9bef6bfded
initialize PreintegrationParams default constructor and make serialization test more explicit
2020-03-22 20:04:04 -04:00
c2d7df3f14
make exception as reference
2020-03-22 20:03:10 -04:00
d2d5ce1166
Eigen alignment
2020-03-22 12:46:25 -04:00
73271816a6
make exceptions as const reference
2020-03-22 12:45:21 -04:00
87c338a18b
import python classes
2020-03-22 12:32:16 -04:00
8fdbf2fa6e
added Cal3_S2 header and Frank's recommendations
2020-03-21 15:29:07 -04:00
81b4765299
modernized SFM example and added plotting of trajectory and landmarks
2020-03-20 22:25:14 -04:00
b3a9c7a5ef
function to plot trajectory
2020-03-20 22:25:14 -04:00
26d6cb3d6e
code to plot 3D covariance ellipsoid
2020-03-20 22:25:14 -04:00
f7d86a80cf
matplotlib function to set axes equal for 3D plots
2020-03-20 22:25:14 -04:00
748a27db38
Merge pull request #251 from borglab/fix/rotations
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Bunch of fixes for Rot3
2020-03-20 22:23:35 -04:00
b058adc675
remove const from return types for Rot3
2020-03-20 17:50:34 -04:00
e90530d70b
Merge branch 'develop' into fix/rotations
2020-03-20 12:27:26 -04:00
c96300a7c6
added const to matrix() function for Rot3 to be consistent with SOn and added note about using Eigen transpose expression
2020-03-19 12:04:32 -04:00
dec918c3d5
undo return type of Eigen::Transpose, and add back TODO to optimize RPY
2020-03-18 19:25:31 -04:00
7b6a80eba2
Revert "test for stability of RQ due to atan2 as well as fix"
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This reverts commit 1d5239dd25
2020-03-18 19:14:19 -04:00
1d5239dd25
test for stability of RQ due to atan2 as well as fix
2020-03-18 18:20:18 -04:00
bde27615c5
test in testAHRSFactor is already fixed
2020-03-18 18:19:40 -04:00
2a07cfed66
improved rotation transpose with quaternions
2020-03-18 18:18:51 -04:00
cd318b2295
Python example and necessary wrapper gymnastics
2020-03-18 17:36:42 -04:00
2e75ffd01d
C++ example
2020-03-18 17:28:18 -04:00
f3865539c6
Refactor TOAFactor and test
2020-03-18 15:44:33 -04:00
2c44ee459b
Merge pull request #243 from borglab/feature/rot3-angle
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Axis-Angle (in radians) representation for Rot3 matrices
2020-03-18 14:30:08 -04:00
359bc161a6
updated transpose signature for Rot3Q
2020-03-18 10:44:21 -04:00
1cb7b223ae
faster computation of sigmas in NoiseModel
2020-03-17 16:46:01 -04:00
b0f7d3498b
simpler checks for infinity in NoiseModel
2020-03-17 16:46:01 -04:00
abe1636ac8
deprecate PinholeCamera specific functions for triangulation
2020-03-17 16:46:01 -04:00
cf3e886d84
move print() and iostream to .cpp file for SO<N>
2020-03-17 16:45:45 -04:00
3f8209de21
set dimension of calibration classes with static const variable
2020-03-17 15:20:22 -04:00
510d5c500c
Revert "improved printing for Point3 and Unit3"
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This reverts commit 8f17fbcc8e
2020-03-17 15:10:22 -04:00
cd88c795ae
more efficient and explicit inverse()
2020-03-17 15:10:13 -04:00
2087075ee7
Transitioned toa method to a functor
2020-03-17 14:34:11 -04:00
e987cb53a0
Lots of improvements to Rot3
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- Ensure axis in AxisAngle constructor is a unit vector. Added test.
- Improved rotation inverse with support for quaternions.
- Use Eigen::Transpose for transpose return type.
- Roll/Pitch/Yaw is more efficient.
- Fix/Remove old TODOs.
2020-03-17 14:00:27 -04:00
ca549630de
More systematic tests
2020-03-17 13:15:48 -04:00
0d46932456
Proper const
2020-03-17 13:15:35 -04:00
8f17fbcc8e
improved printing for Point3 and Unit3
2020-03-17 13:11:48 -04:00
81b52c674a
wrap AxisAngle constructor for rotations
2020-03-16 23:33:55 -04:00
170d1526b7
axisAngle maintains angle between [0, π] so updated docs and tests accordingly
2020-03-16 23:33:34 -04:00
8096b0e251
add deprecated task_scheduler_init unitl alternative is found
2020-03-16 00:49:17 -04:00
6ec13bdcd5
add tbb version guard to fix clang build
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(cherry picked from commit 9b912f6b14d2cf715d17208df35b8253d5e648e7)
2020-03-15 22:18:35 -04:00
8f2a00e4bd
fix for angle outside the range (-pi,pi] and added more tests to verify
2020-03-14 10:10:00 -04:00
16dbf27375
Merge pull request #245 from borglab/feature/improved-comparison-stability
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Improved floating point comparison for better numerical stability
2020-03-14 08:21:13 -04:00
b5e975f7e4
added documentation to fpEqual on behavior for NaNs/Infs
2020-03-13 19:42:14 -04:00
1553d4321c
correct way of maintaining angle of axis-angle representation within (-pi,pi]
2020-03-13 19:33:57 -04:00
0a91c081fb
moved references for implementation from header to cpp
2020-03-10 14:18:07 -04:00
ee069286b4
Merge pull request #246 from borglab/feature/wrap-simplecamera
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Wrap simpleCamera function
2020-03-10 07:10:43 -04:00
4625a16d70
wrapped simpleCamera function to get camera from projection matrix
2020-03-09 22:57:59 -04:00
8b00840169
removed header bloat and added reference comment for fpEqual implementation
2020-03-09 16:33:56 -04:00
ab46c7c3ce
removed static ToAxisAngle function
2020-03-09 16:01:24 -04:00
670cc7a74e
correct handling of NaNs and Infs, camelCase, and better namespace handling
2020-03-09 10:50:12 -04:00
Varun Agrawal
Frank Dellaert
Frank Dellaert
acxz