a1ff716daf
Add min_diagonal and max_diagonal as Ceres.
2014-02-16 16:32:18 -05:00
8b6bb80cec
small fix
2014-02-16 16:05:01 -05:00
f804fd9bd1
Traced Ceres and took sqrt of diagonal term as they did.
2014-02-16 15:50:26 -05:00
c31d48dba1
New flag to govern diagonal damping, off by default
2014-02-16 11:57:51 -05:00
b0618b8894
Replace the identity matrix with diagonal of Hessian.
2014-02-15 20:46:28 -05:00
71e4015304
bug fix: before hessianDiagonal seg-faulted with no noise model
2014-02-15 16:44:20 -05:00
89d7e61ca9
added minModelFidelity (use if slightly different from CERES)
2014-02-12 16:47:27 -05:00
d13ef17ce8
added "disableInnerIterations" and "modelFidelity" computations
2014-02-12 16:16:25 -05:00
c9ead8bbd3
computation of modelMismatch in LM
2014-02-07 18:27:37 -05:00
7bf0d8ebf1
commented functionality - not working yet
2014-01-27 22:56:21 -05:00
2a3575fcbc
added measure of fit between original and linearized model in LM
2014-01-27 22:02:02 -05:00
8c46e1d0cf
restricted cout to suitable verbosity level
2014-01-24 17:48:30 -05:00
8be9d37d72
created infrastruction for more general lambda policies in LM
2014-01-24 17:46:45 -05:00
45c022a791
Using Eigen Identity and Zero functions in LM damp
2013-11-18 19:23:29 +00:00
9e0893d807
Better debugging output for LM
2013-11-06 06:29:42 +00:00
f262801932
Replaced gettimeofday with boost posix time for compatibility on windows
2013-11-05 16:06:12 +00:00
a1d78150ad
Moved logging to start of iteration.
2013-10-31 19:14:18 +00:00
ff050b82d9
Log *before* iteration starts
2013-10-31 03:19:09 +00:00
108df6e8cc
LevenbergMarquardt time start ok
2013-10-30 22:30:02 +00:00
855e2aa18c
Logging works, see testNonlinearOptimizer.cpp
2013-10-30 15:40:22 +00:00
cfe9b9c52c
Linearize can now be overwritten
2013-10-28 17:35:14 +00:00
def9b84e45
Added virtual solve method to NonlinearOptimizer that you can override, e.g., with Ceres
...
See example in testNonlinearOptimizer
As part of this, I also merged SuccessiveLinearizationParams into NonlinearOptimizerParams, which is now in its own separate file NonlinearOptimizerParams.h
2013-10-25 18:27:43 +00:00
3a139587ee
minor changes
2013-10-17 01:18:22 +00:00
eedbbc9aac
added number of inner iterations counter in LM
2013-10-16 23:17:27 +00:00
5c4395e812
Removed const
2013-09-30 20:39:53 +00:00
2c80cde2d6
Removed catch-all trap -- Richard check whether kosher. Issue is gdb can't figure out original exception.
2013-09-01 15:36:14 +00:00
e39d100b6a
Made most global unit tests compile, includes dogleg, iterative, kalman filter, etc
2013-08-06 13:44:22 +00:00
0d05bf5ac5
Started on HessianFactor, converted Nonlinear stuff and disabled a lot of more advanced classes so the library compiles with nonlinear using unordered.
2013-08-01 21:57:43 +00:00
c868056c22
Updating nonlinear factors, nonlinear factor graph, nonlinear optimizers, and LinearContainerFactor to work with unordered linear. Does not compile - needs more work.
2013-08-01 21:57:33 +00:00
3ade190128
Renamed old classes to "Ordered" and removed "Unordered" name from new classes
2013-07-29 23:55:40 +00:00
67f3109e75
Fixed warnings in preexisting code
2013-07-01 20:19:36 +00:00
7309aa0ffa
Unit tests pass with piecewise VectorValues implementation (for fast permutations)
2012-12-18 14:21:02 +00:00
bd285fbb52
Merge remote-tracking branch 'svn/trunk' into isam2-chain-optimization
...
Conflicts:
gtsam/linear/HessianFactor.cpp
gtsam/linear/VectorValues.cpp
2012-12-18 14:20:31 +00:00
a6df33b15f
Added missing Levenberg-Marquardt verbosity printout for "LAMBDA" verbosity
2012-11-23 23:24:55 +00:00
5b9271cb97
VV work
2012-11-23 23:22:53 +00:00
89b50e7679
Renamed tic -> gttic and toc -> gttoc to avoid conflict with PCL tic/toc
2012-10-02 20:18:41 +00:00
4876cc7ff7
Revamped timing statements - much easier to use, exception-safe (see email to frankcvs list)
2012-10-02 18:36:39 +00:00
4297d24c96
changed tabs to spaces for consistent indentation in all of GTSAM
2012-10-02 14:40:07 +00:00
1dbda3f7ed
Standardized and corrected error handling on the linear size - underconstrained and negative systems always throw IndeterminantLinearSystemException, and all assertions checking for infinite values are removed. Also, we were not properly checking the result of Eigen's Cholesky, so sometimes elimination continued with incorrect matrices despite being underconstrained when Cholesky failed but did not produce NaN's.
