a4dc589716
fix indent
2015-09-17 22:10:19 -04:00
d5aea61c47
fix an Eigen bug to bypass a problem of compiling Eigen's outer product x*x.transpose() when MKL is enabled.
...
IsRowMajor is an enum value defined in DenseBase. However, in the template specialization of GeneralProduct<Lhs,Rhs,OuterProduct>, which is derived from ProductBase<--MatrixBase<--DenseBase, another struct is defined with the same name IsRowMajor, leading to a compilation error.
2015-09-17 22:09:06 -04:00
bc99c58226
fix Rot3-from-Matrix construction for Quaternion case
2015-09-17 17:44:00 -04:00
aa2ffcd118
Merge branch 'develop' into feature/cleanup_ImuFactor
2015-09-17 17:42:38 -04:00
6fb453e725
disable experimental tests with specified expected values
2015-09-17 11:34:49 -04:00
a9954b3bd5
test pass when using priorBias in Preint instead of zeroBias
2015-09-17 11:32:39 -04:00
cf821f5124
update api
2015-09-17 11:30:39 -04:00
c7e52fe861
a bit more complicated test case
2015-09-17 11:28:59 -04:00
f3b97ed2c2
fix header
2015-09-17 11:27:37 -04:00
75abc90a90
Informative derivative names. Only compute if need to.
2015-09-16 08:24:17 -04:00
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
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
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
c9fae14a98
correct Jacobians for body_P_sensor case, including derivative for centripetal acc
2015-09-10 23:03:59 -04:00
e01fc2da03
use mt19937_64 generator
2015-09-10 22:59:44 -04:00
8e2915c4f3
README.md edited online with Bitbucket
2015-09-04 18:14:13 +00:00
9f91aedd6a
test centrifugal derivative
2015-09-02 16:52:54 -04:00
c73b835848
Merged in feature/smartFactorNoiseCleanup (pull request #183 )
...
SmartFactor noise model in constructor
2015-08-27 12:44:09 -04:00
a4e58d06e7
Tighter bounds
2015-08-26 20:19:26 -07:00
92e210b893
Fix examples and Matlab wrapper
2015-08-26 13:25:12 -04:00
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
0503df31fa
Relax tolerance to 1e-6 for MKL/quaternion test, and fix up documentation a bit.
2015-08-25 12:14:52 -04:00
6a5147b5b5
Merged in fix/SmartStereo (pull request #181 )
...
Fix/smartstereo
2015-08-25 09:51:59 -04:00
08fcf65eb7
Merge remote-tracking branch 'origin/develop' into feature/cleanup_ImuFactor
2015-08-24 15:16:26 -07:00
cf5f859679
Boost optional for sensor pose
2015-08-24 15:15:57 -07:00
9e71ad793b
Merged in enriquefernandezperdomo/gtsam/add_dcs_robust_kernel (pull request #180 )
...
Add DCS robust kernel
2015-08-21 13:41:31 -07:00
3ce789e577
Fix computation of bias covariance from continous-time noise density (issue #252 ).
2015-08-21 18:00:00 +02:00
b9c63ef5df
Fix and optimize DCS
2015-08-20 16:03:56 -04:00
44ae7bfe01
Fix generalized Geman-McClure
2015-08-20 16:03:56 -04:00
6cdc1de268
Use fabs in Huber condition
2015-08-20 15:45:12 -04:00
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
c8df985e2f
Relax test tolerance a bit for quaternion mode
2015-08-19 07:30:14 -04:00
1727b60728
Fixed and cleaned up unit test
2015-08-19 00:11:35 -04:00
47d787b478
Add DCS & Geman-McClure unit tests
2015-08-18 22:46:36 -04:00
2969d61519
Add Geman-McClure robust kernel
2015-08-18 22:46:36 -04:00
7d256ff2fb
Add DCS robust kernel
...
DCS (Dynamic Covariance Scaling) from Robust Map Optimization (Agarwal13icra)
2015-08-18 22:46:36 -04:00
1279038c77
Add Stereo triangulation comparison with expression factor
2015-08-16 20:29:23 -04:00
d9ae402168
fix TriangulationFactor bug (for stereo camera), and add new unit tests and comparisons
2015-08-16 18:14:19 -04:00
321a7dbb11
call print in Base
2015-08-16 16:34:10 -04:00
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
fdacba92c5
Fix use model in file, in load2D
2015-08-11 15:25:35 -04:00
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
90ea83aa38
printing covariance
2015-08-10 19:30:25 -04:00
7bb819437f
added comments
2015-08-10 19:29:55 -04:00
7fc1befdca
Two different random seeds for better Monte-Carlo
2015-08-09 11:43:26 -07:00
a3032fe367
Params::print, and comments
2015-08-09 11:23:34 -07:00
887c0d8f59
Added .cpp file and a print for parameters
2015-08-09 11:23:12 -07:00
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
3ae998d31d
Renamed to make frame clear
2015-08-04 07:32:10 -07:00
18d0966630
more Monte Carlo
2015-08-01 17:21:34 -07:00
Duy-Nguyen Ta
Frank Dellaert
Chris Beall
Christian Forster
Enrique Fernandez
Luca