Luca
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6f692b1547
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Merge branch 'develop'
Conflicts:
gtsam/base/SymmetricBlockMatrix.cpp
gtsam/linear/JacobianFactor-inl.h
gtsam_unstable/geometry/tests/testTriangulation.cpp
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2014-03-12 12:57:59 -04:00 |
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Luca
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b42a234c66
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avoided warning
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2014-03-12 12:49:45 -04:00 |
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Luca
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b0cca0e4f0
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made linearizedDamped public
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2014-03-11 23:06:03 -04:00 |
dellaert
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9007d1ca72
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Copy constructor and return const &
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2014-03-06 21:07:54 -05:00 |
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dellaert
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691e9884d7
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Const correctness, comments, and templated Eigen blocks (esp. important in integrate)
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2014-03-06 21:05:11 -05:00 |
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dellaert
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a1433dbd31
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const correctness
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2014-03-06 19:39:57 -05:00 |
Richard Roberts
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639e1041c3
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Merge cleanup_fillterms
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2014-03-06 15:46:50 -05:00 |
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Richard Roberts
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fbbbac0db8
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Fixed comment
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2014-03-06 15:44:49 -05:00 |
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Richard Roberts
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488d47729f
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Removed some of the boost range magic in fillTerms
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2014-03-06 15:19:56 -05:00 |
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dellaert
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bb3820780d
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Don't attempt any damping if no key found in diagonal
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2014-03-05 23:25:15 -05:00 |
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dellaert
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0897e04c37
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Slight rename for clarity
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2014-03-05 23:25:00 -05:00 |
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Luca
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f8c7099356
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omitted arbitrary symbol
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2014-03-04 15:06:40 -05:00 |
hchiu
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de27502738
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Move Eigen magic inside function itself as Frank suggested.
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2014-03-04 10:25:54 -05:00 |
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dellaert
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f5ce1d865e
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A custom linearize for speed
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2014-03-04 02:50:28 -05:00 |
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hchiu
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b464b808ef
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First cut on raw MultiplyHessianAdd for HessianFactor and JacobianFactor. Unit test is passed in testGaussianFactorGraphUnordered (multiplyHessianAdd3). Note the interface currently needs the accumulated diminsions of key variables. See GaussianFactorGraph::multiplyHessianAdd(double alpha,const double* x, double* y).
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2014-03-04 01:58:34 -05:00 |
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dellaert
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63f8c75fb2
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Don't do diagonal damping for variables not in linear system
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2014-03-04 01:06:15 -05:00 |
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dellaert
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e321ac60c0
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Merge branch 'feature/LM/triangulation'
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2014-03-02 18:20:47 -05:00 |
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dellaert
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b1013163e7
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Switched to TriangulationFactors: huge improvement
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2014-03-02 15:51:02 -05:00 |
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dellaert
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5c466a7914
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Moved to header file
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2014-03-02 15:36:29 -05:00 |
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dellaert
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a7f98a8316
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Drastically simplified by passing cameras
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2014-03-02 15:33:56 -05:00 |
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dellaert
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f3ee25f1a8
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TriangulationFactor, first version
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2014-03-02 14:56:50 -05:00 |
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dellaert
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dfee108e53
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Some more refactoring
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2014-03-02 13:49:42 -05:00 |
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dellaert
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bf779af3d1
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added twoPoses test
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2014-03-02 13:44:18 -05:00 |
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dellaert
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7b93cd207c
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fixed header bloat
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2014-03-02 13:34:43 -05:00 |
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dellaert
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68401cf216
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removed Cheirality testing in that GTSAM mode
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2014-03-02 13:16:36 -05:00 |
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dellaert
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ba6f857663
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Removed some copy/paste
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2014-03-02 13:02:21 -05:00 |
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dellaert
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744d9f7c1c
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Cherry-picked Richard commit: Removed use of boost::range 'join' - replaced with a special flag to add one dimension in VerticalBlockMatrix and SymmetricBlockMatrix
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2014-03-02 00:07:12 -05:00 |
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Richard Roberts
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bf1f5037d0
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Fixed warning
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2014-03-01 20:41:05 -05:00 |
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dellaert
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15a69fa1ca
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Maybe this does not make a difference, and it's a bit ugly, but I was thinking this change would allow the methods in question to be more readily inlined by the compiler.
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2014-03-01 19:26:58 -05:00 |
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dellaert
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98ae00f1ef
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Avoid malloc in common case?
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2014-03-01 19:24:51 -05:00 |
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dellaert
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fd376a5247
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Avoid millions of mallocs when using Unit noise model
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2014-03-01 18:10:21 -05:00 |
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dellaert
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e4edaf359c
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Avoiding mallocs and working with fixed blocks where possible, makes a pretty noticeable difference in the inner linearize loop
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2014-03-01 18:04:43 -05:00 |
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hchiu
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6b215ea8d9
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Use reuse_diagonal_ with step policy to save computation time (same as Ceres).
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2014-02-28 20:45:09 -05:00 |
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hchiu
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037ed7b931
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Speed Optimization: Move sqrt computation to hessianDiagonal storation as Luca suggested. Got same values in unit tests (TestNonlinearOptimizer).
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2014-02-28 18:09:10 -05:00 |
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Richard Roberts
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87c2f8a7ff
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Fixed a mismatched tic/toc and added a couple needed function entry tics
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2014-02-28 17:36:07 -05:00 |
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Luca
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e127f07336
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fixed iteration counter
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2014-02-26 14:36:51 -05:00 |
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Luca
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a90c5797e0
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lower bound on lambda in the right place
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2014-02-26 12:56:41 -05:00 |
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dellaert
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c3f0bf4949
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Fixed localCoordinates bug in all three Calibration objects.
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2014-02-26 10:30:34 -05:00 |
Frank Dellaert
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2ea8b8243e
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Merged in feature/CalibrationLocalCoordinates (pull request #10)
Fixed localCoordinates bug in all three Calibration objects.
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2014-02-26 10:23:42 -05:00 |
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dellaert
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3c0e1d0610
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Fixed localCoordinates bug in all three Calibration objects.
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2014-02-25 21:29:38 -05:00 |
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Luca
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49a1b7abca
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partially fixed unit test on LM
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2014-02-25 21:09:05 -05:00 |
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Luca
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6217a0b6c4
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fixed LM policy, using CERES
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2014-02-25 21:02:30 -05:00 |
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Richard Roberts
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42d5399b44
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Added a flag for installing GeographicLib, and logic for using the built-in or installed GeographicLib, and disabling relevant unit tests in case GeographicLib is unavailable.
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2014-02-25 15:46:25 -05:00 |
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Luca
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6962072301
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moved Jacobians on SO3 to Rot3
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2014-02-24 14:00:14 -05:00 |
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Luca
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87687ff887
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added simplest BAL file
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2014-02-24 13:07:53 -05:00 |
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Richard Roberts
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1077a4b456
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Merged in feature/partition (pull request #9)
Partitioning code from TSAM
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2014-02-24 12:01:07 -05:00 |
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Richard Roberts
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7cd30a46e7
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Merge branch 'origin/develop'
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2014-02-24 11:58:39 -05:00 |
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Richard Roberts
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7105c31e5f
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Fixed strange cmake error/incompatibility in GeographicLib.
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2014-02-24 11:58:06 -05:00 |
Andrew Melim
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e9eb706786
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Fix conflict
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2014-02-24 11:37:43 -05:00 |
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Richard Roberts
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ed8b1eeaa1
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Converted another loop to use insert like was fixed in the previous commit (wasn't a problem this time but am matching the style to the other file)
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2014-02-24 09:29:30 -05:00 |