Frank Dellaert
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fa6a515bfd
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SAM was substantially sped up by inlining VectorConfig::insert
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2010-01-31 16:05:16 +00:00 |
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Frank Dellaert
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5e4b23df59
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Matrix::multiplyAdd and transposeMultiplyAdd are "level 2" BLAS and speed up the numeric part of the code substantially. Alex might be able to speed them up even more by making them use real BLAS code within Matrix.cpp.
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2010-01-31 16:04:24 +00:00 |
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Frank Dellaert
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3b6c4917a9
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GaussianBayesNet::backSubstituteInPlace
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2010-01-31 04:39:41 +00:00 |
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Frank Dellaert
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ac870bce4c
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GaussianFactor::transposeMultiplyAdd
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2010-01-31 03:33:53 +00:00 |
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Frank Dellaert
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4f998e5ecd
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Matrix::transposeMultiplyAdd
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2010-01-31 02:53:03 +00:00 |
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Frank Dellaert
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9b4ff5e099
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transposeMultiplyAdd provied BLAS-style call for iterative speed
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2010-01-30 23:59:29 +00:00 |
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Frank Dellaert
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6ef09583b9
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multiplyInPlace shaves a few seconds off but is fairly dangerous - I feel ambivalent....
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2010-01-30 17:31:05 +00:00 |
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Frank Dellaert
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161a47caa7
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2010-01-30 05:22:17 +00:00 |
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Frank Dellaert
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881d739371
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BLAS level 1 style "scal" saves even more time in PCG
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2010-01-30 04:01:49 +00:00 |
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Frank Dellaert
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4913326c22
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BLAS level 1 style axpy calls in Vector and VectorConfig shave some seconds off PCG
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2010-01-30 02:04:37 +00:00 |
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Frank Dellaert
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65bc90bf15
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timing VectorConfig to speed up iterative
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2010-01-29 13:57:45 +00:00 |
Alex Cunningham
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eb88a149a1
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NonlinearFactors handle constrained noise models properly now, as before they would try to whiten and fail
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2010-01-28 17:21:24 +00:00 |
Viorela Ila
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06a062c931
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Added special lines for static variables needed for template classes
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2010-01-27 19:45:31 +00:00 |
Kai Ni
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ed45d436be
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add gsl and atlas to configure
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2010-01-27 05:15:52 +00:00 |
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Alex Cunningham
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bc2a25385f
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Added updated timing results.
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2010-01-27 05:08:54 +00:00 |
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Alex Cunningham
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59c7ce7e29
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Integrated householder-based QR into NoiseModel. Note that the examples for GFG have changed to ensure that they are actually a linearized version of the nonlinear example.
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2010-01-27 04:39:35 +00:00 |
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Frank Dellaert
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98b825ddbd
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Fixed loading of datasets
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2010-01-27 03:41:23 +00:00 |
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Frank Dellaert
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ae073c0120
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Comments, and better test of composePoses
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2010-01-27 02:49:58 +00:00 |
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Frank Dellaert
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8b87eebba6
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commented GSl bit
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2010-01-27 01:03:49 +00:00 |
Richard Roberts
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02210cc7e0
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Argument order of load changed
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2010-01-26 20:31:25 +00:00 |
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Richard Roberts
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9b62b326c9
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One more fix, inverse was actually needed in one case.
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2010-01-26 20:10:45 +00:00 |
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Richard Roberts
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b82d054aaa
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Definitions of Lie::between, Pose2::compose, expmap, and derivatives were not correct. Fixed, but changes some behavior (iSAM and CitySLAM already fixed), will send email about this change.
