Zsolt Kira
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9639660685
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Added GenericProjectionFactorCreator. Both smart and generic projection factors now work (again) in batch mode. Incremental not tested yet.
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2013-10-11 01:59:36 +00:00 |
Duy-Nguyen Ta
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6789c5080c
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comments request!!!
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2013-10-10 22:02:57 +00:00 |
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Duy-Nguyen Ta
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a2138084db
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move print to cpp to wrap properly in matlab
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2013-10-10 22:01:48 +00:00 |
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Duy-Nguyen Ta
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9aede467d2
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revive discrete, except testDiscreteBayesNet::sample, and the whole testDiscreteBayesTree, currently disabled. It's still a mess!!!
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2013-10-10 21:59:49 +00:00 |
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Zsolt Kira
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1a8a670870
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Fixed bugs in new version since creator class is used: Get number of landmarks from creator object,
replace ensureHasOrdering with direct COLAMD call.
Current Smart Projection factor version works in batch mode
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2013-10-10 20:21:40 +00:00 |
Chris Beall
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e799c9ffa9
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tabs converted to two spaces
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2013-10-10 17:52:57 +00:00 |
Richard Roberts
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fdced7dbcf
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Prototype of special comma initializer in unit test only
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2013-10-10 16:39:15 +00:00 |
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Richard Roberts
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69c7f6d137
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Restored ClusterTree base class of JunctionTree
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2013-10-09 17:39:19 +00:00 |
Luca Carlone
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121e71431a
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SmartFactorsCreator + initial fix in kitti example
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2013-10-09 17:13:19 +00:00 |
Alex Cunningham
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a7e7da49a5
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Wrapped combine constructors for JacobianFactor and HessianFactor
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2013-10-08 21:43:14 +00:00 |
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Luca Carlone
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426b4d79cf
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testSmartProjectionFactor - disabled
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2013-10-08 14:28:50 +00:00 |
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Luca Carlone
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444df1958a
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Kitti test not working
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2013-10-06 18:17:35 +00:00 |
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Luca Carlone
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d049dd38c6
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Incremental mode in Smart Factors (not working yet with standard ProjectionFactors)
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2013-10-06 18:17:32 +00:00 |
Frank Dellaert
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f65740e79e
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fixed filename in doxygen header
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2013-10-04 21:28:26 +00:00 |
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Zsolt Kira
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83182b05ca
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Second method for landmark-first ordering: Provide a constrained ordering with landmarks in group 1 and poses in group 2
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2013-10-04 14:25:19 +00:00 |
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Zsolt Kira
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cc724134a6
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Added ability to run both smart and projection factor version (for comparison)
For projection factor version, we can specify a landmark-first ordering
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2013-10-04 13:47:24 +00:00 |
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Richard Roberts
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43d56b120a
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From Hmf6_unordered: getISAM2 and variables Reeliminated/Relinearized (d97dcacf186900d12003c399e7fe55e03ca34e3f)
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2013-10-03 19:52:05 +00:00 |
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Richard Roberts
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0c7b2ec062
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From Hmf6_unordered: Public isam2 - to be changed (10834edc1698d941be3203e8e6bea0bd4a573443)
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2013-10-03 19:52:01 +00:00 |
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Richard Roberts
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bf40956592
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Merged from Hmf6_unordered 970392249a8c50153f24594c9c81acb740cedd06
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2013-10-03 19:51:56 +00:00 |
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Richard Roberts
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2ad0cd4417
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Fixed compile error on linux
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2013-10-03 19:10:13 +00:00 |
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Luca Carlone
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4996db5023
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Fix in running incremental optimization on Kitti
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2013-10-03 18:02:25 +00:00 |
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Richard Roberts
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3c68d20ff2
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Fixed calculate_nnz and added unit test
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2013-10-03 16:50:20 +00:00 |
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Richard Roberts
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19602bbb0b
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Fixed warning
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2013-10-03 16:50:18 +00:00 |
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Richard Roberts
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95ac34aeeb
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Updating Hessian in-place instead of computing Hessian for each Jacobian
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2013-10-03 16:50:16 +00:00 |
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Richard Roberts
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4d31dd99f3
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Hopefully fixed the mex build flags
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2013-10-03 16:50:14 +00:00 |
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Duy-Nguyen Ta
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c3e3b693e7
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support special linearize for constraints, which Jacobian could be augmented by Jacobian-from-Hessian parts for Lagrange multipliers in SQP
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2013-10-02 03:55:11 +00:00 |
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Duy-Nguyen Ta
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63ff1b47c1
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support augmented matrices in Matrix's vector_scale_in_place, Constrained's Whiten, WhitenInPlace, and unit(...). These are used in constraints SQP solver with Lagrange multipliers.
