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GBP optimizer #427

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GBP optimizer #427

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Commits on Mar 16, 2022

  1. gbp implementation for pose graph problem, euclidean and lie algebra

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    joeaortiz committed Mar 16, 2022
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  2. Merge branch 'main' into joe.gbp_optimizer

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    joeaortiz committed Mar 16, 2022
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  3. gbp uses exp_map jacobians

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    joeaortiz committed Mar 16, 2022
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  4. gaussian for Manifold rather than Variable class

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Commits on Mar 17, 2022

  1. Merge branch 'main' into joe.gbp_optimizer

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    joeaortiz committed Mar 17, 2022
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Commits on Apr 4, 2022

  1. uses proper theseus exp_map jacobian

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    joeaortiz committed Apr 4, 2022
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Commits on Apr 5, 2022

  1. gaussian class plus marginals and message class

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    joeaortiz committed Apr 5, 2022
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Commits on Apr 7, 2022

  1. updated gaussian class

    @joeaortiz
    joeaortiz committed Apr 7, 2022
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Commits on Apr 8, 2022

  1. message scheduler

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    joeaortiz committed Apr 8, 2022
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Commits on Apr 13, 2022

  1. added mean damping in lin point space

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    joeaortiz committed Apr 13, 2022
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Commits on Apr 20, 2022

  1. Merge branch 'main' into joe.gbp_optimizer

    @joeaortiz
    joeaortiz committed Apr 20, 2022
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  2. fix in linearise and add ba exmple

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    joeaortiz committed Apr 20, 2022
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  3. Merge branch 'main' into joe.gbp_optimizer

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    joeaortiz committed Apr 20, 2022
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Commits on Apr 22, 2022

  1. use th.Manifold gaussian

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    joeaortiz committed Apr 22, 2022
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Commits on Apr 25, 2022

  1. ba tests, fixing numerical issues

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    joeaortiz committed Apr 25, 2022
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Commits on May 5, 2022

  1. ba viewer

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    joeaortiz committed May 5, 2022
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Commits on Jun 1, 2022

  1. bundle adjustment trimesh vis

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    joeaortiz committed Jun 1, 2022
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  2. soft huber-like loss on norm of x,y error

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    joeaortiz committed Jun 1, 2022
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Commits on Jun 6, 2022

  1. remove prints and fix viewer

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    joeaortiz committed Jun 6, 2022
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  2. remove symmetric check

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    joeaortiz committed Jun 6, 2022
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  3. ba visualisation and derivates setup for pgo

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    joeaortiz committed Jun 6, 2022
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Commits on Jun 10, 2022

  1. lin system damping for ftov msgs

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    joeaortiz committed Jun 10, 2022
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  2. static dense solver methods

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    joeaortiz committed Jun 10, 2022
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  3. ba with damping in linear system

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    joeaortiz committed Jun 10, 2022
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  4. backward modes

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    joeaortiz committed Jun 10, 2022
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  5. msgs are class variables to fix implicit backward mode

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    joeaortiz committed Jun 10, 2022
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  6. test different backward modes for pgo

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    joeaortiz committed Jun 10, 2022
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  7. Merge branch 'main' into joe.gbp_optimizer

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    joeaortiz committed Jun 10, 2022
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Commits on Jun 11, 2022

  1. fixed copy_impl for reprojection error fn

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    joeaortiz committed Jun 11, 2022
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Commits on Jun 12, 2022

  1. fix order of args in copy fn

    @joeaortiz
    joeaortiz committed Jun 12, 2022
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  2. used vectorization for part of relin, rename VariableDifference

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    joeaortiz committed Jun 12, 2022
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Commits on Jul 4, 2022

  1. handles batched problems

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    joeaortiz committed Jul 4, 2022
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Commits on Jul 5, 2022

  1. vectorized relinearization and ftov msg passing, schedule class

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    joeaortiz committed Jul 5, 2022
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  2. added missing aux vars to reprojection error cf

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    joeaortiz committed Jul 5, 2022
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Commits on Jul 6, 2022

  1. Merge branch main into joe.gbp_optimizer

    @joeaortiz
    joeaortiz committed Jul 6, 2022
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Commits on Jul 7, 2022

  1. vectorized vtof msg passing

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    joeaortiz committed Jul 7, 2022
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  2. handles vectorized inversion with some singular matrices, only comput… 

    …es vectorization indices once
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    joeaortiz committed Jul 7, 2022
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Commits on Jul 8, 2022

