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 |
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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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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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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 |
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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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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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Luca
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c828bf567e
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removed cout
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2014-02-21 20:58:01 -05:00 |
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Luca
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98e32a1e6d
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reorganized verbosity and included the new lambda policy from CERES
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2014-02-20 17:17:12 -05:00 |
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Luca
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06c5186fa2
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added function to create initial values from db
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2014-02-20 15:37:17 -05:00 |
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Luca
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7e8bb1ffb0
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rearranging comments
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2014-02-20 15:36:11 -05:00 |
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Luca
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a0bc4b0a5a
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added 1 more unit test: delta is perpendicular to gradient of original system
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2014-02-20 12:35:07 -05:00 |
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Luca
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dec6430d9b
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1 more test: a small step in delta direction does not decrease error
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2014-02-20 12:22:12 -05:00 |
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Frank Dellaert
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541dbd5199
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Plot thickens: delta computed from damped system points downhill but non-linear error does not decrease
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2014-02-20 09:02:24 -05:00 |
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Frank Dellaert
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33ae83fcb2
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Much more extensive testing of diagonal policy with Luca over Skype - gets stuck in a non-minimum !!!
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2014-02-20 00:28:15 -05:00 |
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Frank Dellaert
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666072b169
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Created new method buildDampedSystem with Luca
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2014-02-20 00:27:33 -05:00 |
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Frank Dellaert
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53134425d5
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Fixed verbosity check
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2014-02-20 00:26:48 -05:00 |
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Luca
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9adc59af18
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added verbosity for debugging termination
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2014-02-18 17:33:00 -05:00 |
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Luca
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92834a8ed7
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modified verbosity levels
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2014-02-18 14:39:12 -05:00 |
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Luca
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fbfa287d4b
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added parameters in "print" for LM
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2014-02-17 17:43:45 -05:00 |
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hchiu
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13254bcc3a
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Add related code for reuse_diagonal, as Ceres did. This is for step strategry (efficiency comparison) in smartFactors_Ceres.
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2014-02-17 10:13:14 -05:00 |
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Luca
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c05eaa0d22
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fixed unit test
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2014-02-16 17:11:58 -05:00 |