Refactor MakeATangentVector by using VectorValues and fix testcase failure #495
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dellaert
requested changes
Aug 25, 2020
| double minEigenValue = lambdas(0); | ||
| for (int i = 1; i < lambdas.size(); i++) | ||
| minEigenValue = min(lambdas(i), minEigenValue); | ||
| // const Matrix S = ShonanAveraging3::StiefelElementMatrix(Qstar3); |
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Please re-enable commented out code
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Uncommented the code. But minEigenValue is never used, my suggestion is that maybe we can add a test like "EXPECT_DOUBLES_EQUAL(0, minEigenValue, 1e-11);" to make sure both the eigen value computed by Spectra and Eigen are in the same range?
gtsam/sfm/ShonanAveraging.cpp
Outdated
| // Assumes key is 0-based integer | ||
| const auto v_i = v.segment<d>(d * i); | ||
| Vector xi = Vector::Zero(dimension); | ||
| double sign = pow(-1.0, round((p + 1) / 2) + 1); |
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add
double sign0 = pow(-1.0, round((p + 1) / 2) + 1); before the for loop, and here initialize
double sign = sign0;
jingwuOUO
changed the title
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Refactor MakeATangentVector by using VectorValues and fix testcase failure