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2013-10-02 03:52:08 +00:00 |
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Luca Carlone
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a6dd4c0464
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testing on kitti
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2013-09-30 20:39:55 +00:00 |
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Luca Carlone
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5c4395e812
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Removed const
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2013-09-30 20:39:53 +00:00 |
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Luca Carlone
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441dcec64e
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added unit test for selective relinearization
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2013-09-28 21:25:08 +00:00 |
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Luca Carlone
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9ad72e9523
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included rank tolerance in Smart factor constructor
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2013-09-28 18:49:26 +00:00 |
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Luca Carlone
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d10ffee4d4
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management of degeneracy
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2013-09-28 00:49:37 +00:00 |
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Richard Roberts
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6f463166a9
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Using TBB task continuation in tree traversal but this unfortunately does not improve performance
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2013-09-27 16:30:36 +00:00 |
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Luca Carlone
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7560a1f6e3
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Typo fixed
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2013-09-27 16:06:36 +00:00 |
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Luca Carlone
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e10a0a0650
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bool to disable selective relinearization
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2013-09-26 23:09:50 +00:00 |
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Luca Carlone
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8168d4a186
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commented test
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2013-09-26 23:09:48 +00:00 |
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Luca Carlone
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22ccd4b4b4
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update to smartFactor
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2013-09-26 23:09:47 +00:00 |
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Zsolt Kira
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b04d2f1512
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ICRA version of Kitti dataset processing
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2013-09-26 20:36:57 +00:00 |
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Alex Cunningham
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d440901920
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Fixed quoting on include paths for building the toolbox so that the toolbox builds again
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2013-09-26 18:12:32 +00:00 |
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Luca Carlone
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70a448f43e
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Efficient implementation of Selective Linearization
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2013-09-26 15:07:56 +00:00 |
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Luca Carlone
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73e72a98bd
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Selective relinearization
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2013-09-26 01:06:55 +00:00 |
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Luca Carlone
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9f68c04792
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Initial implementation of selective relinearization
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2013-09-20 20:19:58 +00:00 |
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Richard Roberts
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e1ef219916
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Added optional ordering for creating dense jacobian and hessian matrices from GaussianFactorGraph
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2013-09-20 15:25:16 +00:00 |
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Richard Roberts
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5f2a4e0dc6
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Changed remaining Index to Key
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2013-09-20 15:25:11 +00:00 |
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Richard Roberts
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c24cc8d2e2
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Use KeyFormatter in BayesNet::saveGraph
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2013-09-18 17:23:38 +00:00 |
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Richard Roberts
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f5bb8c6507
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Added missing MATLAB wrapping of GaussianFactorGraph elimination functions
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2013-09-18 17:23:33 +00:00 |
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Alex Cunningham
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a4bd2adbc7
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Added test for serializing a GaussianBayesTree
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2013-09-17 14:04:11 +00:00 |
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Richard Roberts
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1c30b6daef
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Fixed the other place where tbb set_ref_count was called before finishing creating children which may throw exceptions, hopefully will fix the intermitant TBB crash when an exception is thrown.
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2013-09-17 03:24:21 +00:00 |
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Richard Roberts
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2b78eb8bec
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Restored NonlinearFactorGraph::symbolic() and made a few other minor fixes.
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2013-09-17 03:13:32 +00:00 |
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Richard Roberts
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b050e96b93
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Use cleaner function for spawning TBB tasks
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2013-09-16 20:59:00 +00:00 |