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Most of the DynamicFusion implementation done here. #50

Merged
merged 315 commits into from
Jul 20, 2023
Merged

Most of the DynamicFusion implementation done here. #50

merged 315 commits into from
Jul 20, 2023
This pull request is big! We’re only showing the most recent 250 commits.

Commits on Oct 18, 2022

  1. Implement face attribute interpolation to handle rendered normals in-… 

    …house
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    Algomorph committed Oct 18, 2022
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Commits on Oct 31, 2022

  1. Add face attribute interpolation (untested)

    @Algomorph
    Algomorph committed Oct 31, 2022
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  2. Add skeleton test for face attr. interp.

    @Algomorph
    Algomorph committed Oct 31, 2022
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Commits on Nov 9, 2022

  1. update Catch2 version, enable catch_discover_tests macro usage in tests

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  2. Remove stray source file from test_utils

    @Algomorph
    Algomorph committed Nov 9, 2022
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  3. Upgrade test_main.hpp to accommodate new Catch2 header structure

    @Algomorph
    Algomorph committed Nov 9, 2022
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  4. Add Catch2 C++17 patch

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    Algomorph committed Nov 9, 2022
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  5. Add patch command to Catch2 content fetching

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  6. Catch2: std17->std20 build patch

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    Algomorph committed Nov 9, 2022
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Commits on Nov 14, 2022

  1. Fix CXX11 ABI problem in Catch2

    @Algomorph
    Algomorph committed Nov 14, 2022
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  2. Implement face attribute interpolation test

    @Algomorph
    Algomorph committed Nov 14, 2022
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  3. Fix face interpolation + tests

    @Algomorph
    Algomorph committed Nov 14, 2022
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Commits on Nov 15, 2022

  1. move normals operations + kernels to geometry::functional

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    Algomorph committed Nov 15, 2022
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Commits on Nov 16, 2022

  1. Add skeleton for DeformableMeshRenderToImageFitter

    @Algomorph
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  2. Update submodules, restructure geometry module internally (pending py… 

    …bind updates)
    @Algomorph
    Algomorph committed Nov 16, 2022
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  3. Lots of code - for optimizer forward pass

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    Algomorph committed Nov 16, 2022
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Commits on Nov 21, 2022

  1. finish the pure-C++ residual computation (untested)

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    Algomorph committed Nov 21, 2022
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  2. Rearranging things, skeleton for jacobian / partial derivatives, some… 

    … code
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Commits on Nov 23, 2022

  1. Continue building out the jacobians, add in jacobian computation for … 

    …perspective correction
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    Algomorph committed Nov 23, 2022
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Commits on Nov 30, 2022

  1. CPP folder restructuring, fix some python binding errors stemming fro… 

    …m latent overloading of tri mesh warping
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  2. Finish C++ namespace manipulations -- move alignment stuff to alignment

    @Algomorph
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  3. Update rendering functions' template params to make argument type tem… 

    …plate specification unnecessary (simplify usage & code complexity)
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    Algomorph committed Nov 30, 2022
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  4. Fix bug in platform-independent tuple

    @Algomorph
    Algomorph committed Nov 30, 2022
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Commits on Dec 1, 2022

  1. Finish barycentric coordinate jacobian wrt ray space vertices

    @Algomorph
    Algomorph committed Dec 1, 2022
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Commits on Dec 6, 2022

  1. Nomenclature: 'ray space' -> NDC

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  2. Complete jacobian of barycentrics w.r.t. camera-space vertices, w/o p… 

    …ersp correction
    @Algomorph
    Algomorph committed Dec 6, 2022
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  3. fix non-perspective-correct barycentrics jacobian, libcu++ usage, WIP… 

    … error in perspective-correct jacobian
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    Algomorph committed Dec 6, 2022
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Commits on Dec 7, 2022

  1. Full implementations of perspective-correct & distorted jacobians wrt… 

    … 3d vertices, usage of that within rendered vertex & normals jacobians
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  2. Fix some compile bugs in new code

