John Rogers
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2f16d8f6a1
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Changed the order of constructor initializers in GaussianFactor to remove compiler warnings
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2010-02-01 16:04:14 +00:00 |
Frank Dellaert
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5554f6fc7e
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Faster non-GSL versions of BLAS 2-style calls
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2010-01-31 22:56:06 +00:00 |
Alex Cunningham
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efe51c8419
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Fixed typo in function name
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2010-01-31 21:09:03 +00:00 |
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Alex Cunningham
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2889a25aeb
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Fixed autotools files for GSL inclusion so that they don't include the wrong BLAS implementation when ATLAS is enabled
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2010-01-31 18:26:18 +00:00 |
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Alex Cunningham
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c266012dcd
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Added GSL/ATLAS version of multiplyAdd() and transposeMultiplyAdd()
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2010-01-31 18:25:03 +00:00 |
justinca
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74dd7128ac
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Fixup cholesky decomposition - rename to LLt and RtR to make convention clear
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2010-01-31 18:07:29 +00:00 |
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Alex Cunningham
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87cc573d34
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Added a new combine process for GaussianFactors that allocates only one matrix when combining, rather than using append factor to make a large number of smaller matrices. There is a flag to switch between these modes, which currently defaults to the older approach. Currently, there does not appear to be a performance improvement, however.
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2010-01-31 17:49:33 +00:00 |
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Alex Cunningham
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9f16d7b07f
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Added in-place sub insert function to Vector
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2010-01-31 17:24:01 +00:00 |
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Alex Cunningham
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48d2dabe43
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Added in-place insertion functions to Matrix, as well as a #define flag to enable or disable GSL code without a reconfigure.
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2010-01-31 17:21:07 +00:00 |
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Alex Cunningham
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b5ca322d21
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Added default tolerance value to equals in Key classes so that equals() works properly
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2010-01-31 17:00:27 +00:00 |
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Frank Dellaert
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fa6a515bfd
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SAM was substantially sped up by inlining VectorConfig::insert
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2010-01-31 16:05:16 +00:00 |
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Frank Dellaert
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5e4b23df59
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Matrix::multiplyAdd and transposeMultiplyAdd are "level 2" BLAS and speed up the numeric part of the code substantially. Alex might be able to speed them up even more by making them use real BLAS code within Matrix.cpp.
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2010-01-31 16:04:24 +00:00 |
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Frank Dellaert
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3b6c4917a9
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GaussianBayesNet::backSubstituteInPlace
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2010-01-31 04:39:41 +00:00 |
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Frank Dellaert
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ac870bce4c
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GaussianFactor::transposeMultiplyAdd
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2010-01-31 03:33:53 +00:00 |
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Frank Dellaert
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4f998e5ecd
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Matrix::transposeMultiplyAdd
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2010-01-31 02:53:03 +00:00 |
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Frank Dellaert
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9b4ff5e099
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transposeMultiplyAdd provied BLAS-style call for iterative speed
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2010-01-30 23:59:29 +00:00 |
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Frank Dellaert
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6ef09583b9
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multiplyInPlace shaves a few seconds off but is fairly dangerous - I feel ambivalent....
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2010-01-30 17:31:05 +00:00 |
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Frank Dellaert
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161a47caa7
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2010-01-30 05:22:17 +00:00 |
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Frank Dellaert
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881d739371
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BLAS level 1 style "scal" saves even more time in PCG
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2010-01-30 04:01:49 +00:00 |
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Frank Dellaert
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4913326c22
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BLAS level 1 style axpy calls in Vector and VectorConfig shave some seconds off PCG
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2010-01-30 02:04:37 +00:00 |
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Frank Dellaert
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65bc90bf15
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timing VectorConfig to speed up iterative
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2010-01-29 13:57:45 +00:00 |
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Alex Cunningham
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eb88a149a1
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NonlinearFactors handle constrained noise models properly now, as before they would try to whiten and fail
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2010-01-28 17:21:24 +00:00 |
Viorela Ila
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06a062c931
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Added special lines for static variables needed for template classes
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2010-01-27 19:45:31 +00:00 |
Kai Ni
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ed45d436be
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add gsl and atlas to configure
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2010-01-27 05:15:52 +00:00 |
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Alex Cunningham
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bc2a25385f
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Added updated timing results.
