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Trying different orderings

release/4.3a0
Frank Dellaert 2009-12-12 12:53:39 +00:00
parent 5140764c54
commit 6e3f36dc63
2 changed files with 12 additions and 4 deletions
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1
cpp/gtsam.h
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@ -3,6 +3,7 @@ class Ordering {
void push_back(string s); void push_back(string s);
void print(string s) const; void print(string s) const;
void unique (); void unique ();
void reverse ();
}; };
class SymbolicFactor{ class SymbolicFactor{

15
matlab/BeijingPose2Graph.m
View File

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