Luca
|
49a1b7abca
|
partially fixed unit test on LM
|
2014-02-25 21:09:05 -05:00 |
|
Luca
|
6217a0b6c4
|
fixed LM policy, using CERES
|
2014-02-25 21:02:30 -05:00 |
|
Luca
|
6962072301
|
moved Jacobians on SO3 to Rot3
|
2014-02-24 14:00:14 -05:00 |
|
Luca
|
87687ff887
|
added simplest BAL file
|
2014-02-24 13:07:53 -05:00 |
|
Luca
|
c828bf567e
|
removed cout
|
2014-02-21 20:58:01 -05:00 |
|
Luca
|
98e32a1e6d
|
reorganized verbosity and included the new lambda policy from CERES
|
2014-02-20 17:17:12 -05:00 |
|
Luca
|
06c5186fa2
|
added function to create initial values from db
|
2014-02-20 15:37:17 -05:00 |
|
Luca
|
7e8bb1ffb0
|
rearranging comments
|
2014-02-20 15:36:11 -05:00 |
|
Luca
|
a0bc4b0a5a
|
added 1 more unit test: delta is perpendicular to gradient of original system
|
2014-02-20 12:35:07 -05:00 |
|
Luca
|
dec6430d9b
|
1 more test: a small step in delta direction does not decrease error
|
2014-02-20 12:22:12 -05:00 |
Frank Dellaert
|
541dbd5199
|
Plot thickens: delta computed from damped system points downhill but non-linear error does not decrease
|
2014-02-20 09:02:24 -05:00 |
|
Frank Dellaert
|
33ae83fcb2
|
Much more extensive testing of diagonal policy with Luca over Skype - gets stuck in a non-minimum !!!
|
2014-02-20 00:28:15 -05:00 |
|
Frank Dellaert
|
666072b169
|
Created new method buildDampedSystem with Luca
|
2014-02-20 00:27:33 -05:00 |
|
Frank Dellaert
|
53134425d5
|
Fixed verbosity check
|
2014-02-20 00:26:48 -05:00 |
|
Luca
|
9adc59af18
|
added verbosity for debugging termination
|
2014-02-18 17:33:00 -05:00 |
|
Luca
|
92834a8ed7
|
modified verbosity levels
|
2014-02-18 14:39:12 -05:00 |
|
Luca
|
fbfa287d4b
|
added parameters in "print" for LM
|
2014-02-17 17:43:45 -05:00 |
hchiu
|
13254bcc3a
|
Add related code for reuse_diagonal, as Ceres did. This is for step strategry (efficiency comparison) in smartFactors_Ceres.
|
2014-02-17 10:13:14 -05:00 |
|
Luca
|
c05eaa0d22
|
fixed unit test
|
2014-02-16 17:11:58 -05:00 |
|
Luca
|
4aec076568
|
do not cross upper bound for lambda
|
2014-02-16 16:33:57 -05:00 |
|
hchiu
|
a1ff716daf
|
Add min_diagonal and max_diagonal as Ceres.
|
2014-02-16 16:32:18 -05:00 |
|
Luca
|
9279d4402f
|
identifying convergence issue in diagonal hessian LM
|
2014-02-16 16:19:20 -05:00 |
|
Luca
|
8b6bb80cec
|
small fix
|
2014-02-16 16:05:01 -05:00 |
|
hchiu
|
f804fd9bd1
|
Traced Ceres and took sqrt of diagonal term as they did.
|
2014-02-16 15:50:26 -05:00 |
|
dellaert
|
e88b214b40
|
Small re-factor, no more finished()
|
2014-02-16 12:17:00 -05:00 |
|
dellaert
|
f8024bd6dd
|
Conversion from Hessian can have NULL node model
|
2014-02-16 12:15:52 -05:00 |
|
dellaert
|
17e2221395
|
New test showing diagonal damping currently broken.
|
2014-02-16 11:58:13 -05:00 |
|
dellaert
|
c31d48dba1
|
New flag to govern diagonal damping, off by default
|
2014-02-16 11:57:51 -05:00 |
|
dellaert
|
19a06ca68f
|
Added unit tests for NULL noise model and fixed bug in hessianDiagonalXX for that case
|
2014-02-16 00:21:15 -05:00 |
|
hchiu
|
b0618b8894
|
Replace the identity matrix with diagonal of Hessian.
|
2014-02-15 20:46:28 -05:00 |
|
Luca
|
e789553261
|
bug fix: hessianDiagonal seg-faulted with NULL factors
|
2014-02-15 16:48:15 -05:00 |
|
Luca
|
71e4015304
|
bug fix: before hessianDiagonal seg-faulted with no noise model
|
2014-02-15 16:44:20 -05:00 |
|
dellaert
|
ba6f8b7cca
|
Merge branch 'origin/feature/LM/SymmetricBlockMatrix'
|
2014-02-15 12:20:06 -05:00 |
|
dellaert
|
95c13d64dc
|
Minimal unit test, forgotten by @richardroberts :-)
|
2014-02-15 12:10:41 -05:00 |
|
dellaert
|
298921509c
|
As I was reading through, wrapped all comments to fit within 80 characters.
|
2014-02-15 12:10:17 -05:00 |
|
dellaert
|
15ba23bf46
|
Format using BORG conventions
|
2014-02-15 12:02:37 -05:00 |
|
dellaert
|
99947c7c6d
|
Format using BORG conventions
|
2014-02-15 11:55:00 -05:00 |
|
dellaert
|
b7cbc7a66f
|
Format using BORG conventions
|
2014-02-15 11:47:30 -05:00 |
|
dellaert
|
6a8084ee02
|
Format using BORG conventions
|
2014-02-15 11:47:25 -05:00 |
|
dellaert
|
9af77a9d93
|
testSymmetricBlockMatrix target
|
2014-02-15 11:46:58 -05:00 |
Frank Dellaert
|
6555cd5d68
|
Merged in feature/LM/BlockDiagonal (pull request #8)
hessianBlockDiagonal
|
2014-02-14 17:52:45 -05:00 |
|
dellaert
|
2865aab027
|
Working and tested implementation of hessianBlockDiagonal
|
2014-02-14 13:47:47 -05:00 |
|
dellaert
|
bb9ada6c7a
|
declared hessianBlockDiagonal
|
2014-02-14 13:39:36 -05:00 |
|
dellaert
|
38d8de1537
|
Put in test
|
2014-02-14 13:39:07 -05:00 |
|
dellaert
|
a2829fffad
|
Working and tested implementation of hessianBlockDiagonal
|
2014-02-14 13:31:40 -05:00 |
|
dellaert
|
411381fd88
|
unit test for Jacobian::hessianBlockDiagonal
|
2014-02-14 13:31:21 -05:00 |
|
dellaert
|
7abcd81150
|
Working and tested implementation of hessianBlockDiagonal
|
2014-02-14 13:22:13 -05:00 |
|
dellaert
|
6e4433f589
|
Made correct test for HessianFactor::hessianBlockDiagonal
|
2014-02-14 13:19:17 -05:00 |
|
dellaert
|
83918be8cd
|
Put in empty bodies for hessianBlockDiagonal
|
2014-02-14 13:18:59 -05:00 |
|
dellaert
|
b837cb1b03
|
Declared hessianBlockDiagonal
|
2014-02-14 13:18:46 -05:00 |