881d739371
BLAS level 1 style "scal" saves even more time in PCG
2010-01-30 04:01:49 +00:00
4913326c22
BLAS level 1 style axpy calls in Vector and VectorConfig shave some seconds off PCG
2010-01-30 02:04:37 +00:00
65bc90bf15
timing VectorConfig to speed up iterative
2010-01-29 13:57:45 +00:00
eb88a149a1
NonlinearFactors handle constrained noise models properly now, as before they would try to whiten and fail
2010-01-28 17:21:24 +00:00
06a062c931
Added special lines for static variables needed for template classes
2010-01-27 19:45:31 +00:00
ed45d436be
add gsl and atlas to configure
2010-01-27 05:15:52 +00:00
bc2a25385f
Added updated timing results.
2010-01-27 05:08:54 +00:00
59c7ce7e29
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.
2010-01-27 04:39:35 +00:00
98b825ddbd
Fixed loading of datasets
2010-01-27 03:41:23 +00:00
ae073c0120
Comments, and better test of composePoses
2010-01-27 02:49:58 +00:00
8b87eebba6
commented GSl bit
2010-01-27 01:03:49 +00:00
02210cc7e0
Argument order of load changed
2010-01-26 20:31:25 +00:00
9b62b326c9
One more fix, inverse was actually needed in one case.
2010-01-26 20:10:45 +00:00
b82d054aaa
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.
2010-01-26 20:00:17 +00:00
a0b96e7684
corrected case of Pose2SLAMoptimizer
2010-01-25 14:50:25 +00:00
1685920d52
fixed Ab2 bug
2010-01-23 05:29:04 +00:00
afa964b8db
Fixed sparse bug
2010-01-23 05:16:29 +00:00
744269343f
add print
2010-01-23 04:46:00 +00:00
b092fee64b
pose2slamoptimizer unit tests worked
2010-01-23 03:49:05 +00:00
21c1af2b9f
Collecting more statistics in isam2, logmap for configs
2010-01-23 01:53:04 +00:00
4491db99be
add beijing data set
2010-01-23 01:10:12 +00:00
7644ff0080
optimize returns Vector, does not update
2010-01-23 01:08:42 +00:00
ada844300d
Fixed compile issue in tests
2010-01-23 01:03:47 +00:00
807cffbd61
Pose2SLAMOptimizer prototype for use in MATLAB
2010-01-23 00:57:54 +00:00
7bc4ee65da
allow pure linear steps (disabled)
2010-01-23 00:21:34 +00:00
80d335ed77
added saveGraph function to BayesTree which writes out a dot file which can be visualized using graphviz dot command
2010-01-22 23:52:56 +00:00
e87faa078d
write correct information matrix to data file
2010-01-22 23:20:12 +00:00
2150b24e29
Fixed memory hog problem with Alex's help. SAM marginally faster (3-4% with 1000 poses, might be bigger effect for full dataset)
2010-01-22 23:00:35 +00:00
16c55975c1
Fix inverse_square_root, add cholesky decomposition options
2010-01-22 22:28:03 +00:00
e88ae4a944
add dataset.h/cpp
2010-01-22 20:18:40 +00:00
ab155999cf
simplified alg, but no measureable speed improvement
2010-01-22 18:29:27 +00:00
351cdd18c2
case change: SharedGaussian and SharedDiagonal are now classes with their own header file. Needed for MATLAB TORO hail Mary
2010-01-22 17:36:57 +00:00
490791cd48
add writer module to dump the errors and time
2010-01-22 08:13:54 +00:00
4b778a4e82
fixed a bug in matrix solve function
2010-01-22 06:45:01 +00:00
1d093e388d
changed main algorithm to allow recovery of exact solution
2010-01-22 06:28:12 +00:00
75e29dc015
failing test
2010-01-22 05:45:59 +00:00
5367e5a157
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.
