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52 Commits (fc799abad7b3f9de76e69edba9543f4441b87fd5)

Author SHA1 Message Date
lcarlone e0869719fa now SmartFactorBase doesn't know about stereoPoint2 (removed also header). The functionality to check if the right pixel is missing has been moved to SmartStereoProjectionFactor, removing the casting. 2016-08-02 22:56:48 -04:00
lcarlone a93c1e86f2 Merge remote-tracking branch 'origin/feature/heterogeneousSmartFactorNoise' into feature/heterogeneousSmartFactorNoise 2016-08-02 18:50:54 -04:00
lcarlone e54159c695 Merge branch 'develop' into feature/heterogeneousSmartFactorNoise 
# Conflicts:
#	gtsam_unstable/slam/SmartStereoProjectionFactor.h
 2016-08-02 18:50:18 -04:00
Luca 9336c0b8c0 added comment and made variables const when possible 2016-07-31 18:47:30 -04:00
Luca f009633384 exposed point status in smart factors to keep uniformity with mono smart factors 2016-07-31 18:33:58 -04:00
Luca 6a21f1b730 adapted stereoSmart factors to use "outlier" and "far point" statuses 2016-07-31 18:31:38 -04:00
lcarlone a5138bfb46 included body_P_sensor in smartStereoProjectionPoseFactor! 2016-07-25 22:13:25 -04:00
Luca cd9b4cd5ab moved common definitions to base class 2016-07-24 18:31:55 -04:00
Luca f2bec78a58 first implementation of smartStereo with possibly left-only pixel measurements 2016-07-24 18:27:20 -04:00
Luca 3c15ef5d1e great simplification in stereo triangulation: converting stereo into a set of monocular cameras, then proceed as in the monocular case 2016-07-24 16:11:07 -04:00
Yao Chen 3b7c57aedf Replaced BOOSE_FOREACH with for in gtsam_unstable folder. 2016-05-20 23:41:41 -04:00
Alex Hagiopol 76308a5d46 Deprecated Vector zero(size_t n). All unit tests pass. 2016-04-15 16:54:46 -04:00
Alex Hagiopol 70b2aab352 Deprecated all inline functions in Matrix.h. 2016-04-11 15:11:29 -04:00
Frank 2060b09a2b Avoid calling default constructors and/or vector 2016-02-11 19:03:11 -08:00
cbeall3 04bcf26aa6 Explicitly cast optional to bool 2015-10-20 14:44:00 -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
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 1727b60728 Fixed and cleaned up unit test 2015-08-19 00:11:35 -04:00
cbeall3 123c55f0d7 respect triangulation.enableEPI flag in SmartStereo factor 2015-07-29 14:05:48 -04:00
cbeall3 fd1e41a9e6 remove calibration template from SmartStereoProjectionPoseFactor 2015-07-28 15:12:02 -04:00
cbeall3 748877ff7e remove calibration template from SmartStereoProjectionFactor 2015-07-28 14:56:45 -04:00
cbeall3 da9078cf3b add nonlinear triangulation back. Some unit tests fail again 2015-07-27 23:27:20 -04:00
cbeall3 36c652ac40 remove monocular triangulation hack and make tests pass again 2015-07-19 20:37:16 -04:00
cbeall3 3f0e695cc9 some tests pass again 2015-07-16 11:26:07 -04:00
cbeall3 93f7eafaa8 re-enable triangulation hack 2015-07-15 23:16:45 -04:00
cbeall3 bd4dd84933 huge refactor. Compiles again, but triangulation still broken, SmartStereo test fails 2015-07-15 16:53:04 -04:00
cbeall3 fb4dd81c4d refactoring: step 1 2015-07-15 12:58:03 -04:00
Luca f8205bfe02 Merge branch 'develop' into feature/SmartFactors3 
Conflicts:
	gtsam/geometry/CalibratedCamera.h
	gtsam/geometry/tests/testCalibratedCamera.cpp
	gtsam/geometry/triangulation.h
	gtsam/nonlinear/ExpressionFactor.h
	gtsam/slam/SmartProjectionFactor.h
	gtsam_unstable/slam/SmartStereoProjectionFactor.h
	tests/testExpressionFactor.cpp
 2015-06-19 16:55:30 -04:00
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
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 faadf5b06f Fully compiles now 2015-03-06 08:48:35 -08:00
Thomas Schneider ebf5746987 Fix some serialization warnings. 2015-03-06 16:12:09 +01:00
dellaert b40c0f7f15 Fixed sign 2015-03-05 10:36:03 -08:00
dellaert e6a90db2d5 Migrated to non-keyed Fblocks 2015-03-04 23:11:01 -08:00
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
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
dellaert e5017984a1 traits_x -> traits 2014-12-26 16:47:51 +01:00
dellaert f5c9c24330 Corrected sillyness 2014-12-22 23:41:42 +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