12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

got rid of verbose printing

release/4.3a0
Frank Dellaert 2010-01-19 19:04:18 +00:00
parent fb0ca07bf1
commit 9f4da004c2
1 changed files with 7 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
cpp/GaussianFactor.cpp
View File

@ -301,9 +301,6 @@ void GaussianFactor::append_factor(GaussianFactor::shared_ptr f, size_t m, size_
pair<GaussianConditional::shared_ptr, GaussianFactor::shared_ptr> pair<GaussianConditional::shared_ptr, GaussianFactor::shared_ptr>
GaussianFactor::eliminate(const Symbol& key) const GaussianFactor::eliminate(const Symbol& key) const
{ {
bool verbose = false;
if (verbose) cout << "GaussianFactor::eliminate(" << (string)key << ")" << endl;
// if this factor does not involve key, we exit with empty CG and LF // if this factor does not involve key, we exit with empty CG and LF
const_iterator it = As_.find(key); const_iterator it = As_.find(key);
if (it==As_.end()) { if (it==As_.end()) {
@ -320,18 +317,21 @@ GaussianFactor::eliminate(const Symbol& key) const
if (k != key) ordering += k; if (k != key) ordering += k;
// extract A, b from the combined linear factor (ensure that x is leading) // extract A, b from the combined linear factor (ensure that x is leading)
// TODO: get Ab as augmented matrix
// Matrix Ab = matrix_augmented(ordering,false);
Matrix A; Vector b; Matrix A; Vector b;
boost::tie(A, b) = matrix(ordering, false); boost::tie(A, b) = matrix(ordering, false);
size_t n = A.size2(); size_t n = A.size2();
// Do in-place QR to get R, d of the augmented system // Do in-place QR to get R, d of the augmented system
if (verbose) ::print(A,"A");
if (verbose) ::print(b,"b = ");
if (verbose) model_->print("model");
std::list<boost::tuple<Vector, double, double> > solution = std::list<boost::tuple<Vector, double, double> > solution =
weighted_eliminate(A, b, model_->sigmas()); // TODO, fix using NoiseModel weighted_eliminate(A, b, model_->sigmas());
// TODO, fix using NoiseModel, the read out Ab
// model->QR(Ab)
// get dimensions of the eliminated variable // get dimensions of the eliminated variable
// TODO: this is another map find that should be avoided !
size_t n1 = getDim(key); size_t n1 = getDim(key);
// if m<n1, this factor cannot be eliminated // if m<n1, this factor cannot be eliminated
@ -373,8 +373,6 @@ GaussianFactor::eliminate(const Symbol& key) const
// extract ds vector for the new b // extract ds vector for the new b
factor->set_b(sub(d, n1, maxRank)); factor->set_b(sub(d, n1, maxRank));
if (verbose) conditional->print("Conditional");
if (verbose) factor->print("Factor");
return make_pair(conditional, factor); return make_pair(conditional, factor);
} }