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Merged in easymile_cyril/gtsam/fix/zero-dim-factor (pull request #319) 

Allow zero dimension factors
release/4.3a0
Cyril Roussillon 2018-10-10 11:20:49 +00:00 committed by Frank Dellaert
parent f33eef1f86 b84f7ed22d
commit 84442f99f2
2 changed files with 3 additions and 6 deletions
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3
gtsam/linear/Scatter.cpp
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@ -70,9 +70,6 @@ Scatter::Scatter(const GaussianFactorGraph& gfg,
iterator first = begin(); iterator first = begin();
if (ordering) first += ordering->size(); if (ordering) first += ordering->size();
if (first != end()) std::sort(first, end()); if (first != end()) std::sort(first, end());
// Filter out keys with zero dimensions (if ordering had more keys)
erase(std::remove_if(begin(), end(), SlotEntry::Zero), end());
} }
/* ************************************************************************* */ /* ************************************************************************* */

6
gtsam/nonlinear/internal/LevenbergMarquardtState.h
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@ -113,9 +113,9 @@ struct LevenbergMarquardtState : public NonlinearOptimizerState {
// Small cache of A|b|model indexed by dimension. Can save many mallocs. // Small cache of A|b|model indexed by dimension. Can save many mallocs.
mutable std::vector<CachedModel> noiseModelCache; mutable std::vector<CachedModel> noiseModelCache;
CachedModel* getCachedModel(size_t dim) const { CachedModel* getCachedModel(size_t dim) const {
if (dim > noiseModelCache.size()) if (dim >= noiseModelCache.size())
noiseModelCache.resize(dim); noiseModelCache.resize(dim+1);
CachedModel* item = &noiseModelCache[dim - 1]; CachedModel* item = &noiseModelCache[dim];
if (!item->model) if (!item->model)
*item = CachedModel(dim, 1.0 / std::sqrt(lambda)); *item = CachedModel(dim, 1.0 / std::sqrt(lambda));
return item; return item;