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Author SHA1 Message Date
Duy-Nguyen Ta 7f19e2ea86 ImuFactor Jacobian test passed. 
Need to integrate at least two IMU measurements to get information on the position
 2015-09-15 11:14:45 -04:00
Duy-Nguyen Ta 704411de4e MonteCarlo test passed for body_P_sensor case. Unittests for Jacobians of updatedDeltaXij. Code to verify statistics and nonlinearity of generated samples. 2015-09-10 23:13:35 -04:00
Duy-Nguyen Ta f59c442fb3 non-isotropic diagonal noises to check the effect of body_R_sensor. Predefine seeds for random samplers 2015-09-10 23:07:45 -04:00
Duy-Nguyen Ta c9fae14a98 correct Jacobians for body_P_sensor case, including derivative for centripetal acc 2015-09-10 23:03:59 -04:00
Duy-Nguyen Ta e01fc2da03 use mt19937_64 generator 2015-09-10 22:59:44 -04:00
Frank Dellaert 8e2915c4f3 README.md edited online with Bitbucket 2015-09-04 18:14:13 +00:00
Duy-Nguyen Ta 9f91aedd6a test centrifugal derivative 2015-09-02 16:52:54 -04:00
dellaert 63ca5dcfb0 Merge remote-tracking branch 'origin/develop' into feature/Feature/FixedValues 
Conflicts:
	.cproject
	examples/Pose2SLAMExample_graph.cpp
	examples/SFMExample_SmartFactor.cpp
	examples/SFMExample_SmartFactorPCG.cpp
	gtsam.h
	gtsam/geometry/CameraSet.h
	gtsam/geometry/StereoCamera.cpp
	gtsam/geometry/StereoCamera.h
	gtsam/geometry/tests/testCameraSet.cpp
	gtsam/linear/RegularJacobianFactor.h
	gtsam/linear/tests/testRegularJacobianFactor.cpp
	gtsam/nonlinear/ExpressionFactor.h
	gtsam/nonlinear/expressions.h
	gtsam/slam/JacobianFactorQR.h
	gtsam/slam/JacobianSchurFactor.h
	gtsam/slam/RegularHessianFactor.h
	gtsam/slam/RegularImplicitSchurFactor.h
	gtsam/slam/SmartFactorBase.h
	gtsam/slam/SmartProjectionFactor.h
	gtsam/slam/SmartProjectionPoseFactor.h
	gtsam/slam/tests/testRegularHessianFactor.cpp
	gtsam/slam/tests/testRegularImplicitSchurFactor.cpp
	gtsam/slam/tests/testSmartFactorBase.cpp
	gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
	gtsam_unstable/examples/SmartProjectionFactorExample.cpp
	gtsam_unstable/examples/SmartStereoProjectionFactorExample.cpp
	gtsam_unstable/slam/SmartStereoProjectionFactor.h
	gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
	gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp
 2015-08-31 21:06:37 -07:00
Chris Beall c73b835848 Merged in feature/smartFactorNoiseCleanup (pull request #183) 
SmartFactor noise model in constructor
 2015-08-27 12:44:09 -04:00
dellaert a4e58d06e7 Tighter bounds 2015-08-26 20:19:26 -07:00
cbeall3 92e210b893 Fix examples and Matlab wrapper 2015-08-26 13:25:12 -04:00
cbeall3 29ad9478f7 Move noise model initialization from add function into constructor. Can only have one noise model per factor anyway 2015-08-26 13:02:39 -04:00
cbeall3 0503df31fa Relax tolerance to 1e-6 for MKL/quaternion test, and fix up documentation a bit. 2015-08-25 12:14:52 -04:00
Chris Beall 6a5147b5b5 Merged in fix/SmartStereo (pull request #181) 
Fix/smartstereo
 2015-08-25 09:51:59 -04:00
dellaert 08fcf65eb7 Merge remote-tracking branch 'origin/develop' into feature/cleanup_ImuFactor 2015-08-24 15:16:26 -07:00
dellaert cf5f859679 Boost optional for sensor pose 2015-08-24 15:15:57 -07:00
Frank Dellaert 9e71ad793b Merged in enriquefernandezperdomo/gtsam/add_dcs_robust_kernel (pull request #180) 
