diff --git a/gtsam/base/SymmetricBlockMatrix.cpp b/gtsam/base/SymmetricBlockMatrix.cpp index 98fe1be5d..96adf04b1 100644 --- a/gtsam/base/SymmetricBlockMatrix.cpp +++ b/gtsam/base/SymmetricBlockMatrix.cpp @@ -61,7 +61,7 @@ namespace gtsam { // Split conditional // Create one big conditionals with many frontal variables. - gttic(Construct_eliminated); + gttic(Construct_conditional); const size_t varDim = offset(nFrontals); VerticalBlockMatrix Ab = VerticalBlockMatrix::LikeActiveViewOf(*this, varDim); Ab.full() = matrix_.topRows(varDim); diff --git a/gtsam/base/cholesky.cpp b/gtsam/base/cholesky.cpp index 86f5234cc..f6e2848f6 100644 --- a/gtsam/base/cholesky.cpp +++ b/gtsam/base/cholesky.cpp @@ -120,6 +120,8 @@ pair choleskyCareful(Matrix& ATA, int order) { /* ************************************************************************* */ bool choleskyPartial(Matrix& ABC, size_t nFrontal) { + gttic(choleskyPartial); + const bool debug = ISDEBUG("choleskyPartial"); assert(ABC.rows() == ABC.cols()); diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp index 0868cd663..0b1d22dd4 100644 --- a/gtsam/linear/HessianFactor.cpp +++ b/gtsam/linear/HessianFactor.cpp @@ -269,6 +269,7 @@ HessianFactor::HessianFactor(const GaussianFactor& gf) : HessianFactor::HessianFactor(const GaussianFactorGraph& factors, boost::optional scatter) { + gttic(HessianFactor_MergeConstructor); boost::optional computedScatter; if(!scatter) { computedScatter = Scatter(factors);