    @Algomorph
    Algomorph committed Dec 7, 2022
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  3. Renderd vertex and normal jacobians -- implementation finished

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    Algomorph committed Dec 7, 2022
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Commits on Dec 12, 2022

  1. Add cross-platform min/max, beign fleshing out line shader

    @Algomorph
    Algomorph committed Dec 12, 2022
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  2. Finish scaffolding for edge shader

    @Algomorph
    Algomorph committed Dec 12, 2022
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  3. Finish scaffolding for EdgeShader kernel function

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    Algomorph committed Dec 12, 2022
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Commits on Dec 13, 2022

  1. Finish flat edge shader + test & fix bugs

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    Algomorph committed Dec 13, 2022
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  2. Finish flat shader tests for CUDA

    @Algomorph
    Algomorph committed Dec 13, 2022
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  3. Fix tensor masking / replacement core function

    @Algomorph
    Algomorph committed Dec 13, 2022
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Commits on Dec 14, 2022

  1. (WIP) continue work on simple triangle fitting

    @Algomorph
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  2. Add unprojection of arbitrary 2d points & depths, revamp a bunch of t… 

    …hings, fix up NDC triangle fitter -- prep for jacobian computation
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    Algomorph committed Dec 14, 2022
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Commits on Dec 19, 2022

  1. Eigen matrix to tensor conversions (and back), some restructuring

    @Algomorph
    Algomorph committed Dec 19, 2022
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  2. Fix build bugs, conversion bugs

    @Algomorph
    Algomorph committed Dec 19, 2022
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Commits on Dec 20, 2022

  1. Update ground truth for fave vertex extraction test

    @Algomorph
    Algomorph committed Dec 20, 2022
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  2. Extract NDC verts for multiple meshes + test

    @Algomorph
    Algomorph committed Dec 20, 2022
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  3. Test extract NDC for multiple meshes

    @Algomorph
    Algomorph committed Dec 20, 2022
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  4. Upgrade to Open3D 0.16.1

    @Algomorph
    Algomorph committed Dec 20, 2022
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  5. Update README

    @Algomorph
    Algomorph committed Dec 20, 2022
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  6. Add api to get individual tensor elements from C++ from Open3D tensor… 

    …s easily (shame this wasn't there...)
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    Algomorph committed Dec 20, 2022
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  7. Fix face counts reference wrapper usage in multiple-mesh NDC face exr… 

    …action
    @Algomorph
    Algomorph committed Dec 20, 2022
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  8. Update multiple-mesh rasterization test to include saving

    @Algomorph
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Commits on Dec 21, 2022

  1. Add combined mesh saving, fix offsets for multi-mesh render test

    @Algomorph
    Algomorph committed Dec 21, 2022
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  2. Add multi-mesh rasterization mesh data

    @Algomorph
    Algomorph committed Dec 21, 2022
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  3. Refactor rasterization function & test names to something more accura… 

    …te & descriptive -- ndc triangle rasterization
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    Algomorph committed Dec 21, 2022
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Commits on Dec 22, 2022

  1. Write & test vertex color shader

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    Algomorph committed Dec 22, 2022
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Commits on Jan 3, 2023

  1. fixed a whole bunch of compile-time errors

    @Algomorph
    Algomorph committed Jan 3, 2023
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Commits on Jan 4, 2023

  1. Add residual computation to the main fitter

    @Algomorph
    Algomorph committed Jan 4, 2023
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  2. Piece together the parts of the depth-based data-term fitting that ar… 

    …e ready so far
    @Algomorph
    Algomorph committed Jan 4, 2023
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Commits on Jan 10, 2023

  1. Saving last-weeks progress

    @Algomorph
    Algomorph committed Jan 10, 2023
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Commits on Jan 11, 2023

  1. Pixel-vertex-anchor jacobian computation

    @Algomorph
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  2. First kernel for pixel vertex anchor jacobians -- before resolving co… 