2010-01-22 04:41:40 +00:00
41a6e64bbb
Fixed insert to use IndexTable, a new class
2010-01-22 02:27:26 +00:00
2cc777228b
coments and variables only
2010-01-21 20:15:52 +00:00
7575996d52
Remove leftover commented out unused code
2010-01-21 19:49:36 +00:00
f89a53ed91
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.
2010-01-21 19:49:12 +00:00
ac746ccead
Improved performance of updateAb in NoiseModel with GSL/ATLAS. Various other small optimizations were made.
2010-01-21 18:51:59 +00:00
2183e09c67
fluid relinearization works
2010-01-21 17:41:54 +00:00
523c8630d3
works at least on already solved data...
2010-01-21 16:09:57 +00:00
0dc4f417e9
sampling from NoiseModel
2010-01-21 08:31:18 +00:00
8fd0c2ae72
new fluid relinearization algorithm, in sync with lyx
2010-01-21 07:38:37 +00:00
9db7623f80
Improved instructions for GSL/ATLAS
2010-01-21 01:03:34 +00:00
063aa14118
Reimplemented matrix::householder_update using GSL and BLAS, you'll need to edit Makefile.am to enable the new version -- see email
2010-01-21 00:59:33 +00:00
188561d925
removeTop/Path now returns a BayesNet to avoid converting the conditionals to a factor graph
2010-01-21 00:38:22 +00:00
eb03f78e7d
Removing dependency hack speeds up compilation
2010-01-20 20:47:15 +00:00
588c119bf3
Added timing script for Matrix::householder_()
2010-01-20 18:52:31 +00:00
5f588031bc
Merged NoiseQR back into trunk
2010-01-20 18:32:48 +00:00
9c9007920a
Changed the interface on Matrix::column() so that it uses the one in our library (now called column_() ) rather than the boost default. Currently, our implementation just uses the boost default, but this may change due to timing results.
2010-01-20 16:08:14 +00:00
98b143cd22
Switched all loop indices in Matrix/Vector to size_t, with improved results in timeGaussianFactorGraph
2010-01-20 14:42:05 +00:00
b4f9163296
Added more labels and results (with higher numbers of repetitions) for timeGaussianFactorGraph
2010-01-20 14:31:24 +00:00
8db99db57e
Small performance improvement for matrix_augmented, with accompanying test in timeGaussianFactor
2010-01-20 14:09:44 +00:00
6bc0462669
Checked Matrix::collect() with different timing metric, and memcpy has approx 25% speedup over original version. Matrix_range is slower or the same speed as the original version.
2010-01-20 13:45:22 +00:00
977a97eacf
rename variable
2010-01-20 09:47:09 +00:00
aae49e43f0
code factorization, speedup
2010-01-20 06:49:19 +00:00
ae908316e0
add comments
2010-01-20 06:34:25 +00:00
19dc8bf4b1
Fixed size() crash when BayesTree empty, added clear() function to BayesTree, added and removed #includes to fix link errors
2010-01-20 04:23:35 +00:00
e767996b45
same bug fix as in ISAM2
2010-01-20 03:54:20 +00:00
55e414cbdd
Tried noalias() for collect(), but no real improvement
2010-01-20 03:25:55 +00:00
3bf15333af
move ordering into the solver, and the nonlinear optimizer is now exact <G, T, L>
2010-01-20 02:28:23 +00:00
03ec3e3e62
Implemented a version of collect() using matrix_range, but it had worse performance than memcpy. New version of vector_scale[column] with new pointer arithmetic implementation for approx 20% improvement.
