dellaert
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2c99f68ed7
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Some formatting/cleanup before fixing bug
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2015-06-14 10:56:22 -07:00 |
Frank Dellaert
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4909fef21a
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Fixed issue
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2015-06-13 20:20:33 -07:00 |
|
Frank Dellaert
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4e1a0edb0a
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Reverted back to vector to avoid troubles w TBB
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2015-06-13 20:19:44 -07:00 |
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Frank Dellaert
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107ed37e0c
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Merge branch 'justKeys' into feature/LinearSolverCleanup
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2015-06-13 16:23:45 -07:00 |
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Frank Dellaert
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d0775faeba
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Save slots to bring cost down from O(n^3) to O(n^2) - again, in theory. In practice, it did seem to help for larger HessianFactors (as expected).
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2015-06-13 12:26:10 -07:00 |
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Frank Dellaert
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f6575323d6
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Sidestep Scatter altogether and just use HessianFactor keys_. In theory, n^3 lookup cost, but in practice (as keys is contiguous memory) just as fast as map.
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2015-06-13 12:06:13 -07:00 |
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Frank Dellaert
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08f30966dd
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Got rid of obsolete getSlots method
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2015-06-13 11:03:12 -07:00 |
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Frank Dellaert
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6f78e00812
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Merge branch 'slotMethod' into feature/LinearSolverCleanup
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2015-06-13 09:17:18 -07:00 |
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Frank Dellaert
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c8cff296fb
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Don't bother making an array
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2015-06-13 09:01:13 -07:00 |
|
Frank Dellaert
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68d9905359
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Merged in feature/stereocamera_backproject_addJacobian (pull request #153)
Add optional jacobians to StereoCamera backprojection
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2015-06-12 17:29:26 -04:00 |
zhaoyang
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abe6b9cec6
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change 'world' to 'point'
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2015-06-12 17:27:36 -04:00 |
|
zhaoyang
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3d18d70d69
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change naming for local_point & world_point
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2015-06-12 16:55:38 -04:00 |
|
zhaoyang
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8440e3c3b2
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cool, a simplified D_local_z jacobian
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2015-06-12 16:53:32 -04:00 |
|
zhaoyang
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2a2b885cdd
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change local variable naming...
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2015-06-12 16:07:36 -04:00 |
|
zhaoyang
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950cdec3b6
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Merged 'develop'.
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2015-06-12 15:34:05 -04:00 |
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Frank Dellaert
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b4ec622525
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Merged in fix/testRegularJacobianFactor (pull request #152)
fix the RegularJacobianFactor overload issue, for mutiplyHessianAdd function.
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2015-06-12 15:23:52 -04:00 |
|
zhaoyang
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4c9b1de675
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Tests passed with real settings
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2015-06-12 15:09:28 -04:00 |
|
zhaoyang
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9ac223ec7d
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correct the chain rule in Jacobian
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2015-06-12 15:08:58 -04:00 |
|
zhaoyang
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4c4c72adb4
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oops, this should be derivative against pose in test
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2015-06-12 13:56:47 -04:00 |
|
zhaoyang
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fb34c099ec
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fix the RegularJacobianFactor overload issue, for mutiplyHessianAdd function.
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2015-06-12 13:35:45 -04:00 |
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Frank Dellaert
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6664699c4c
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getSlots method
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2015-06-12 09:33:55 -07:00 |
|
lvzhaoyang
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a5d74f77d7
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add test case. correct constness for backproject2 definition
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2015-06-12 10:47:02 -04:00 |
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Frank Dellaert
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b712a65c21
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Updated gttic strings as well
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2015-06-12 00:28:15 -07:00 |
|
Frank Dellaert
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41a0146b05
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changed updateATA -> updateHessian. Much clearer
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2015-06-12 00:20:37 -07:00 |
|
Frank Dellaert
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c9910625c2
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Fixed headers
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2015-06-11 23:51:35 -07:00 |
|
Frank Dellaert
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bcc34d1c12
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No more copy constructor
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2015-06-11 23:49:28 -07:00 |
|
Frank Dellaert
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15d5542809
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Renamed variable
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2015-06-11 23:48:18 -07:00 |
|
Frank Dellaert
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692ddd8f36
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Made node keys ordered to avoid copy constructor in eliminate
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2015-06-11 23:38:57 -07:00 |
|
Frank Dellaert
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63d918ed7a
|
Now FastVector
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2015-06-11 23:38:29 -07:00 |
|
Frank Dellaert
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6ed82459ba
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Set params to be like ceres
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2015-06-11 23:11:35 -07:00 |
|
Frank Dellaert
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f89ffdc81c
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Restored defaults (test failed)
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2015-06-11 23:11:24 -07:00 |
|
Frank Dellaert
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5f41529fff
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Added required method
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2015-06-11 21:45:01 -07:00 |
|
Frank Dellaert
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257060e8dd
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Scatter class in separate compilation unit
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2015-06-11 21:21:01 -07:00 |
|
zhaoyang
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cb76d321d3
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add back-projection derivative w.r.t. point, only the equation not finished yet.
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2015-06-11 17:16:50 -04:00 |
|
Frank Dellaert
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29c2b47ace
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Fixed comments, added TODO
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2015-06-11 14:09:00 -07:00 |
|
Frank Dellaert
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e140538a48
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Use diagonal damping by default
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2015-06-11 13:22:38 -07:00 |
|
Frank Dellaert
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635a2a0792
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Fix bug that could disconnect graph
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2015-06-11 13:22:26 -07:00 |
|
Frank Dellaert
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75818c620d
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Merge branch 'before' into feature/LinearSolverCleanup
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2015-06-11 10:54:19 -07:00 |
|
Frank Dellaert
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05a120d94c
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Hardcode ordering and add verbosity
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2015-06-11 09:44:23 -07:00 |
|
zhaoyang
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48d159120d
|
create a backproject2, with optional Jacobians
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2015-06-11 11:40:40 -04:00 |
|
Frank Dellaert
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304cc61dec
|
Specialized fixed-size matrix
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2015-06-10 23:47:53 -07:00 |
|
Frank Dellaert
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5dc149fe23
|
Faster linearize now in class
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2015-06-10 18:37:09 -04:00 |
|
Frank Dellaert
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171793aad3
|
Prototype (faster?) linearize
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2015-06-10 18:27:34 -04:00 |
|
Frank Dellaert
|
7ec26ff323
|
Added Whiten
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2015-06-10 18:27:10 -04:00 |
|
Frank Dellaert
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39ffe3ac32
|
Made updateATA a virtual method for a small saving in CPU, but more importantly to allow for custom Jacobian or HessianFactors...
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2015-06-10 15:53:43 -04:00 |
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Frank Dellaert
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ed09e10331
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Merged in fix/moveRawAccess (pull request #151)
Moved raw access method
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2015-06-09 00:10:58 -04:00 |
|
Frank Dellaert
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c75a76c705
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Moved raw access method (possibly to be removed!) to base class as does not assume regular...
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2015-06-08 20:30:55 -04:00 |
|
Frank Dellaert
|
71caa40095
|
Use Schur ordering
|
2015-06-08 20:01:56 -04:00 |
|
Frank Dellaert
|
f3e54ff916
|
Some refactoring/formatting
|
2015-06-08 20:01:33 -04:00 |
|
Frank Dellaert
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627febfbaa
|
Fixed headers
|
2015-06-08 20:01:04 -04:00 |