    …mpile errors
    @Algomorph
    Algomorph committed Jan 11, 2023
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  3. Fix compile errors -- circumvent constness in CUDA device lambda by a… 

    …ugmenting ParallelFor to accept mutable lambdas
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    Algomorph committed Jan 11, 2023
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  4. add tests to verify counter arrays work in CUDA via mutable lambdas (… 

    …so far no luck)
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    Algomorph committed Jan 11, 2023
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Commits on Jan 12, 2023

  1. Got to an actual sparse Jacobian representation -- untested

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  2. Reorganize the sparse Jacobian computation into two kernel functions … 

    …(housing three actual kernels)
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    Algomorph committed Jan 12, 2023
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Commits on Jan 18, 2023

  1. Revamp jacobian computation, begin hessian computation

    @Algomorph
    Algomorph committed Jan 18, 2023
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  2. Fix a bunch of compilation errors

    @Algomorph
    Algomorph committed Jan 18, 2023
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Commits on Jan 19, 2023

  1. Fix remaining build errors

    @Algomorph
    Algomorph committed Jan 19, 2023
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  2. Started working on negative gradient (WIP, compile broken rn)

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Commits on Jan 23, 2023

  1. WIP very inefficient gradient computation -- started

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  2. Implement (very inefficient) negative gradient computation (untested,… 

    … compile errors not fixed)
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  3. Build errors resolved

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    Algomorph committed Jan 23, 2023
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Commits on Jan 25, 2023

  1. implement block-diagonal system of equations solve using MKL routines… 

    … (CPU), start testing
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  2. Successfully test & fix CPU-based block-diagonal solver

    @Algomorph
    Algomorph committed Jan 25, 2023
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  3. Add wrappers for batched potrf and trsm on CUDA (using cuSolver and c… 

    …uBlas)
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    Algomorph committed Jan 25, 2023
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  4. Add most of CUDA block-diagonal cuSolver/cuBlas-based solver implemen… 

    …tation
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    Algomorph committed Jan 25, 2023
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Commits on Jan 26, 2023

  1. Finish & fix cuSolver/cuBlas block-diagonal Cholesky solver

    @Algomorph
    Algomorph committed Jan 26, 2023
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  2. Implement batch axis-angle-->matrix via Rodrigues

    @Algomorph
    Algomorph committed Jan 26, 2023
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Commits on Feb 1, 2023

  1. Update eigen, WIP debug of batch Rodrigues

    @Algomorph
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  2. Fix batch Rodrigues (fixed bug in Eigen)

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Commits on Feb 6, 2023

  1. fix eigen commit

    @Algomorph
    Algomorph committed Feb 6, 2023
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  2. Finish the data term fitter

    @Algomorph
    Algomorph committed Feb 6, 2023
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  3. FInish up fitter

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    Algomorph committed Feb 6, 2023
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Commits on Feb 8, 2023

  1. Add Rodrigues python bindings

    @Algomorph
    Algomorph committed Feb 8, 2023
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Commits on Feb 16, 2023

  1. Fix a slew of bugs in fitter

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Commits on Feb 17, 2023

  1. Fixed one more bug in fitter

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    Algomorph committed Feb 17, 2023
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  2. A few more bugs fixed

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    Algomorph committed Feb 17, 2023
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Commits on Feb 22, 2023

  1. Fix major indexing bug

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Commits on Feb 27, 2023

  1. Expose rasterization functions to python via pybind

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Commits on Feb 28, 2023

  1. Fix bug in normal indexinf for point-to-plane distances

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Commits on Mar 2, 2023

  1. Fix a slew of bugs in computation of rasterized vertex jacobians

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    Algomorph committed Mar 2, 2023
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Commits on Mar 6, 2023

  1. Update Eigen, continue debugging fitter

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Commits on Mar 7, 2023

  1. Fix two bugs in fitter perspective correction

    @Algomorph
    Algomorph committed Mar 7, 2023
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  2. Fix sign bugs in computation of negative gradient AND warped motion j… 

