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GBP optimizer#427

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Commits on Mar 16, 2022

• gbp implementation for pose graph problem, euclidean and lie algebra

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• Merge branch 'main' into joe.gbp_optimizer

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• gbp uses exp_map jacobians

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• gaussian for Manifold rather than Variable class

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Commits on Mar 17, 2022

• Merge branch 'main' into joe.gbp_optimizer

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Commits on Apr 4, 2022

• uses proper theseus exp_map jacobian

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Commits on Apr 5, 2022

• gaussian class plus marginals and message class

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Commits on Apr 7, 2022

• updated gaussian class

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Commits on Apr 8, 2022

• message scheduler

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Commits on Apr 13, 2022

• added mean damping in lin point space

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Commits on Apr 20, 2022

• Merge branch 'main' into joe.gbp_optimizer

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• fix in linearise and add ba exmple

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• Merge branch 'main' into joe.gbp_optimizer

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Commits on Apr 22, 2022

• use th.Manifold gaussian

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Commits on Apr 25, 2022

• ba tests, fixing numerical issues

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Commits on May 5, 2022

• ba viewer

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Commits on Jun 1, 2022

• bundle adjustment trimesh vis

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• soft huber-like loss on norm of x,y error

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Commits on Jun 6, 2022

• remove prints and fix viewer

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• remove symmetric check

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• ba visualisation and derivates setup for pgo

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Commits on Jun 10, 2022

• lin system damping for ftov msgs

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• static dense solver methods

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• ba with damping in linear system

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• backward modes

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• msgs are class variables to fix implicit backward mode

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• test different backward modes for pgo

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• Merge branch 'main' into joe.gbp_optimizer

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Commits on Jun 11, 2022

• fixed copy_impl for reprojection error fn

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Commits on Jun 12, 2022

• fix order of args in copy fn

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• used vectorization for part of relin, rename VariableDifference

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Commits on Jul 4, 2022

• handles batched problems

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Commits on Jul 5, 2022

• vectorized relinearization and ftov msg passing, schedule class

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• added missing aux vars to reprojection error cf

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Commits on Jul 6, 2022

• Merge branch main into joe.gbp_optimizer

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Commits on Jul 7, 2022

• vectorized vtof msg passing

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• handles vectorized inversion with some singular matrices, only computes vectorization indices once

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Commits on Jul 8, 2022

• removed random message schedule

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Commits on Jul 15, 2022

• merge with main

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Commits on Jul 18, 2022

• damping linear system

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• local linear damping, fixes for gbp on gpu

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• handle loading different format bal file and drop observations

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Commits on Jul 20, 2022

• gbp check unary factor, fix bug in ba viewer

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• ba error plot

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Commits on Jul 22, 2022

• fixed are calculation

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Commits on Aug 2, 2022

• tensor for linear system damping, rename message damping

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Commits on Aug 4, 2022

• fixes bug where beleifs and factors are created twice

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Commits on Aug 26, 2022

• nesterov, no grad for lm damping, ba batch experiments

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Commits on Sep 6, 2022

• nesterov acceleration, two modes

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Commits on Sep 8, 2022

• swarm exp

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Commits on Sep 9, 2022

• learning target for agents

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Commits on Sep 16, 2022

• target character and joint mlp + gbp

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Commits on Sep 20, 2022

• fixed jacobians for gnn factor

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Commits on Sep 26, 2022

• implicit backward mode for GBP using GN step

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Commits on Sep 30, 2022

• implicit derivatives using gbp and plot backward modes against time

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Commits on Dec 22, 2022

• Merge main

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Commits on Dec 30, 2022

• moved into optimizer, removed experiments

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Commits on Jan 4, 2023

• Moved import, fixed single wrapper vectorization

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• update vectorization before truncated steps

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• Moved bundle adjustment edits to experimental branch

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• flake8 on github not gitlab

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Commits on Jan 5, 2023

• Remove nesterov acceleration and timing

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Commits on Jan 6, 2023

• End of iter callback, updated mypy version

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• First attempt at GBP linear solver test

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• Fixed poor conditioning problems with linear test

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• dropout starts later

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Commits on Jan 9, 2023

• Merge branch 'main' into joe.gbp_optimizer

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Commits on Jan 13, 2023

• Comments and references for understanding GBP code

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• Reduced atol threshold for symmetric precision matrix

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Commits on Jan 16, 2023

• Detach hessian in implicit GBP backward mode

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• Fix linearization for truncated, exception for DLM

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Commits on Jan 17, 2023

• Fixed bug in linear system damping with vectorization

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Commits on Jan 19, 2023

• Zero messages correctly when using vectorization

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Commits on Feb 6, 2023

• Merged NL optimizer hierarchy refactor

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