2012-08-22 22:40:27 +00:00
168ddf5457
add Cal3DS2.calibrate() with fixed point iteration
...
reorg nonlinear conjugate gradient solvers
wrapper for the linear solvers
2012-07-24 21:06:33 +00:00
5acc52bbae
add set/get interface for LMParameters in c++ and matlab
2012-06-23 20:07:03 +00:00
8bdef8a392
1. return a copy instead of shared ptr
...
2. arrange the code a bit
2012-06-14 22:07:17 +00:00
734a18b02e
old spcg solver fixed
2012-06-09 02:42:45 +00:00
913160462a
in the middle of resurrecting spcg
2012-06-08 16:45:16 +00:00
b9927a1b7e
Fixed Doxygen warnings.
2012-06-07 23:08:43 +00:00
90578e2532
Merge remote-tracking branch 'svn/trunk' into windows
...
Conflicts:
gtsam.h
wrap/CMakeLists.txt
2012-06-05 13:11:34 +00:00
74322b0764
remove the optional
2012-06-04 17:23:45 +00:00
9c8377f476
Merge remote-tracking branch 'svn/trunk' into windows
...
Conflicts:
examples/Pose2SLAMExample.cpp
examples/vSLAMexample/CMakeLists.txt
examples/vSLAMexample/vISAMexample.cpp
gtsam/nonlinear/ISAM2-impl.cpp
gtsam/slam/pose2SLAM.cpp
gtsam/slam/tests/testGeneralSFMFactor.cpp
gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp
gtsam/slam/tests/testPlanarSLAM.cpp
gtsam/slam/tests/testPose2SLAM.cpp
tests/testDoglegOptimizer.cpp
tests/testGraph.cpp
2012-06-04 14:13:37 +00:00
7d132ef217
add a simple spcg implementation and revive the example
2012-06-03 14:52:26 +00:00
1ca9e7049e
Merge remote-tracking branch 'svn/trunk' into windows
...
Conflicts:
gtsam/linear/HessianFactor.h
gtsam/nonlinear/Marginals.cpp
2012-05-28 12:22:36 +00:00
b0c91d2fcf
2012-05-27 18:26:25 +00:00
ace4327897
reorg the nonlinear/linear parameters to accommodate the iterative solvers
2012-05-25 15:26:30 +00:00
510e2eacac
More progress in compiling on windows
2012-05-22 22:52:17 +00:00
7b183d1237
Renamed derived optimizer verbosity parameters to start with 'verbosity' to make more auto-complete friendly
2012-05-15 13:33:32 +00:00
68467448a7
Fixed small LM bug (solving original instead of damped system) and added unit test
2012-05-15 13:23:43 +00:00
9e0996296a
Added Cholesky/LDL switch in NonlinearOptimizer, preparing to remove
...
LDL, remove dependency of NonlinearOptimizer on linear solvers.
2012-05-15 05:08:57 +00:00
75bd1689df
Changes in progress
2012-05-14 19:10:02 +00:00
fdc4cc586d
Incremental modifications to the new Nonlinear Optimizer interface.
2012-05-14 18:11:52 +00:00
c83a399bba
Continuing code simplification / restructuring
2012-04-05 02:45:47 +00:00
d0211bb031
Simplifying code and minor restructuring to support SPCG - removed update functions so NLO is now completely immutable, moved ordering to parameters, added SuccessiveLinearizationOptimizer base class that will do direct and iterative linear solving, with derived classes for GN, LM, DL. This structure will allow us to later add a new NLO subclass for nonlinear gradient descent methods.
2012-04-04 23:20:42 +00:00
9366136c78
In progress - making NLO interface less confusing / error prone with a separate "state" class. Refactoring in NLO to reduce amount of code and remove code duplication.
2012-04-02 00:26:42 +00:00
5be3af8d6d
Added ordering accessor
2012-03-24 19:53:25 +00:00
bcd663244a
Moved printing to NonlinearOptimizer base class
2012-03-23 03:38:58 +00:00
b8ad7b2a0c
Fixed bugs, all unit tests pass
2012-03-22 18:02:25 +00:00
8748f483b0
NonlinearOptimizer, GaussNewtonOptimizer, and LevenbergMarquardt Optimizer compile
2012-02-28 05:30:53 +00:00
67564d043b
LevenbergMarquardtOptimizer in progress
2012-02-28 01:17:42 +00:00
e7e64e945b
GaussNewtonOptimizer, started LevenbergMarquardtOptimizer
2012-02-27 01:18:36 +00:00
hchiu
Luca
dellaert
Richard Roberts
Frank Dellaert
Pablo Fernandez Alcantarilla
Luca Carlone
Chris Beall
Yong-Dian Jian
Summit Patel
Stephen Williams