    …acobians
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Commits on Mar 13, 2023

  1. Add debugging code

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Commits on Mar 20, 2023

  1. Latest changes to tests

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  2. Add warped vertex & normal jacobian (w.r.t. canonical) routine w/o st… 

    …oring weights for translation jacobian computation
    @Algomorph
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  3. Add warped vertex rotation jacobian (only) w.r.t. canonical vertex co… 

    …mputation)
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    Algomorph committed Mar 20, 2023
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  4. Take care of linker warnings on tests

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    Algomorph committed Mar 20, 2023
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  5. Add rasterized vertex-only jacobian computation

    @Algomorph
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  6. Add rasterized vertex-only jacobian computation kernel function signa… 

    …tures
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  7. Add rasterized vertex-only jacobian computation shell function

    @Algomorph
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Commits on Mar 27, 2023

  1. Outsource computation of pixels' anchor jacobians and node associatio… 

    …ns to it's own shell/kernel tree, simplify instantiations
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  2. Pixel anchor jacobians -- add translation-only and rotation-only iter… 

    …ation modes
    @Algomorph
    Algomorph committed Mar 27, 2023
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  3. Add rotation-only and translation-only modes for hessian approx. and … 

    …negative gradient computation
    @Algomorph
    Algomorph committed Mar 27, 2023
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  4. Fix pixel anchor jacobian computation to accept rasterized normals ja… 

    …cobian *optionally*
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    Algomorph committed Mar 27, 2023
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  5. Add controls & functionality for translation-only and rotation-only i… 

    …teration modes, iteration mode sequences to top-level optimizer code
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Commits on Apr 3, 2023

  1. Upgrade test directories, add static test data for fitter test

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  2. Add translation-only tests (redux)

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  3. Rotation-only-mode plane rotation test (recreated)

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Commits on Apr 4, 2023

  1. Add skeleton code for QR-based block-diagonal solver, add CPU version… 

    … using gels (for now)
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  2. Fix a couple of bugs in QR / Cholesky w/ Generic

    @Algomorph
    Algomorph committed Apr 4, 2023
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  3. Column-pivoting version of QR decomp worked

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  4. Make column-pivoting in QR-based linear system solver optional, depen… 

    …ding on full-rank assumption
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Commits on Apr 5, 2023

  1. WIP improve tests -- iteration options

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Commits on Apr 11, 2023

  1. Remove debugging code

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  2. Add a few more tests, fix python package build

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  3. Split into basic, intermediate, and advanced fitter tests

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Commits on Apr 12, 2023

  1. Fix contigousness error in fitter, add more tests

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Commits on Apr 17, 2023

  1. Reorg test data gen utility, add intermediate test - point of data te… 

    …rm failure
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  2. Remove unused test, restructure tests a bit

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Commits on Apr 18, 2023

  1. Outsource the face-to-node-anchor association procedure to a separate… 

    … routine, parallelized by face instead of pixel
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  2. Utilize & fix face-to-node-anchor association optimization in Pix-ver… 

    …t-anchor jacobian computation
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  3. Framework for regularization layers, fix downsampling kernel file str… 

    …ucture
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Commits on Apr 24, 2023

  1. Test radius downsampling, add distance matrix computation to CPP code

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Commits on Apr 25, 2023

  1. Restructure downsampling (sampling) files, add scaffolding for the me… 

    …dian-based sampling function (i.e. also with edge merging)
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  2. Some work on median sampling

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Commits on May 1, 2023

  1. Add median-based radius point averaging (untested)

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  2. Fix a few latent build bugs w/ cross-platform exclusive parallel scan… 

    …, add cross-platform triangle-mesh-->adjacency-array conversion
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  3. Move test_main.hpp back out of test_utils, it really doesn't belong t… 

    …here.
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  4. Test & fix mesh-->adjacency array conversion

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  5. Upgrade Cache2 version

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  6. Remove old Catch2 abi patch