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2010-01-27 05:08:54 +00:00 |
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Alex Cunningham
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59c7ce7e29
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Integrated householder-based QR into NoiseModel. Note that the examples for GFG have changed to ensure that they are actually a linearized version of the nonlinear example.
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2010-01-27 04:39:35 +00:00 |
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Frank Dellaert
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98b825ddbd
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Fixed loading of datasets
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2010-01-27 03:41:23 +00:00 |
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Frank Dellaert
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ae073c0120
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Comments, and better test of composePoses
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2010-01-27 02:49:58 +00:00 |
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Frank Dellaert
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8b87eebba6
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commented GSl bit
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2010-01-27 01:03:49 +00:00 |
Richard Roberts
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02210cc7e0
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Argument order of load changed
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2010-01-26 20:31:25 +00:00 |
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Richard Roberts
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9b62b326c9
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One more fix, inverse was actually needed in one case.
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2010-01-26 20:10:45 +00:00 |
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Richard Roberts
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b82d054aaa
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Definitions of Lie::between, Pose2::compose, expmap, and derivatives were not correct. Fixed, but changes some behavior (iSAM and CitySLAM already fixed), will send email about this change.
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2010-01-26 20:00:17 +00:00 |
Manohar Paluri
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a0b96e7684
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corrected case of Pose2SLAMoptimizer
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2010-01-25 14:50:25 +00:00 |
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Kai Ni
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1685920d52
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fixed Ab2 bug
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2010-01-23 05:29:04 +00:00 |
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Frank Dellaert
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afa964b8db
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Fixed sparse bug
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2010-01-23 05:16:29 +00:00 |
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Kai Ni
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744269343f
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add print
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2010-01-23 04:46:00 +00:00 |
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Kai Ni
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b092fee64b
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pose2slamoptimizer unit tests worked
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2010-01-23 03:49:05 +00:00 |
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Richard Roberts
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21c1af2b9f
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Collecting more statistics in isam2, logmap for configs
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2010-01-23 01:53:04 +00:00 |
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Kai Ni
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4491db99be
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add beijing data set
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2010-01-23 01:10:12 +00:00 |
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Frank Dellaert
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7644ff0080
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optimize returns Vector, does not update
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2010-01-23 01:08:42 +00:00 |
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Frank Dellaert
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ada844300d
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Fixed compile issue in tests
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2010-01-23 01:03:47 +00:00 |
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Frank Dellaert
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807cffbd61
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Pose2SLAMOptimizer prototype for use in MATLAB
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2010-01-23 00:57:54 +00:00 |
Michael Kaess
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7bc4ee65da
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allow pure linear steps (disabled)
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2010-01-23 00:21:34 +00:00 |
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Manohar Paluri
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80d335ed77
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added saveGraph function to BayesTree which writes out a dot file which can be visualized using graphviz dot command
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2010-01-22 23:52:56 +00:00 |
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Kai Ni
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e87faa078d
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write correct information matrix to data file
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2010-01-22 23:20:12 +00:00 |
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Frank Dellaert
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2150b24e29
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Fixed memory hog problem with Alex's help. SAM marginally faster (3-4% with 1000 poses, might be bigger effect for full dataset)
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2010-01-22 23:00:35 +00:00 |
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justinca
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16c55975c1
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Fix inverse_square_root, add cholesky decomposition options
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2010-01-22 22:28:03 +00:00 |
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Kai Ni
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e88ae4a944
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add dataset.h/cpp
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2010-01-22 20:18:40 +00:00 |
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Michael Kaess
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ab155999cf
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simplified alg, but no measureable speed improvement
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2010-01-22 18:29:27 +00:00 |
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Frank Dellaert
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351cdd18c2
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case change: SharedGaussian and SharedDiagonal are now classes with their own header file. Needed for MATLAB TORO hail Mary
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2010-01-22 17:36:57 +00:00 |