inplace_QR *already* zeros out below diagonal
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c87050bc8b
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@ -827,8 +827,6 @@ std::pair<GaussianConditional::shared_ptr, JacobianFactor::shared_ptr> Eliminate
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// The inplace variant will have no valid rows anymore below m==n
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// and only entries above the diagonal are valid.
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inplace_QR(Ab.matrix());
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// We zero below the diagonal to agree with the result from noieModel QR
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Ab.matrix().triangularView<Eigen::StrictlyLower>().setZero();
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size_t m = Ab.rows(), n = Ab.cols() - 1;
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size_t maxRank = min(m, n);
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jointFactor->model_ = noiseModel::Unit::Create(maxRank);
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@ -191,8 +191,6 @@ SharedDiagonal Gaussian::QR(Matrix& Ab) const {
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gttic(Gaussian_noise_model_QR);
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static const bool debug = false;
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// get size(A) and maxRank
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// TODO: really no rank problems ?
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size_t m = Ab.rows(), n = Ab.cols()-1;
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@ -201,15 +199,8 @@ SharedDiagonal Gaussian::QR(Matrix& Ab) const {
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// pre-whiten everything (cheaply if possible)
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WhitenInPlace(Ab);
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if(debug) gtsam::print(Ab, "Whitened Ab: ");
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// Eigen QR - much faster than older householder approach
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inplace_QR(Ab);
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Ab.triangularView<Eigen::StrictlyLower>().setZero();
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// hand-coded householder implementation
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// TODO: necessary to isolate last column?
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// householder(Ab, maxRank);
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return noiseModel::Unit::Create(maxRank);
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}
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