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Commits on May 2, 2023

  1. A little documentation

    @Algomorph
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  2. Add skeleton code for graph subsampling

    @Algomorph
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  3. A version of radius-based graph resampling that uses edge collapses a… 

    …round superindependent vertices
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  4. Top-bottom-edge-only hierarchy in warp field

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Commits on May 3, 2023

  1. Test & fix median grid resampling

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Commits on May 8, 2023

  1. Separate WarpField and PlanarGraphWarpField into two separate classes… 

    … (to allow for a separate hierarchical one)
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  2. Implement hierarchical regularization warp field

    @Algomorph
    Algomorph committed May 8, 2023
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  3. Add code for test of hierarchical warp field construction, add sortin… 

    …g of 2D tensors by column
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Commits on May 9, 2023

  1. Finish testing hierarchical graph construction

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Commits on May 11, 2023

  1. Add some comments into NNRT code

    @Algomorph
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  2. Add implementation for hierarchical edge data flattening

    @Algomorph
    Algomorph committed May 11, 2023
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  3. WIP debugging edge flattening

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Commits on May 12, 2023

  1. Finish testing & fixing CUDA-parallelized virtual graph node hierarch… 

    …y flattening
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  2. Fix up the small-last-dimension sorting to be capable of storing nega… 

    …tive (e.g. sentinel) values after the positive ones with ascending order
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    Algomorph committed May 12, 2023
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  3. Fix sorting error stemming from std::sort misuse, fix GWF test -- add… 

    …itional axis sorting
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Commits on May 15, 2023

  1. Begin rehashing regularization hierarchy such that J_reg diagonal is … 

    …filled
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Commits on May 16, 2023

  1. Revise virtual node structure in hierarchy to produce a southwest-poi… 

    …nting arrow instead of northeast-pointing one -- to speed up efficiency
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Commits on May 17, 2023

  1. Reshuffle edges to (hopefully) generate proper diagonal along jacobian)

    @Algomorph
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Commits on May 18, 2023

  1. Get rid of minor typo errors

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    Algomorph committed May 18, 2023
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  2. Graph construction -- coarse-to-fine K-nearest method

    @Algomorph
    Algomorph committed May 18, 2023
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  3. Graph construction -- fine-to-coarse edge generation, coarse-to-fine … 

    …edge listing
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    Algomorph committed May 18, 2023
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  4. Continue fleshing out skeleton for edge jacobians

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    Algomorph committed May 18, 2023
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Commits on May 20, 2023

  1. Continue work on skeleton for regularization term jacobian computation

    @Algomorph
    Algomorph committed May 20, 2023
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  2. Begin fleshing out edge jacobian computation

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    Algomorph committed May 20, 2023
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Commits on May 22, 2023

  1. Finish initial implementation of the edge wr.t. node delta jacobians … 

    …(untested)
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    Algomorph committed May 22, 2023
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  2. Fix build errors

    @Algomorph
    Algomorph committed May 22, 2023
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Commits on May 23, 2023

  1. Adapt fitter data term functions to use virtual node ordering for pos… 

    …itons/rotations/translations, also adapt delta application to the warp field in the same way
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    Algomorph committed May 23, 2023
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  2. Account for corner cases with few layers, fix indexed getters in hgwf

    @Algomorph
    Algomorph committed May 23, 2023
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  3. Fix rotation & translation of indexed nodes in hgwf

    @Algomorph
    Algomorph committed May 23, 2023
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  4. Fix all remaning (working previously) fitter tests

    @Algomorph
    Algomorph committed May 23, 2023
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  5. Add Tukey penalty to data term residual computation -- fitter

    @Algomorph
    Algomorph committed May 23, 2023
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  6. Reorganize and expose different sampling techniques for testing

    @Algomorph
    Algomorph committed May 23, 2023
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  7. Begin setup to compare sampling methods to epsilon sequential sampling

