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Merge remote-tracking branch 'origin/develop' into feature/pcg_performance

release/4.3a0
Frank Dellaert 2019-04-11 18:18:07 -04:00
parent 8acba8eabe c8980b9b2b
commit ac9fcdcc1f
5 changed files with 4 additions and 5 deletions
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2
gtsam/inference/VariableIndex-inl.h
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@ -25,7 +25,7 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
template<class FG> template<class FG>
void VariableIndex::augment(const FG& factors, void VariableIndex::augment(const FG& factors,
boost::optional<const FastVector<size_t>&> newFactorIndices) { boost::optional<const FactorIndices&> newFactorIndices) {
gttic(VariableIndex_augment); gttic(VariableIndex_augment);
// Augment index for each factor // Augment index for each factor

2
gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp
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@ -309,7 +309,7 @@ void BatchFixedLagSmoother::marginalize(const KeyVector& marginalizeKeys) {
set<size_t> removedFactorSlots; set<size_t> removedFactorSlots;
const VariableIndex variableIndex(factors_); const VariableIndex variableIndex(factors_);
for(Key key: marginalizeKeys) { for(Key key: marginalizeKeys) {
const FastVector<size_t>& slots = variableIndex[key]; const auto& slots = variableIndex[key];
removedFactorSlots.insert(slots.begin(), slots.end()); removedFactorSlots.insert(slots.begin(), slots.end());
} }

2
gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp
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@ -536,7 +536,7 @@ void ConcurrentBatchFilter::moveSeparator(const FastList<Key>& keysToMove) {
std::vector<size_t> removedFactorSlots; std::vector<size_t> removedFactorSlots;
VariableIndex variableIndex(factors_); VariableIndex variableIndex(factors_);
for(Key key: keysToMove) { for(Key key: keysToMove) {
const FastVector<size_t>& slots = variableIndex[key]; const auto& slots = variableIndex[key];
removedFactorSlots.insert(removedFactorSlots.end(), slots.begin(), slots.end()); removedFactorSlots.insert(removedFactorSlots.end(), slots.begin(), slots.end());
} }

2
gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.cpp
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@ -291,7 +291,7 @@ FactorIndices ConcurrentIncrementalFilter::FindAdjacentFactors(const ISAM2& isam
FactorIndices removedFactorSlots; FactorIndices removedFactorSlots;
const VariableIndex& variableIndex = isam2.getVariableIndex(); const VariableIndex& variableIndex = isam2.getVariableIndex();
for(Key key: keys) { for(Key key: keys) {
const FastVector<size_t>& slots = variableIndex[key]; const auto& slots = variableIndex[key];
removedFactorSlots.insert(removedFactorSlots.end(), slots.begin(), slots.end()); removedFactorSlots.insert(removedFactorSlots.end(), slots.begin(), slots.end());
} }

1
gtsam_unstable/partition/GenericGraph.cpp
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@ -354,7 +354,6 @@ namespace gtsam { namespace partition {
const std::vector<int>& dictionary, GenericGraph3D& reducedGraph) { const std::vector<int>& dictionary, GenericGraph3D& reducedGraph) {
typedef size_t CameraKey; typedef size_t CameraKey;
typedef pair<CameraKey, CameraKey> CameraPair;
typedef size_t LandmarkKey; typedef size_t LandmarkKey;
// get a mapping from each landmark to its connected cameras // get a mapping from each landmark to its connected cameras
vector<vector<LandmarkKey> > cameraToLandmarks(dictionary.size()); vector<vector<LandmarkKey> > cameraToLandmarks(dictionary.size());