  1. removed random message schedule

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    joeaortiz committed Jul 8, 2022
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Commits on Jul 15, 2022

  1. merge with main 

    * rename data to tensor

* use info.state_history for bundle adjusment vis
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    joeaortiz committed Jul 15, 2022
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Commits on Jul 18, 2022

  1. damping linear system

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    joeaortiz committed Jul 18, 2022
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  2. local linear damping, fixes for gbp on gpu

    @joeaortiz
    joeaortiz committed Jul 18, 2022
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  3. handle loading different format bal file and drop observations

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    joeaortiz committed Jul 18, 2022
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Commits on Jul 20, 2022

  1. gbp check unary factor, fix bug in ba viewer

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    joeaortiz committed Jul 20, 2022
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  2. ba error plot

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    joeaortiz committed Jul 20, 2022
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Commits on Jul 22, 2022

  1. fixed are calculation

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    joeaortiz committed Jul 22, 2022
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Commits on Aug 2, 2022

  1. tensor for linear system damping, rename message damping

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    joeaortiz committed Aug 2, 2022
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Commits on Aug 4, 2022

  1. fixes bug where beleifs and factors are created twice

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    joeaortiz committed Aug 4, 2022
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Commits on Aug 26, 2022

  1. nesterov, no grad for lm damping, ba batch experiments

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    joeaortiz committed Aug 26, 2022
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Commits on Sep 6, 2022

  1. nesterov acceleration, two modes

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    joeaortiz committed Sep 6, 2022
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Commits on Sep 8, 2022

  1. swarm exp

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    joeaortiz committed Sep 8, 2022
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Commits on Sep 9, 2022

  1. learning target for agents

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    joeaortiz committed Sep 9, 2022
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Commits on Sep 16, 2022

  1. target character and joint mlp + gbp

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    joeaortiz committed Sep 16, 2022
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Commits on Sep 20, 2022

  1. fixed jacobians for gnn factor

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    joeaortiz committed Sep 20, 2022
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Commits on Sep 26, 2022

  1. implicit backward mode for GBP using GN step

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    joeaortiz committed Sep 26, 2022
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Commits on Sep 30, 2022

  1. implicit derivatives using gbp and plot backward modes against time

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    joeaortiz committed Sep 30, 2022
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Commits on Dec 22, 2022

  1. Merge main

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    joeaortiz committed Dec 22, 2022
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Commits on Dec 30, 2022

  1. moved into optimizer, removed experiments

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    joeaortiz committed Dec 30, 2022
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Commits on Jan 4, 2023

  1. Moved import, fixed single wrapper vectorization

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    joeaortiz committed Jan 4, 2023
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  2. update vectorization before truncated steps

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    joeaortiz committed Jan 4, 2023
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  3. Moved bundle adjustment edits to experimental branch

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    joeaortiz committed Jan 4, 2023
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  4. flake8 on github not gitlab

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Commits on Jan 5, 2023

  1. Remove nesterov acceleration and timing

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Commits on Jan 6, 2023

  1. End of iter callback, updated mypy version

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    joeaortiz committed Jan 6, 2023
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  2. First attempt at GBP linear solver test

    @joeaortiz
    joeaortiz committed Jan 6, 2023
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  3. Fixed poor conditioning problems with linear test

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    joeaortiz committed Jan 6, 2023
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  4. dropout starts later

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    joeaortiz committed Jan 6, 2023
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Commits on Jan 9, 2023

  1. Merge branch 'main' into joe.gbp_optimizer

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    joeaortiz committed Jan 9, 2023
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Commits on Jan 13, 2023

  1. Comments and references for understanding GBP code

    @joeaortiz
    joeaortiz committed Jan 13, 2023
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  2. Reduced atol threshold for symmetric precision matrix

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    joeaortiz committed Jan 13, 2023
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Commits on Jan 16, 2023

  1. Detach hessian in implicit GBP backward mode

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    joeaortiz committed Jan 16, 2023
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  2. Fix linearization for truncated, exception for DLM

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    joeaortiz committed Jan 16, 2023
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Commits on Jan 17, 2023

  1. Fixed bug in linear system damping with vectorization

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    joeaortiz committed Jan 17, 2023
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Commits on Jan 19, 2023

  1. Zero messages correctly when using vectorization

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    joeaortiz committed Jan 19, 2023
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Commits on Feb 6, 2023

  1. Merged NL optimizer hierarchy refactor

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    joeaortiz committed Feb 6, 2023
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