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    Algomorph committed May 23, 2023
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Commits on May 24, 2023

  1. Add sorting along last tensor axis by key

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    Algomorph committed May 24, 2023
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  2. Finalize KdTree implementation w/o priority queues w/ sorting by dist… 

    …ance
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    Algomorph committed May 24, 2023
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  3. Implement ClosestToGridMean subsampling

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    Algomorph committed May 24, 2023
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Commits on May 25, 2023

  1. Upgrade closest-to-mean grid sampling by using custom atomic key-valu… 

    …e type and array
    @Algomorph
    Algomorph committed May 25, 2023
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  2. Fix latent issues

    @Algomorph
    Algomorph committed May 25, 2023
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  3. Implement test (w/o checks) of fitter on real data frame

    @Algomorph
    Algomorph committed May 25, 2023
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Commits on May 26, 2023

  1. Add pseudocode in python for block-arrowhead cholesky solver -- facto… 

    …rization routines, stage 1
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Commits on May 30, 2023

  1. Revamp block-cholesky implementation from Matlab

    @Algomorph
    Algomorph committed May 30, 2023
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  2. Block-cholesky that computes exact cholesky, not just blocks

    @Algomorph
    Algomorph committed May 30, 2023
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  3. further adapting python code for sparse block-cholesky

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    Algomorph committed May 30, 2023
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Commits on May 31, 2023

  1. Add python pseudocode for (1) corner H cholesky block-sparse decomp a… 

    …nd (2) sparse forward- and back- substitution
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    Algomorph committed May 31, 2023
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Commits on Jun 1, 2023

  1. Add compututation of point warp anchors using variable node weights

    @Algomorph
    Algomorph committed Jun 1, 2023
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  2. Fix a few bugs in the new adaptive node coverage weight system

    @Algomorph
    Algomorph committed Jun 1, 2023
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Commits on Jun 2, 2023

  1. Add fixed coverage weight edge residual computation

    @Algomorph
    Algomorph committed Jun 2, 2023
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  2. Add edge residual computation function to fitter (which uses the kern… 

    …els from before), fix a bunch of latent errors
    @Algomorph
    Algomorph committed Jun 2, 2023
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  3. Implement sparse ARAP hessian approx. computation

    @Algomorph
    Algomorph committed Jun 2, 2023
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  4. Implement batched cholesky factorization of blocks

    @Algomorph
    Algomorph committed Jun 2, 2023
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Commits on Jun 5, 2023

  1. Add MAGMA to dependencies -- to provide access to linalg batched ops,… 

    … such as batched trtri
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    Algomorph committed Jun 5, 2023
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  2. Add wrappers for trtri from MKL and trtri batched from MAGMA

    @Algomorph
    Algomorph committed Jun 5, 2023
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  3. Add unit test for cholesky batch factorization routine

    @Algomorph
    Algomorph committed Jun 5, 2023
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  4. Save attempt to integrate MAGMA routine for inversion

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    Algomorph committed Jun 5, 2023
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Commits on Jun 8, 2023

  1. Efficient cuda batch triangular matrix invert

    @Algomorph
    Algomorph committed Jun 8, 2023
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  2. Clean up python scripts

    @Algomorph
    Algomorph committed Jun 8, 2023
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  3. Refactor some function names to keep them consistent

    @Algomorph
    Algomorph committed Jun 8, 2023
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Commits on Jun 9, 2023

  1. Scaffolding for block-sparse arrowhead solver, add UT batch cholesky

    @Algomorph
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  2. Almost done with batched row-wise block-sparse matrix multiplication

    @Algomorph
    Algomorph committed Jun 9, 2023
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Commits on Jun 12, 2023

  1. Tiling implemented

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  2. Test, debug, fix block-sparse by block-list row-wise multiplication

    @Algomorph
    Algomorph committed Jun 12, 2023
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Commits on Jun 16, 2023

  1. Finish corner solver implementation, being tests (add test data dl)

    @Algomorph
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  2. Continue on tests

