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Merge branch 'develop'

release/4.3a0
Luca 2014-04-06 14:28:09 -04:00
parent bfff17fd05 e98b90bd2a
commit 08a54ee470
9 changed files with 44 additions and 25 deletions
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5
gtsam/3rdparty/CMakeLists.txt vendored
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@ -25,8 +25,11 @@ if(NOT GTSAM_USE_SYSTEM_EIGEN)
FILES_MATCHING PATTERN "*.h")
endif()
option(GTSAM_BUILD_METIS "Build metis library" ON)
option(GTSAM_BUILD_METIS_EXECUTABLES "Build metis library executables" OFF)
add_subdirectory(metis-5.1.0)
if(GTSAM_BUILD_METIS)
add_subdirectory(metis-5.1.0)
endif(GTSAM_BUILD_METIS)
############ NOTE: When updating GeographicLib be sure to disable building their examples
############ and unit tests by commenting out their lines:
# add_subdirectory (examples)

8
gtsam/3rdparty/metis-5.1.0/CMakeLists.txt vendored
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@ -2,9 +2,13 @@ cmake_minimum_required(VERSION 2.8)
project(METIS)
# Add flags for currect directory and below
add_definitions(-Wno-unused-variable)
if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
add_definitions(-Wno-unused-variable)
add_definitions(-Wno-sometimes-uninitialized)
endif()
add_definitions(-Wno-unknown-pragmas)
add_definitions(-Wno-sometimes-uninitialized)
add_definitions(-Wunused-but-set-variable)
set(GKLIB_PATH ${PROJECT_SOURCE_DIR}/GKlib CACHE PATH "path to GKlib")
set(SHARED FALSE CACHE BOOL "build a shared library")

2
gtsam/3rdparty/metis-5.1.0/GKlib/GKlibSystem.cmake vendored
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@ -33,7 +33,7 @@ if(CMAKE_COMPILER_IS_GNUCC)
set(GKlib_COPTIONS "${GKlib_COPTIONS} -fPIC")
endif(NOT MINGW)
# GCC warnings.
set(GKlib_COPTIONS "${GKlib_COPTIONS} -Wall -pedantic -Wno-unused-but-set-variable -Wno-unused-variable -Wno-unknown-pragmas")
set(GKlib_COPTIONS "${GKlib_COPTIONS} -Wall -pedantic -Wno-unused-variable -Wno-unknown-pragmas")
elseif(${CMAKE_C_COMPILER_ID} MATCHES "Sun")
# Sun insists on -xc99.
set(GKlib_COPTIONS "${GKlib_COPTIONS} -xc99")

3
gtsam/linear/GaussianFactorGraph.h
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@ -88,6 +88,9 @@ namespace gtsam {
template<class DERIVEDFACTOR>
GaussianFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph) : Base(graph) {}
/** Virtual destructor */
virtual ~GaussianFactorGraph() {}
/// @name Testable
/// @{

10
gtsam/nonlinear/ISAM2.cpp
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@ -151,13 +151,13 @@ void ISAM2Clique::print(const std::string& s, const KeyFormatter& formatter) con
}
/* ************************************************************************* */
ISAM2::ISAM2(const ISAM2Params& params): params_(params) {
ISAM2::ISAM2(const ISAM2Params& params): params_(params), update_count_(0) {
if(params_.optimizationParams.type() == typeid(ISAM2DoglegParams))
doglegDelta_ = boost::get<ISAM2DoglegParams>(params_.optimizationParams).initialDelta;
}
/* ************************************************************************* */
ISAM2::ISAM2() {
ISAM2::ISAM2() : update_count_(0) {
if(params_.optimizationParams.type() == typeid(ISAM2DoglegParams))
doglegDelta_ = boost::get<ISAM2DoglegParams>(params_.optimizationParams).initialDelta;
}
@ -521,8 +521,7 @@ ISAM2Result ISAM2::update(
gttic(ISAM2_update);
static int count = 0;
count++;
this->update_count_++;
lastAffectedVariableCount = 0;
lastAffectedFactorCount = 0;
@ -533,7 +532,8 @@ ISAM2Result ISAM2::update(
ISAM2Result result;
if(params_.enableDetailedResults)
result.detail = ISAM2Result::DetailedResults();
const bool relinearizeThisStep = force_relinearize || (params_.enableRelinearization && count % params_.relinearizeSkip == 0);
const bool relinearizeThisStep = force_relinearize
|| (params_.enableRelinearization && update_count_ % params_.relinearizeSkip == 0);
if(verbose) {
cout << "ISAM2::update\n";

