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ethz-asl / aslam_optimizer

Optimizer classes for aslam_cv, kalibr, aslam_incremental_calibration, ..
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Feature/some minor extensions optimizations and cleanups #182

Closed HannesSommer closed 8 years ago

uschwes commented 8 years ago

Oh wow, big endeavor. Did the optimizer interface design work out?

HannesSommer commented 8 years ago

Yes, quite far! Some very minor change were necessary if I remember right.

HannesSommer commented 8 years ago

@uschwes , there are some minor naming problems in the interface, though:

  1. The new option convergenceDeltaObjective is the only place we call it objective. Everywhere else it is the error (also not the best name :) ). But we should have it consistent.
  2. numThreadsGreadient should be rather numThreadsJacobian or numThreadsDerivative because it is not a gradient in case of Gauss-Newton type optimizers.

Is it major effort for you if we change those?

uschwes commented 8 years ago

No, renaming is fine.