12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Added option to use LAPACK QR with -DUSE_LAPACK_QR

release/4.3a0
Richard Roberts 2010-10-29 14:45:20 +00:00
parent 71ddf0b755
commit 078f07650f
3 changed files with 10 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
gtsam/base/Matrix.cpp
View File

@ -649,7 +649,7 @@ void householder(Matrix &A, size_t k) {
/** in-place householder */ /** in-place householder */
/* ************************************************************************* */ /* ************************************************************************* */
#ifdef GT_USE_LAPACK #ifdef GT_USE_LAPACK
#ifdef YA_BLAS #ifdef USE_LAPACK_QR
void householder(Matrix &A) { void householder(Matrix &A) {
__CLPK_integer m = A.size1(); __CLPK_integer m = A.size1();
__CLPK_integer n = A.size2(); __CLPK_integer n = A.size2();

2
gtsam/base/Matrix.h
View File

@ -267,7 +267,7 @@ void householder_(Matrix& A, size_t k);
void householder(Matrix& A, size_t k); void householder(Matrix& A, size_t k);
#ifdef GT_USE_LAPACK #ifdef GT_USE_LAPACK
#ifdef YA_BLAS #ifdef USE_LAPACK_QR
/** /**
* Householder tranformation, zeros below diagonal * Householder tranformation, zeros below diagonal
* @return nothing: in place !!! * @return nothing: in place !!!

8
gtsam/linear/NoiseModel.cpp
View File

@ -122,6 +122,8 @@ void Gaussian::WhitenInPlace(MatrixColMajor& H) const {
// General QR, see also special version in Constrained // General QR, see also special version in Constrained
SharedDiagonal Gaussian::QR(Matrix& Ab, boost::optional<vector<int>&> firstZeroRows) const { SharedDiagonal Gaussian::QR(Matrix& Ab, boost::optional<vector<int>&> firstZeroRows) const {
assert(false);
// get size(A) and maxRank // get size(A) and maxRank
// TODO: really no rank problems ? // TODO: really no rank problems ?
size_t m = Ab.size1(), n = Ab.size2()-1; size_t m = Ab.size1(), n = Ab.size2()-1;
@ -234,7 +236,13 @@ SharedDiagonal Gaussian::QRColumnWise(ublas::matrix<double, ublas::column_major>
// Perform in-place Householder // Perform in-place Householder
#ifdef GT_USE_LAPACK #ifdef GT_USE_LAPACK
#ifdef USE_LAPACK_QR
assert(firstZeroRows);
householderColMajor(Ab);
#elif USE_DAVIS_QR
#else
householder_denseqr_colmajor(Ab, &firstZeroRows[0]); householder_denseqr_colmajor(Ab, &firstZeroRows[0]);
#endif
#else #else
Matrix Ab_rowWise = Ab; Matrix Ab_rowWise = Ab;
householder(Ab_rowWise, maxRank); householder(Ab_rowWise, maxRank);