Luca
|
a6d73e8884
|
improved efficiency of diagonal damping (avoiding multiple traversal of binary tree)
|
2014-03-13 22:43:51 -04:00 |
|
Luca
|
afb5bac2f7
|
writeBALfromValues input made const
|
2014-03-13 01:36:38 -04:00 |
|
Luca
|
6e0bfa1f5b
|
commented failing unit test (issue added on Bitbucket)
|
2014-03-12 14:50:39 -04:00 |
|
Luca
|
e65ddf4d87
|
cleaned up LM with Richard, before merge
|
2014-03-12 14:24:15 -04:00 |
|
Luca
|
6f692b1547
|
Merge branch 'develop'
Conflicts:
gtsam/base/SymmetricBlockMatrix.cpp
gtsam/linear/JacobianFactor-inl.h
gtsam_unstable/geometry/tests/testTriangulation.cpp
|
2014-03-12 12:57:59 -04:00 |
|
Luca
|
b42a234c66
|
avoided warning
|
2014-03-12 12:49:45 -04:00 |
|
Luca
|
b0cca0e4f0
|
made linearizedDamped public
|
2014-03-11 23:06:03 -04:00 |
dellaert
|
9007d1ca72
|
Copy constructor and return const &
|
2014-03-06 21:07:54 -05:00 |
|
dellaert
|
691e9884d7
|
Const correctness, comments, and templated Eigen blocks (esp. important in integrate)
|
2014-03-06 21:05:11 -05:00 |
|
dellaert
|
a1433dbd31
|
const correctness
|
2014-03-06 19:39:57 -05:00 |
Richard Roberts
|
639e1041c3
|
Merge cleanup_fillterms
|
2014-03-06 15:46:50 -05:00 |
|
Richard Roberts
|
fbbbac0db8
|
Fixed comment
|
2014-03-06 15:44:49 -05:00 |
|
Richard Roberts
|
488d47729f
|
Removed some of the boost range magic in fillTerms
|
2014-03-06 15:19:56 -05:00 |
|
dellaert
|
bb3820780d
|
Don't attempt any damping if no key found in diagonal
|
2014-03-05 23:25:15 -05:00 |
|
dellaert
|
0897e04c37
|
Slight rename for clarity
|
2014-03-05 23:25:00 -05:00 |
|
Luca
|
f8c7099356
|
omitted arbitrary symbol
|
2014-03-04 15:06:40 -05:00 |
hchiu
|
de27502738
|
Move Eigen magic inside function itself as Frank suggested.
|
2014-03-04 10:25:54 -05:00 |
|
dellaert
|
f5ce1d865e
|
A custom linearize for speed
|
2014-03-04 02:50:28 -05:00 |
|
hchiu
|
b464b808ef
|
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).
|
2014-03-04 01:58:34 -05:00 |
|
dellaert
|
63f8c75fb2
|
Don't do diagonal damping for variables not in linear system
|
2014-03-04 01:06:15 -05:00 |
|
dellaert
|
e321ac60c0
|
Merge branch 'feature/LM/triangulation'
|
2014-03-02 18:20:47 -05:00 |
|
dellaert
|
b1013163e7
|
Switched to TriangulationFactors: huge improvement
|
2014-03-02 15:51:02 -05:00 |
|
dellaert
|
5c466a7914
|
Moved to header file
|
2014-03-02 15:36:29 -05:00 |
|
dellaert
|
a7f98a8316
|
Drastically simplified by passing cameras
|
2014-03-02 15:33:56 -05:00 |
|
dellaert
|
f3ee25f1a8
|
TriangulationFactor, first version
|
2014-03-02 14:56:50 -05:00 |
|
dellaert
|
dfee108e53
|
Some more refactoring
|
2014-03-02 13:49:42 -05:00 |
|
dellaert
|
bf779af3d1
|
added twoPoses test
|
2014-03-02 13:44:18 -05:00 |
|
dellaert
|
7b93cd207c
|
fixed header bloat
|
2014-03-02 13:34:43 -05:00 |
|
dellaert
|
68401cf216
|
removed Cheirality testing in that GTSAM mode
|
2014-03-02 13:16:36 -05:00 |
|
dellaert
|
ba6f857663
|
Removed some copy/paste
|
2014-03-02 13:02:21 -05:00 |
|
dellaert
|
744d9f7c1c
|
Cherry-picked Richard commit: Removed use of boost::range 'join' - replaced with a special flag to add one dimension in VerticalBlockMatrix and SymmetricBlockMatrix
|
2014-03-02 00:07:12 -05:00 |
|
Richard Roberts
|
bf1f5037d0
|
Fixed warning
|
2014-03-01 20:41:05 -05:00 |
|
dellaert
|
15a69fa1ca
|
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.
|
2014-03-01 19:26:58 -05:00 |
|
dellaert
|
98ae00f1ef
|
Avoid malloc in common case?
|
2014-03-01 19:24:51 -05:00 |
|
dellaert
|
fd376a5247
|
Avoid millions of mallocs when using Unit noise model
|
2014-03-01 18:10:21 -05:00 |
|
dellaert
|
e4edaf359c
|
Avoiding mallocs and working with fixed blocks where possible, makes a pretty noticeable difference in the inner linearize loop
|
2014-03-01 18:04:43 -05:00 |
|
hchiu
|
6b215ea8d9
|
Use reuse_diagonal_ with step policy to save computation time (same as Ceres).
|
2014-02-28 20:45:09 -05:00 |
|
hchiu
|
037ed7b931
|
Speed Optimization: Move sqrt computation to hessianDiagonal storation as Luca suggested. Got same values in unit tests (TestNonlinearOptimizer).
|
2014-02-28 18:09:10 -05:00 |
|
Richard Roberts
|
87c2f8a7ff
|
Fixed a mismatched tic/toc and added a couple needed function entry tics
|
2014-02-28 17:36:07 -05:00 |
|
Luca
|
e127f07336
|
fixed iteration counter
|
2014-02-26 14:36:51 -05:00 |
|
Luca
|
a90c5797e0
|
lower bound on lambda in the right place
|
2014-02-26 12:56:41 -05:00 |
|
dellaert
|
c3f0bf4949
|
Fixed localCoordinates bug in all three Calibration objects.
|
2014-02-26 10:30:34 -05:00 |
Frank Dellaert
|
2ea8b8243e
|
Merged in feature/CalibrationLocalCoordinates (pull request #10)
Fixed localCoordinates bug in all three Calibration objects.
|
2014-02-26 10:23:42 -05:00 |
|
dellaert
|
3c0e1d0610
|
Fixed localCoordinates bug in all three Calibration objects.
|
2014-02-25 21:29:38 -05:00 |
|
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 |
|
Richard Roberts
|
42d5399b44
|
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.
|
2014-02-25 15:46:25 -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 |
|
Richard Roberts
|
1077a4b456
|
Merged in feature/partition (pull request #9)
Partitioning code from TSAM
|
2014-02-24 12:01:07 -05:00 |