    @Algomorph
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Commits on Jun 18, 2023

  1. Use batch matrix multiplication in corner block factorization

    @Algomorph
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  2. Begin redoing final row operation in corner factorization using magma… 

    …blas_strmm_vbatched routine
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Commits on Jun 19, 2023

  1. fix a few bugs, employ trmm_batched - all in block-sparse arrowhead c… 

    …orner computation
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    Algomorph committed Jun 19, 2023
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Commits on Jun 20, 2023

  1. Fix offset bug in breadboard checking for block-sparse arrowhead corn… 

    …er factorization
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Commits on Jun 21, 2023

  1. Adjust sparse block row-wise mult. to use mask and produce coords

    @Algomorph
    Algomorph committed Jun 21, 2023
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Commits on Jun 22, 2023

  1. Utilities for debugging bsam corner factorization

    @Algomorph
    Algomorph committed Jun 22, 2023
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  2. Fix problem -- replace non-working MAGMA-based trtri_cuda routine wit… 

    …h cuSOLVER-based one
    @Algomorph
    Algomorph committed Jun 22, 2023
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Commits on Jun 26, 2023

  1. Implement & test argsort along last axis

    @Algomorph
    Algomorph committed Jun 26, 2023
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  2. Resolve transpose errors for CUDA version

    @Algomorph
    Algomorph committed Jun 26, 2023
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  3. Fix batch trtri

    @Algomorph
    Algomorph committed Jun 26, 2023
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Commits on Jun 28, 2023

  1. Finish fixing CUDA version of cholesky block-sparse arrowhead factorizer

    @Algomorph
    Algomorph committed Jun 28, 2023
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Commits on Jun 29, 2023

  1. Minor refactorings

    @Algomorph
    Algomorph committed Jun 29, 2023
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Commits on Jun 30, 2023

  1. Restore yesterdays triangular indexing routines in python pseudocode

    @Algomorph
    Algomorph committed Jun 30, 2023
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  2. Remove redundant templated function

    @Algomorph
    Algomorph committed Jun 30, 2023
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  3. element-type-templated AtomicTensor now available

    @Algomorph
    Algomorph committed Jun 30, 2023
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  4. Implement & successfully test invert (symmetric) block procedure

    @Algomorph
    Algomorph committed Jun 30, 2023
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  5. Refactor

    @Algomorph
    Algomorph committed Jun 30, 2023
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  6. Revise block-sparse arrowhead structure, WIP adapt hessian computation

    @Algomorph
    Algomorph committed Jun 30, 2023
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Commits on Jul 3, 2023

  1. Sparse block functions + testing of diagonal & sparse

    @Algomorph
    Algomorph committed Jul 3, 2023
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Commits on Jul 5, 2023

  1. Fix small bug in sparse block filling

    @Algomorph
    Algomorph committed Jul 5, 2023
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  2. Add block filling w/ transposing, test (pass)

    @Algomorph
    Algomorph committed Jul 5, 2023
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  3. Add general-block-sparse matrix multiplication

    @Algomorph
    Algomorph committed Jul 5, 2023
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Commits on Jul 6, 2023

  1. Fix bugs & successfully retest general matmul block-sparse non-transp… 

    …osed case
    @Algomorph
    Algomorph committed Jul 6, 2023
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  2. Test general matmul block-sparse transpose cases (success)

    @Algomorph
    Algomorph committed Jul 6, 2023
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  3. Fix latent errors from block-sparse AH matrix type refactoring

    @Algomorph
    Algomorph committed Jul 6, 2023
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  4. Test & fix Schur complement computation on CPU

    @Algomorph
    Algomorph committed Jul 6, 2023
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  5. Fix init bug in Schur complement for CUDA (now 100% functional)

    @Algomorph
    Algomorph committed Jul 6, 2023
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  6. Add start for block-sparse matrix * vector multiplication

    @Algomorph
    Algomorph committed Jul 6, 2023
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Commits on Jul 7, 2023

