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remove changes in gtsam/linear/NoiseModel.cpp to fix unit test failures

release/4.3a0
jing 2014-01-27 15:13:37 -05:00
parent f38b599a8e
commit a2c3b8e083
1 changed files with 3 additions and 1 deletions
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gtsam/linear/NoiseModel.cpp
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@ -370,6 +370,8 @@ SharedDiagonal Constrained::QR(Matrix& Ab) const {
list<Triple> Rd; list<Triple> Rd;
Vector pseudo(m); // allocate storage for pseudo-inverse Vector pseudo(m); // allocate storage for pseudo-inverse
Vector invsigmas = reciprocal(sigmas_);
Vector weights = emul(invsigmas,invsigmas); // calculate weights once
// We loop over all columns, because the columns that can be eliminated // We loop over all columns, because the columns that can be eliminated
// are not necessarily contiguous. For each one, estimate the corresponding // are not necessarily contiguous. For each one, estimate the corresponding
@ -381,7 +383,7 @@ SharedDiagonal Constrained::QR(Matrix& Ab) const {
// Calculate weighted pseudo-inverse and corresponding precision // Calculate weighted pseudo-inverse and corresponding precision
gttic(constrained_QR_weightedPseudoinverse); gttic(constrained_QR_weightedPseudoinverse);
double precision = weightedPseudoinverse(a, precisions_, pseudo); double precision = weightedPseudoinverse(a, weights, pseudo);
gttoc(constrained_QR_weightedPseudoinverse); gttoc(constrained_QR_weightedPseudoinverse);
// If precision is zero, no information on this column // If precision is zero, no information on this column