2010-01-20 02:28:25 +00:00
820ae5682d
Optimized row version of vector_scale with approx 20% improvement
2010-01-20 02:04:25 +00:00
ecde508318
incremental nonlinear working
2010-01-20 01:52:40 +00:00
b860f06614
Switched Matrix::collect() over to a memcpy, but the results weren't actually an improvement
2010-01-20 01:42:36 +00:00
d2291a38d1
bug fixes after COLAMD activiation: BayesTree::insert was wrong, BayesTree::removeTop/Path fixed and simplified
2010-01-20 01:24:32 +00:00
66607897a5
Added vector_scale timing benchmarks
2010-01-20 01:05:40 +00:00
ff83a7b18e
Fixed compile error in testNoiseModel
2010-01-20 01:05:18 +00:00
b47438a86c
Smart named constructors Covariance/Variances/Variance
2010-01-20 00:26:49 +00:00
f577b27f52
Small optimizations on Matrix::collect(), additional timing capabilities, and now collect() can have dimensions specified to avoid need for lookup.
2010-01-19 21:49:22 +00:00
67878830a6
Added timeMatrix.cpp to test specific matrix operations
2010-01-19 20:59:22 +00:00
3cdbaf81c7
Factorgraph-specific QR factorization now done by the NoiseModel: slow Gram-Schmidt for Constrained, fast Housholder for any other (Gaussian) model.
2010-01-19 19:06:02 +00:00
6f2b5a904a
save on fabs
2010-01-19 19:04:37 +00:00
9f4da004c2
got rid of verbose printing
2010-01-19 19:04:18 +00:00
fb0ca07bf1
Added and tested whitening parameter for matrix() and matrix_augmented()
2010-01-19 16:52:01 +00:00
fbee0bd749
Fixing compile issue in SubgraphPreconditioner.h
2010-01-19 13:29:40 +00:00
3806125096
add linear system as a template parameter in nonlinear optimizer
...
fixed a nasty bug and change the internal data type of subgraph preconditioner from reference to boost shared pointer. reference is not a good idea for class members, because no type checking will happen
2010-01-19 10:46:12 +00:00
2eac3b7235
minor typo - comment only
2010-01-19 05:46:04 +00:00
306ac0a4b2
Fixed clobbered checkin
2010-01-19 05:45:25 +00:00
88e465910a
SQP tests and implementation now use the new Key system
2010-01-19 05:33:44 +00:00
2a57a04ba6
get_model
2010-01-19 05:29:31 +00:00
6dcc275432
small comment/print
2010-01-19 04:39:54 +00:00
b01c111a1d
GaussianFactor now uses noiseModel internally - not yet externally
2010-01-19 04:39:28 +00:00
81aaceb890
Whiten now class-specific, access to sigmas
2010-01-19 04:38:58 +00:00
ebbdfc79aa
comment out overflow exception
2010-01-19 04:18:59 +00:00
ef2fb243c2
fixed unit test after colamd change
2010-01-19 03:43:10 +00:00
2507b6aaca
Cleaned up commented line after fix to use the colamd ordering.
2010-01-19 03:16:09 +00:00
0311d2a2a2
Very very small change :-)
2010-01-19 02:57:08 +00:00
0769af6f20
comment
2010-01-19 01:41:44 +00:00
a45893a434
selective incremental linearization works; bug fix in landmark initialization (frank01 again much faster)
2010-01-19 01:18:28 +00:00
a2bce15c4b
selective update of linearization point
2010-01-19 00:15:46 +00:00
0e6607d160
relinearization working, but currently applied to all variables
2010-01-18 22:37:44 +00:00
5e15564525
Speedups: Matrix mult. in Gaussian NoiseModel. Removed size check in operator* in Matrix.h - ublas does this check when in debug mode.
2010-01-18 21:45:44 +00:00
e935f1745e
stop copying matrices...
2010-01-18 21:17:25 +00:00
f8ef284b30
fixed bearing/range, large speedup for batch; incremental creation of Config works
2010-01-18 20:17:31 +00:00
1f0de30a62
Removed unnecessary headers, now only included when GTSAM_MAGIC_KEY is defined
2010-01-18 19:36:02 +00:00
e523b148cf
Moved tree stuff to graph, removed ordering-inl.h
2010-01-18 19:11:22 +00:00
Frank Dellaert
Alex Cunningham
Viorela Ila
Kai Ni
Richard Roberts
Manohar Paluri
Michael Kaess
justinca