use Kai's ordering
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							|  | @ -8,7 +8,6 @@ cov = [ 0.25, 0, 0; 0, 0.25, 0; 0, 0, 0.01]; | |||
| 
 | ||||
| factors = Pose2Graph; | ||||
| factors2 = Pose2Graph; | ||||
| ord = Ordering(); | ||||
| ord2 = Ordering(); | ||||
| 
 | ||||
| [~, idx] = sort(way_levels, 'descend'); | ||||
|  | @ -30,8 +29,6 @@ for i=1:length(idx) | |||
|         if pred(id1) == id2 || pred(id2) == id1 %% in the spanning tree | ||||
|             factor=Pose2Factor(key1,key2,measured, cov); | ||||
|             factors.push_back(factor); | ||||
|             ord.push_back(key1); | ||||
|             ord.push_back(key2); | ||||
|         else %% not in the spanning tree | ||||
|             factors2.push_back(Pose2Factor(key1,key2,measured, cov)); | ||||
|             ord2.push_back(key1); | ||||
|  | @ -39,10 +36,7 @@ for i=1:length(idx) | |||
|         end | ||||
|     end | ||||
| end | ||||
| ord.unique(); | ||||
| ord2.unique(); | ||||
| % ord.reverse(); | ||||
| % ord2.reverse(); | ||||
| 
 | ||||
| if 1 | ||||
|     config=Pose2Config(); | ||||
|  | @ -58,7 +52,8 @@ if 1 | |||
|     save('beijing_config.mat','config'); | ||||
| end | ||||
| 
 | ||||
| amd_ord=factors.getOrdering_(); % does not work | ||||
| % Spanning tree with bottom-up ordering | ||||
| ord = bottom_up_ordering(pred); | ||||
| LFG=factors.linearize_(config); | ||||
| ijs=LFG.sparse(ord); | ||||
| A=sparse(ijs(1,:),ijs(2,:),ijs(3,:));  | ||||
|  |  | |||
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