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Add sparse solvers support to LM adaptive damping #360

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merged 4 commits into from
Nov 16, 2022
Merged

Add sparse solvers support to LM adaptive damping #360

merged 4 commits into from
Nov 16, 2022

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luisenp
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@luisenp luisenp commented Nov 14, 2022

This PR adds a method to compute Atb in the sparse linearization, which we can use for the adaptive damping computation.

I also sneaked in a change to the PGO example, to make it easier to pass optimizer kwargs.

@luisenp luisenp self-assigned this Nov 14, 2022
@facebook-github-bot facebook-github-bot added the CLA Signed This label is managed by the Facebook bot. Authors need to sign the CLA before a PR can be reviewed. label Nov 14, 2022
@mhmukadam mhmukadam changed the title Add sparse solvers support to LM Add sparse solvers support to LM adaptive damping Nov 14, 2022
maurimo
maurimo approved these changes Nov 16, 2022
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LGTM!
As a very minor note for the future, it would be great to separate the PRs about refactoring and those with new functionality, here most of the code differences are the renaming of AtA to _AtA and tmat_vec/mat_vec refactor.

@luisenp luisenp merged commit 91c08cf into main Nov 16, 2022
@luisenp luisenp deleted the lep.lm_sparse_solvers branch November 16, 2022 18:15
suddhu pushed a commit to suddhu/theseus that referenced this pull request Jan 21, 2023
@luisenp
Add sparse solvers support to LM adaptive damping (facebookresearch#360)
aefecdc 
* Added Atb implementation for SparseLinearization.

* LM with adaptive damping now supports sparse linearization.

* Changed PGO example so that optimizer kwargs are defined in cfg.

* Fix format.
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@maurimo maurimo maurimo approved these changes

@mhmukadam mhmukadam mhmukadam approved these changes

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