cbeall3
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1949fc2511
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Cache noise models in LM damping instead of constructing from scratch for each variable. Time savings of 5.6%!
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2015-10-20 16:25:41 -04:00 |
Jing Dong
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42d07a99ff
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LM optimizer use boost raw timer
|
2015-10-19 19:08:29 -04:00 |
|
Jing Dong
|
9628b9b165
|
fix iteration timer in LM
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2015-10-19 00:07:23 -04:00 |
|
Jing Dong
|
951377c80f
|
fix type errors and timer issue in LM optimizer
|
2015-10-16 14:18:13 -04:00 |
Frank Dellaert
|
a305218bd9
|
Made output more directly comparable with ceres
|
2015-07-04 19:14:25 -07:00 |
dellaert
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464a82cc51
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Merge remote-tracking branch 'origin/develop' into feature/betterOrdering
Conflicts:
.cproject
gtsam/inference/Ordering.h
gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp
gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp
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2015-06-28 15:41:58 -07:00 |
|
dellaert
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1269785c05
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Fixed naming convention
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2015-06-17 09:23:24 -07:00 |
|
dellaert
|
d71e66ea48
|
Moved reuse_diagnal_ to reuseDiagonal in state
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2015-06-17 09:20:46 -07:00 |
|
Frank Dellaert
|
32044eaac8
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Added a named constructor to mimick Ceres defaults
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2015-06-16 22:24:39 -07:00 |
|
Frank
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4ba329c23b
|
Fixed many warnings on Ubuntu
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2015-05-12 13:46:24 -07:00 |
Thomas Schneider
|
cea5f63af3
|
Add SUMMARY verbose level to LM.
|
2015-03-06 00:11:41 +01:00 |
|
dellaert
|
0be63753bc
|
Call Ordering::Create to make sure Metis is executed when asked (was a bug!)
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2015-02-13 17:17:11 +01:00 |
|
dellaert
|
a4aa7b9f45
|
Some comments
|
2015-02-13 16:07:32 +01:00 |
|
cbeall3
|
36a485169d
|
Refactor Ordering parameters. Now compiles and passes with gcc
|
2014-11-17 16:16:52 -05:00 |
Andrew Melim
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ffae14d42e
|
Corrected scoped enum issue for non c++11 compilers
|
2014-11-17 11:57:22 -05:00 |
|
Andrew Melim
|
f00f8d1d7a
|
Formatting changes
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2014-11-17 11:31:11 -05:00 |
|
Andrew Melim
|
a281240ff1
|
METIS ordering only works on values that are 0 indexed. Otherwise heap corruption occurs inside metis ordering function. Not sure how to fix/enforce
|
2014-10-21 15:56:40 -04:00 |
Yong-Dian Jian
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1a9ab972a9
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make verbosityTranslator public static functions
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2014-06-29 13:08:17 -04:00 |
|
Chris Beall
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470527ff99
|
fix warnings on Windows. No need to create variable in catch statement if you're not going to use it. It generates unreferenced variable warnings.
|
2014-06-01 11:30:04 -04:00 |
Luca
|
e8a4767591
|
cleaned code to log LM iterations
|
2014-05-02 16:10:51 -04:00 |
|
Luca
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c1650f72fd
|
added comments
|
2014-05-02 15:23:19 -04:00 |
|
Luca
|
f1fb2c09a4
|
bug fix in LM
|
2014-05-02 15:01:42 -04:00 |
Zsolt Kira
|
a95126599f
|
Fix LM behavior when GaussianFactorGraph is subclassed. Use clone method instead of assignment to local GaussianFactorGraph when creating damped system.
|
2014-04-24 09:47:48 -04:00 |
|
Luca
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67cfe5ea66
|
moved logging at the end of the iteration
|
2014-04-22 11:55:16 -04:00 |
|
Luca
|
e98c4c2ac2
|
added output message for TRYLAMBDA verbosity level
|
2014-04-21 19:18:21 -04:00 |
|
Luca
|
4552327e54
|
added space :)
|
2014-04-16 19:41:23 -04:00 |
|
Luca
|
d8fafce224
|
minor changes to cout when verbosity is TRYLAMBDA
|
2014-04-09 21:00:38 -04:00 |
|
Luca
|
f65fc11801
|
completed print function
|
2014-03-17 19:06:35 -04:00 |
|
Luca
|
5f8f38a8e0
|
when relative decrease is small and positive, the step is applied before termination
|
2014-03-17 14:20:41 -04:00 |
|
Luca
|
3ee404a5a6
|
removed unused parameters. cleaned up hard-coded parameters
|
2014-03-17 14:12:04 -04:00 |
|
Luca
|
a6d73e8884
|
improved efficiency of diagonal damping (avoiding multiple traversal of binary tree)
|
2014-03-13 22:43:51 -04:00 |
|
Luca
|
e65ddf4d87
|
cleaned up LM with Richard, before merge
|
2014-03-12 14:24:15 -04:00 |
|
Luca
|
b42a234c66
|
avoided warning
|
2014-03-12 12:49:45 -04:00 |
|
dellaert
|
bb3820780d
|
Don't attempt any damping if no key found in diagonal
|
2014-03-05 23:25:15 -05:00 |
|
dellaert
|
63f8c75fb2
|
Don't do diagonal damping for variables not in linear system
|
2014-03-04 01:06:15 -05:00 |
hchiu
|
6b215ea8d9
|
Use reuse_diagonal_ with step policy to save computation time (same as Ceres).
|
2014-02-28 20:45:09 -05:00 |
|
hchiu
|
037ed7b931
|
Speed Optimization: Move sqrt computation to hessianDiagonal storation as Luca suggested. Got same values in unit tests (TestNonlinearOptimizer).
|
2014-02-28 18:09:10 -05:00 |
|
Luca
|
e127f07336
|
fixed iteration counter
|
2014-02-26 14:36:51 -05:00 |
|
Luca
|
a90c5797e0
|
lower bound on lambda in the right place
|
2014-02-26 12:56:41 -05:00 |
|
Luca
|
6217a0b6c4
|
fixed LM policy, using CERES
|
2014-02-25 21:02:30 -05:00 |
|
Luca
|
c828bf567e
|
removed cout
|
2014-02-21 20:58:01 -05:00 |
|
Luca
|
98e32a1e6d
|
reorganized verbosity and included the new lambda policy from CERES
|
2014-02-20 17:17:12 -05:00 |
|
Luca
|
7e8bb1ffb0
|
rearranging comments
|
2014-02-20 15:36:11 -05:00 |
|
Frank Dellaert
|
666072b169
|
Created new method buildDampedSystem with Luca
|
2014-02-20 00:27:33 -05:00 |
|
Luca
|
9adc59af18
|
added verbosity for debugging termination
|
2014-02-18 17:33:00 -05:00 |
|
Luca
|
92834a8ed7
|
modified verbosity levels
|
2014-02-18 14:39:12 -05:00 |
|
Luca
|
fbfa287d4b
|
added parameters in "print" for LM
|
2014-02-17 17:43:45 -05:00 |
|
hchiu
|
13254bcc3a
|
Add related code for reuse_diagonal, as Ceres did. This is for step strategry (efficiency comparison) in smartFactors_Ceres.
|
2014-02-17 10:13:14 -05:00 |
|
Luca
|
c05eaa0d22
|
fixed unit test
|
2014-02-16 17:11:58 -05:00 |
|
Luca
|
4aec076568
|
do not cross upper bound for lambda
|
2014-02-16 16:33:57 -05:00 |