From aaec43dd1cf0893d5c20c4d3e14576b055f5563d Mon Sep 17 00:00:00 2001
From: Paloma de la Puente <paloma.delapuente@upm.es>
Date: Mon, 26 Oct 2009 16:14:52 +0000
Subject: [PATCH]
---
sm/csm/structprior/MeasurementsLikelihood.cpp | 2 +-
sm/csm/structprior/Optimizer.cpp | 9 +++++++++
sm/csm/structprior/Optimizer.h | 2 ++
3 files changed, 12 insertions(+), 1 deletion(-)
diff --git a/sm/csm/structprior/MeasurementsLikelihood.cpp b/sm/csm/structprior/MeasurementsLikelihood.cpp
index c18303f..04f63d0 100644
--- a/sm/csm/structprior/MeasurementsLikelihood.cpp
+++ b/sm/csm/structprior/MeasurementsLikelihood.cpp
@@ -34,7 +34,7 @@ void MeasurementsLikelihood::ComputeAlphaLikelihoods(std::vector<double> x_vecto
if (hess.size() != 0)
hess.clear();
- // may be redundant, it's added in case some measurements are pre-discarded or something
+ // may be redundant, it's added in case some measurements are pre-discarded or something (measurements outside the model...)
grad.resize(n);
hess.resize(n);
for (int i=0;i<n;i++)
diff --git a/sm/csm/structprior/Optimizer.cpp b/sm/csm/structprior/Optimizer.cpp
index 3310b20..f7c07cd 100644
--- a/sm/csm/structprior/Optimizer.cpp
+++ b/sm/csm/structprior/Optimizer.cpp
@@ -17,6 +17,15 @@ Optimizer::~Optimizer(void)
}
+/*void Optimizer::ScanLevelOptimization()
+{
+ OptimizeAlphas();
+ OptimizeRanges();
+
+
+
+}*/
+
std::vector<double> Optimizer::OptimizeAlphas()
{
std::vector<double> x;
diff --git a/sm/csm/structprior/Optimizer.h b/sm/csm/structprior/Optimizer.h
index 8145b37..9814a25 100644
--- a/sm/csm/structprior/Optimizer.h
+++ b/sm/csm/structprior/Optimizer.h
@@ -21,6 +21,8 @@ public:
std::vector<double> OptimizeRanges();
//std::vector<Pose> OptimizePoses();
+ //void ScanLevelOptimization();
+
std::vector<double> NewtonStep(std::vector<double> xv, double lambda_parameter, double &err);
};
--
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