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2010-01-26 20:00:17 +00:00 |
Manohar Paluri
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a0b96e7684
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corrected case of Pose2SLAMoptimizer
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2010-01-25 14:50:25 +00:00 |
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Kai Ni
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1685920d52
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fixed Ab2 bug
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2010-01-23 05:29:04 +00:00 |
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Frank Dellaert
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afa964b8db
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Fixed sparse bug
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2010-01-23 05:16:29 +00:00 |
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Kai Ni
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744269343f
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add print
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2010-01-23 04:46:00 +00:00 |
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Kai Ni
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b092fee64b
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pose2slamoptimizer unit tests worked
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2010-01-23 03:49:05 +00:00 |
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Richard Roberts
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21c1af2b9f
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Collecting more statistics in isam2, logmap for configs
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2010-01-23 01:53:04 +00:00 |
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Kai Ni
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4491db99be
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add beijing data set
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2010-01-23 01:10:12 +00:00 |
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Frank Dellaert
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7644ff0080
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optimize returns Vector, does not update
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2010-01-23 01:08:42 +00:00 |
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Frank Dellaert
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ada844300d
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Fixed compile issue in tests
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2010-01-23 01:03:47 +00:00 |
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Frank Dellaert
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807cffbd61
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Pose2SLAMOptimizer prototype for use in MATLAB
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2010-01-23 00:57:54 +00:00 |
Michael Kaess
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7bc4ee65da
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allow pure linear steps (disabled)
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2010-01-23 00:21:34 +00:00 |
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Manohar Paluri
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80d335ed77
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added saveGraph function to BayesTree which writes out a dot file which can be visualized using graphviz dot command
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2010-01-22 23:52:56 +00:00 |
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Kai Ni
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e87faa078d
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write correct information matrix to data file
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2010-01-22 23:20:12 +00:00 |
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Frank Dellaert
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2150b24e29
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Fixed memory hog problem with Alex's help. SAM marginally faster (3-4% with 1000 poses, might be bigger effect for full dataset)
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2010-01-22 23:00:35 +00:00 |
justinca
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16c55975c1
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Fix inverse_square_root, add cholesky decomposition options
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2010-01-22 22:28:03 +00:00 |
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Kai Ni
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e88ae4a944
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add dataset.h/cpp
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2010-01-22 20:18:40 +00:00 |
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Michael Kaess
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ab155999cf
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simplified alg, but no measureable speed improvement
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2010-01-22 18:29:27 +00:00 |
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Frank Dellaert
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351cdd18c2
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case change: SharedGaussian and SharedDiagonal are now classes with their own header file. Needed for MATLAB TORO hail Mary
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2010-01-22 17:36:57 +00:00 |
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Kai Ni
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490791cd48
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add writer module to dump the errors and time
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2010-01-22 08:13:54 +00:00 |
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Kai Ni
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4b778a4e82
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fixed a bug in matrix solve function
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2010-01-22 06:45:01 +00:00 |
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Michael Kaess
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1d093e388d
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changed main algorithm to allow recovery of exact solution
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2010-01-22 06:28:12 +00:00 |
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Frank Dellaert
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75e29dc015
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failing test
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2010-01-22 05:45:59 +00:00 |
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Richard Roberts
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5367e5a157
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All std::map<Symbol,T> are now SymbolMap<T>, which is just a thin wrapper around std::map. at(Key) is used instead of first checking with find when an exception should be thrown for non-existent keys. This does not change any behavior or timing currently. This check-in also includes some functions in BayesTree for gathering clique statistics.
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2010-01-22 04:41:40 +00:00 |
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Frank Dellaert
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41a6e64bbb
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Fixed insert to use IndexTable, a new class
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2010-01-22 02:27:26 +00:00 |
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Frank Dellaert
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2cc777228b
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coments and variables only
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2010-01-21 20:15:52 +00:00 |
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justinca
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7575996d52
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Remove leftover commented out unused code
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2010-01-21 19:49:36 +00:00 |
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justinca
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f89a53ed91
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Bugfix in Rot3::logmap. The function checked for a trace of 3, but the check could fail due to rounding errors, causing the function to try to take acos(something larger than 1) resulting in NaNs being returned.
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2010-01-21 19:49:12 +00:00 |
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Alex Cunningham
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ac746ccead
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Improved performance of updateAb in NoiseModel with GSL/ATLAS. Various other small optimizations were made.
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2010-01-21 18:51:59 +00:00 |