert
|
00b374c9e9
|
Merge remote-tracking branch 'origin/develop' into feature/tighteningTraits
Conflicts:
gtsam/base/LieScalar.h
gtsam/geometry/Point2.h
|
2014-12-21 14:39:23 +01:00 |
|
Mike Bosse
|
d0e1c1a770
|
test compiling!! but 34 tests failed out of 198
|
2014-12-20 20:36:54 +01:00 |
|
Mike Bosse
|
b7204b100d
|
PoseRTV
|
2014-12-20 20:22:34 +01:00 |
|
thduynguyen
|
b39d14872a
|
remove lpsolve
|
2014-12-16 11:27:20 -05:00 |
|
Mike Bosse
|
07bcc18d43
|
fixed testTSAMFactors
|
2014-12-15 23:23:40 +01:00 |
krunalchande
|
44477e12f2
|
Fixed initialization error for active_
|
2014-12-15 11:47:04 -05:00 |
Paul Furgale
|
c0e4f76d94
|
More manifolds...more numerical differentiation...more.
|
2014-12-14 18:59:57 +01:00 |
|
Paul Furgale
|
da4c44e12d
|
More progress
|
2014-12-14 15:26:43 +01:00 |
|
dellaert
|
2225c10fc0
|
use ExpressionFactorGraph
|
2014-12-13 08:35:22 +01:00 |
|
thduynguyen
|
48b08bd58e
|
more informative print for LinearInequality showing its active/inactive state
|
2014-12-13 01:04:46 -05:00 |
|
thduynguyen
|
c4b574774a
|
remove LinearConstraint. It is replaced by LinearEquality
|
2014-12-13 01:04:08 -05:00 |
|
krunalchande
|
da318184ae
|
sync with develop branch commit c1f048d
|
2014-12-12 18:46:54 -05:00 |
|
krunalchande
|
e539738fd0
|
Remove support for dual keys. Added finished() after all matrices and vectors. Remove buildDualGraph from GaussianFactorGraph. Remove support for multipliedHessians for non-linear equality constraints.
|
2014-12-12 17:23:31 -05:00 |
|
krunalchande
|
181bfb4f0f
|
Added support for compiling lpsolve on linux. Windows not tested
|
2014-12-12 17:21:07 -05:00 |
|
thduynguyen
|
e12add2739
|
Merged in develop (pull request #71). Resolve conflicts.
|
2014-12-12 15:34:53 -05:00 |
|
thduynguyen
|
593795f65b
|
use Eigen's predefined RowVector typedef
|
2014-12-12 12:51:19 -05:00 |
|
thduynguyen
|
ac6f10ea74
|
enforce RowVector as Jacobian for single-valued linear inequalities
|
2014-12-12 12:43:07 -05:00 |
|
thduynguyen
|
a26ef7b7a2
|
refactor QPSolver to work with single-valued linear inequality factors. Unit tests passed.
|
2014-12-12 12:03:00 -05:00 |
|
thduynguyen
|
6d68f5ffff
|
equality constraints are always active
|
2014-12-12 12:02:06 -05:00 |
|
thduynguyen
|
4f28eace7e
|
LinearInequality now only supports single-valued function. Add active/activate/inactivate function to use in the qp active set method.
|
2014-12-12 12:01:16 -05:00 |
|
Paul Drews
|
a7b8e60272
|
Unit test failure, either retraction or localCoordinates is wrong for rotation
|
2014-12-12 10:38:59 -05:00 |
|
Paul Drews
|
c6e4cd5e03
|
Operational Sim3 with basic unit tests
|
2014-12-12 10:12:58 -05:00 |
|
Paul Drews
|
69f27b9488
|
Additional unit test
|
2014-12-12 08:43:57 -05:00 |
|
dellaert
|
8f27b048f1
|
Moved experiment to doubleExpresso project
|
2014-12-12 08:53:32 +01:00 |
|
dellaert
|
541217175c
|
Added ExpressionFactorGraph (should go away with move of ExpressionFactor to gtsam)
|
2014-12-12 08:00:02 +01:00 |
|
dellaert
|
fa7071bdd8
|
Comments, renaming
|
2014-12-12 07:45:09 +01:00 |
|
dellaert
|
8cc813f03e
|
Removed misguided Factory attempt in favor of direct expressions
|
2014-12-12 07:31:33 +01:00 |
|
Paul Drews
|
8c4468185a
|
Take a stab at localCoordinates
|
2014-12-11 22:54:02 -05:00 |
|
dellaert
|
a9121fc3fc
|
Now it's super-easy to create priors on pieces of state.
|
2014-12-11 13:45:15 +01:00 |
|
dellaert
|
31ca0d76db
|
Added unary version
|
2014-12-11 13:44:47 +01:00 |
|
dellaert
|
cedf2647d2
|
Use handy dandy Factor Factory
|
2014-12-11 13:19:37 +01:00 |
|
dellaert
|
29dc382c22
|
Fixed small bug
|
2014-12-11 13:19:19 +01:00 |
|
dellaert
|
f588a3928a
|
Added handy dandy Factor Factory
|
2014-12-11 13:19:08 +01:00 |
|
dellaert
|
d37216cde3
|
TOAFactor header
|
2014-12-10 22:50:41 +01:00 |
|
dellaert
|
bb00e375da
|
Print for MATLAB
|
2014-12-10 21:44:56 +01:00 |
|
dellaert
|
dc84b6589e
|
Added in real experimental data gathered by Jay at KU Leuven
|
2014-12-10 21:12:38 +01:00 |
|
dellaert
|
d17caa5487
|
Event header and test file
|
2014-12-10 19:14:18 +01:00 |
|
dellaert
|
5d6e0bc753
|
Optimization test succeeds, but only with 5th microphone...
|
2014-12-10 19:00:52 +01:00 |
|
dellaert
|
2dcbc72d8d
|
Derivatives work !!!
|
2014-12-10 17:58:35 +01:00 |
|
dellaert
|
0ceb09262c
|
Put in prototype derivatives, needs unit test
|
2014-12-10 16:06:34 +01:00 |
|
dellaert
|
cca1a54544
|
Everything done, except derivatives !!!
|
2014-12-10 16:02:13 +01:00 |
|
dellaert
|
d54c70202a
|
TOAFactor compiles and can be put into a factor graph
|
2014-12-10 15:43:31 +01:00 |
|
dellaert
|
ba1a2685bc
|
Not-working yet, but lots of progress towards TOAFactor
|
2014-12-10 15:10:59 +01:00 |
|
dellaert
|
5ce007446d
|
Merge remote-tracking branch 'origin/develop' into feature/SoundSlam
Conflicts:
.cproject
|
2014-12-10 14:47:58 +01:00 |