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bool to disable selective relinearization

release/4.3a0
Luca Carlone 2013-09-26 23:09:50 +00:00
parent 8168d4a186
commit e10a0a0650
1 changed files with 15 additions and 6 deletions
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21
gtsam_unstable/slam/SmartProjectionFactor.h
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@ -31,7 +31,7 @@
namespace gtsam {
// default threshold for selective relinearization
static double defaultLinThreshold = 0; // 1e-7; // 0.01
static double defaultLinThreshold = -1; // 1e-7; // 0.01
// default threshold for retriangulation
static double defaultTriangThreshold = 1e-7;
@ -372,7 +372,14 @@ namespace gtsam {
dim_landmark = 2;
}
bool doLinearize = decideIfLinearize(cameraPoses, state_->cameraPosesLinearization, linearizationThreshold);
bool doLinearize;
if (linearizationThreshold >= 0){//by convention if linearizationThreshold is negative we always relinearize
std::cout << "Temporary disabled" << std::endl;
doLinearize = decideIfLinearize(cameraPoses, state_->cameraPosesLinearization, linearizationThreshold);
}
else{
doLinearize = true;
}
if (doLinearize) {
state_->cameraPosesLinearization = cameraPoses;
@ -517,10 +524,12 @@ namespace gtsam {
}
// ==========================================================================================================
// state_->calculatedHessian = true;
// state_->Gs = Gs;
// state_->gs = gs;
// state_->f = f;
// if(linearizationThreshold >= 0){ // if we do not use selective relinearization we don't need to store these variables
// state_->calculatedHessian = true;
// state_->Gs = Gs;
// state_->gs = gs;
// state_->f = f;
// }
return HessianFactor::shared_ptr(new HessianFactor(keys_, Gs, gs, f));
}