  1. Fix CUDA version of block-sparse-mat X vector product

    @Algomorph
    Algomorph committed Jul 7, 2023
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  2. Add dense cholesky solver, tests (fails tests)

    @Algomorph
    Algomorph committed Jul 7, 2023
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Commits on Jul 10, 2023

  1. Working solution for cholesky dense solver for vector rhs (matrix rhs… 

    … fails tests)
    @Algomorph
    Algomorph committed Jul 10, 2023
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  2. Fix SolveCholeskyCUDA

    @Algomorph
    Algomorph committed Jul 10, 2023
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  3. Modified all cholesky solvers to use col-major ordering without trans… 

    …positions (exploiting right-hand-side solvers)
    @Algomorph
    Algomorph committed Jul 10, 2023
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  4. Remove unneded transpose from pos-semidef block inversion

    @Algomorph
    Algomorph committed Jul 10, 2023
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  5. Continue on the solver

    @Algomorph
    Algomorph committed Jul 10, 2023
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Commits on Jul 11, 2023

  1. Add diagonal block-sparse times vector product

    @Algomorph
    Algomorph committed Jul 11, 2023
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  2. Add tests for new block-sparse arrowhead solver (passing)

    @Algomorph
    Algomorph committed Jul 11, 2023
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  3. Get rid of old block-sparse arrowhead factorizer

    @Algomorph
    Algomorph committed Jul 11, 2023
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  4. Add skeleton for transpose blocks on CPU

    @Algomorph
    Algomorph committed Jul 11, 2023
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Commits on Jul 12, 2023

  1. Fix test main includes (Catch2 & Pybind)

    @Algomorph
    Algomorph committed Jul 12, 2023
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  2. Fix tiny bug in block sparse arrowhead solver, update test data: test… 

    …s passing
    @Algomorph
    Algomorph committed Jul 12, 2023
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Commits on Jul 16, 2023

  1. Implement edge (regularization) negative gradient computation

    @Algomorph
    Algomorph committed Jul 16, 2023
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  2. Fix CUDA FetchSub routine in AtomicTensor

    @Algomorph
    Algomorph committed Jul 16, 2023
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Commits on Jul 17, 2023

  1. Rename 1-node test files

    @Algomorph
    Algomorph committed Jul 17, 2023
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  2. Convert one-node fitter testing data to downloadable target

    @Algomorph
    Algomorph committed Jul 17, 2023
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  3. Fitter 2-node test data converted to downloadable target, 2-node rota… 

    …tion-only case added
    @Algomorph
    Algomorph committed Jul 17, 2023
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  4. Add python module build fix due to Make/ninja divergence

    @Algomorph
    Algomorph committed Jul 17, 2023
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Commits on Jul 18, 2023

  1. Add variable-node-weight anchor computation test

    @Algomorph
    Algomorph committed Jul 18, 2023
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Commits on Jul 19, 2023

  1. Fix bugs in graph warp field test due to dtype upgrades

    @Algomorph
    Algomorph committed Jul 19, 2023
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  2. Fix all old tests

    @Algomorph
    Algomorph committed Jul 19, 2023
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  3. Fix tests w/ new Open3D version

    @Algomorph
    Algomorph committed Jul 19, 2023
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  4. Update README to reflect Open3D changes

    @Algomorph
    Algomorph committed Jul 19, 2023
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  5. Merge branch 'main' into greg_devel

    @Algomorph
    Algomorph committed Jul 19, 2023
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  6. Update cuda-toolkit version for actions

    @Algomorph
    Algomorph committed Jul 19, 2023
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  7. Upgrade cuda version in workflow

    @Algomorph
    Algomorph committed Jul 19, 2023
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  8. Upgrade Open3D version in workflow

    @Algomorph
    Algomorph committed Jul 19, 2023
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  9. Redux: upgrade Open3D version in workflow (wrong tag)

    @Algomorph
    Algomorph committed Jul 19, 2023
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