From 6e3f36dc634a1defee11ce858e100f0ae12b9f03 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sat, 12 Dec 2009 12:53:39 +0000
Subject: [PATCH] Trying different orderings

---
 cpp/gtsam.h                |  1 +
 matlab/BeijingPose2Graph.m | 15 +++++++++++----
 2 files changed, 12 insertions(+), 4 deletions(-)

diff --git a/cpp/gtsam.h b/cpp/gtsam.h
index d3aaf329e..a7a82a059 100644
--- a/cpp/gtsam.h
+++ b/cpp/gtsam.h
@@ -3,6 +3,7 @@ class Ordering {
   void push_back(string s);
   void print(string s) const;
   void unique ();
+  void reverse ();
 };
 
 class SymbolicFactor{
diff --git a/matlab/BeijingPose2Graph.m b/matlab/BeijingPose2Graph.m
index b3cfe2e55..4736659dc 100644
--- a/matlab/BeijingPose2Graph.m
+++ b/matlab/BeijingPose2Graph.m
@@ -1,7 +1,7 @@
 load beijing.mat;
 load beijing_angles.mat;
 load beijing_graph.mat;
-load beijing_config.mat;
+%load beijing_config.mat;
 
 cov = [ 0.25, 0, 0; 0, 0.25, 0; 0, 0, 0.01];
 
@@ -12,7 +12,7 @@ ord = Ordering();
 ord2 = Ordering();
 
 for i=1:length(ways)
-    if mod(i,50) == 0
+    if mod(i,500) == 0
         fprintf(1, 'processing way %d\n', i);
     end
     for j=1:length(ways{i})-1
@@ -39,6 +39,8 @@ for i=1:length(ways)
 end
 ord.unique();
 ord2.unique();
+% ord.reverse();
+% ord2.reverse();
 
 if 0
     config=Pose2Config();
@@ -69,9 +71,14 @@ figure(2)
 spy(A2);
 
 % show R factor
-P = COLAMD(A);
+R = qr(A,0);
 figure(3)
+spy(R)
+
+% show re-ordered R factor
+P = colamd(A);
+figure(4)
 spy(A(:,P))
 R = qr(A(:,P),0);
-figure(4)
+figure(5)
 spy(R)