Add DCS robust kernel
 2015-08-21 13:41:31 -07:00
Christian Forster 3ce789e577 Fix computation of bias covariance from continous-time noise density (issue #252). 2015-08-21 18:00:00 +02:00
Enrique Fernandez b9c63ef5df Fix and optimize DCS 2015-08-20 16:03:56 -04:00
Enrique Fernandez 44ae7bfe01 Fix generalized Geman-McClure 2015-08-20 16:03:56 -04:00
Enrique Fernandez 6cdc1de268 Use fabs in Huber condition 2015-08-20 15:45:12 -04:00
cbeall3 8b4228fa56 Make smart parameters public. Now easier to set, and it's sufficient for this to be const within the smart factor itself! 2015-08-19 10:58:35 -04:00
cbeall3 c8df985e2f Relax test tolerance a bit for quaternion mode 2015-08-19 07:30:14 -04:00
cbeall3 1727b60728 Fixed and cleaned up unit test 2015-08-19 00:11:35 -04:00
Enrique Fernandez 47d787b478 Add DCS & Geman-McClure unit tests 2015-08-18 22:46:36 -04:00
Enrique Fernandez 2969d61519 Add Geman-McClure robust kernel 2015-08-18 22:46:36 -04:00
Enrique Fernandez 7d256ff2fb Add DCS robust kernel 
DCS (Dynamic Covariance Scaling) from Robust Map Optimization (Agarwal13icra)
 2015-08-18 22:46:36 -04:00
cbeall3 1279038c77 Add Stereo triangulation comparison with expression factor 2015-08-16 20:29:23 -04:00
cbeall3 d9ae402168 fix TriangulationFactor bug (for stereo camera), and add new unit tests and comparisons 2015-08-16 18:14:19 -04:00
cbeall3 321a7dbb11 call print in Base 2015-08-16 16:34:10 -04:00
Chris Beall 2146eb1b45 Merged in enriquefernandezperdomo/gtsam/fix_load2D_modelInFile (pull request #179) 
Fix use model in file, in load2D
 2015-08-11 21:17:37 -04:00
Enrique Fernandez fdacba92c5 Fix use model in file, in load2D 2015-08-11 15:25:35 -04:00
Duy-Nguyen Ta 2d251c6411 make one MC test passed by using non-zero random seeds and increasing the number of samples 2015-08-10 21:03:21 -04:00
Luca 90ea83aa38 printing covariance 2015-08-10 19:30:25 -04:00
Luca 7bb819437f added comments 2015-08-10 19:29:55 -04:00
dellaert 7fc1befdca Two different random seeds for better Monte-Carlo 2015-08-09 11:43:26 -07:00
dellaert a3032fe367 Params::print, and comments 2015-08-09 11:23:34 -07:00
dellaert 887c0d8f59 Added .cpp file and a print for parameters 2015-08-09 11:23:12 -07:00
dellaert 9af69254b2 Refactored arm correction but there is still a difference in regression values. Did I introduce a bug? 2015-08-04 08:31:47 -07:00
dellaert 3ae998d31d Renamed to make frame clear 2015-08-04 07:32:10 -07:00
dellaert 18d0966630 more Monte Carlo 2015-08-01 17:21:34 -07:00
dellaert b8f05e1e35 More tests 2015-08-01 17:21:15 -07:00
dellaert f8df938b30 New naming, old derivative code 2015-08-01 17:17:23 -07:00
dellaert 7224162e60 More Monte Carlo... 2015-07-31 21:04:16 -07:00
dellaert b26bfb27ac Removed F/G tests: derivatives no longer matched and are checked at a lower level anyways. 2015-07-31 15:42:22 -07:00
dellaert 7901077a7a refactoring F and G 2015-07-31 15:32:16 -07:00
dellaert 8aca431913 const update method 2015-07-31 15:31:45 -07:00
dellaert 325ede23fe BIG: switch to NavState delta pose 2015-07-31 15:08:12 -07:00
dellaert e3d36da188 Switched argument order 2015-07-31 13:33:23 -07:00
dellaert 628a4cc4cc Removed inheritance from PreintegratedRotation 2015-07-31 11:43:53 -07:00