Trying different orderings
parent
5140764c54
commit
6e3f36dc63
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@ -3,6 +3,7 @@ class Ordering {
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void push_back(string s);
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void print(string s) const;
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void unique ();
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void reverse ();
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};
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class SymbolicFactor{
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@ -1,7 +1,7 @@
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load beijing.mat;
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load beijing_angles.mat;
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load beijing_graph.mat;
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load beijing_config.mat;
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%load beijing_config.mat;
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cov = [ 0.25, 0, 0; 0, 0.25, 0; 0, 0, 0.01];
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@ -12,7 +12,7 @@ ord = Ordering();
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ord2 = Ordering();
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for i=1:length(ways)
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if mod(i,50) == 0
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if mod(i,500) == 0
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fprintf(1, 'processing way %d\n', i);
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end
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for j=1:length(ways{i})-1
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@ -39,6 +39,8 @@ for i=1:length(ways)
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end
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ord.unique();
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ord2.unique();
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% ord.reverse();
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% ord2.reverse();
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if 0
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config=Pose2Config();
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@ -69,9 +71,14 @@ figure(2)
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spy(A2);
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% show R factor
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P = COLAMD(A);
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R = qr(A,0);
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figure(3)
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spy(R)
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% show re-ordered R factor
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P = colamd(A);
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figure(4)
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spy(A(:,P))
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R = qr(A(:,P),0);
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figure(4)
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figure(5)
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spy(R)
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