2
gtsam/nonlinear/ISAM2.h
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@ -468,6 +468,8 @@ protected:
* variables and thus cannot have their linearization points changed. */
FastSet<Key> fixedVariables_;
int update_count_; ///< Counter incremented every update(), used to determine periodic relinearization
public:
typedef ISAM2 This; ///< This class

32
gtsam_unstable/CMakeLists.txt
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@ -1,15 +1,18 @@
# Build full gtsam_unstable library as a single library
# and also build tests
# and also build tests
set (gtsam_unstable_subdirs
base
base
geometry
discrete
dynamics
nonlinear
partition
slam
)
if(GTSAM_BUILD_METIS) # Only build partition if metis is built
set (gtsam_unstable_subdirs ${gtsam_unstable_subdirs} partition)
endif(GTSAM_BUILD_METIS)
set(GTSAM_UNSTABLE_BOOST_LIBRARIES ${GTSAM_BOOST_LIBRARIES})
add_custom_target(check.unstable COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure)
@ -22,7 +25,7 @@ set (excluded_sources # "")
)
set (excluded_headers # "")
"${CMAKE_CURRENT_SOURCE_DIR}/slam/serialization.h"
"${CMAKE_CURRENT_SOURCE_DIR}/slam/serialization.h"
)
# assemble core libaries
@ -36,32 +39,35 @@ foreach(subdir ${gtsam_unstable_subdirs})
gtsam_assign_source_folders("${${subdir}_srcs}") # Create MSVC structure
# Build local library and tests
message(STATUS "Building ${subdir}_unstable")
message(STATUS "Building ${subdir}_unstable")
add_subdirectory(${subdir})
endforeach(subdir)
# assemble gtsam_unstable components
set(gtsam_unstable_srcs
${base_srcs}
${base_srcs}
${geometry_srcs}
${discrete_srcs}
${dynamics_srcs}
${dynamics_srcs}
${nonlinear_srcs}
${partition_srcs}
${slam_srcs}
)
if(GTSAM_BUILD_METIS) # Only build partition if metis is built
set (gtsam_unstable_srcs ${gtsam_unstable_srcs} ${partition_srcs})
endif(GTSAM_BUILD_METIS)
# Versions - same as core gtsam library
set(gtsam_unstable_version ${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH})
set(gtsam_unstable_soversion ${GTSAM_VERSION_MAJOR})
message(STATUS "GTSAM_UNSTABLE Version: ${gtsam_unstable_version}")
message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}")
# build shared and static versions of the library
if (GTSAM_BUILD_STATIC_LIBRARY)
message(STATUS "Building GTSAM_UNSTABLE - static")
add_library(gtsam_unstable STATIC ${gtsam_unstable_srcs})
set_target_properties(gtsam_unstable PROPERTIES
set_target_properties(gtsam_unstable PROPERTIES
OUTPUT_NAME gtsam_unstable
CLEAN_DIRECT_OUTPUT 1
VERSION ${gtsam_unstable_version}
@ -78,7 +84,7 @@ if (GTSAM_BUILD_STATIC_LIBRARY)
else()
message(STATUS "Building GTSAM_UNSTABLE - shared")
add_library(gtsam_unstable SHARED ${gtsam_unstable_srcs})
set_target_properties(gtsam_unstable PROPERTIES
set_target_properties(gtsam_unstable PROPERTIES
OUTPUT_NAME gtsam_unstable
CLEAN_DIRECT_OUTPUT 1
VERSION ${gtsam_unstable_version}
@ -99,7 +105,7 @@ endif()
if (GTSAM_INSTALL_MATLAB_TOOLBOX)
# Set up codegen
include(GtsamMatlabWrap)
# Generate, build and install toolbox
set(mexFlags "${GTSAM_BUILD_MEX_BINARY_FLAGS}")
if(GTSAM_BUILD_STATIC_LIBRARY)

2
gtsam_unstable/partition/CMakeLists.txt
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@ -4,4 +4,4 @@ install(FILES ${partition_headers} DESTINATION include/gtsam_unstable/parition)
set(ignore_test "tests/testNestedDissection.cpp")
# Add all tests
gtsamAddTestsGlob(partition_unstable "tests/*.cpp" "${ignore_test}" "gtsam_unstable;metis")
gtsamAddTestsGlob(partition_unstable "tests/*.cpp" "${ignore_test}" "gtsam_unstable;metis")

5
gtsam_unstable/partition/GenericGraph.cpp
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@ -9,6 +9,7 @@
#include <boost/foreach.hpp>
#include <boost/tuple/tuple.hpp>
#include <boost/make_shared.hpp>
#include <boost/lexical_cast.hpp>
#include <gtsam/base/DSFVector.h>
@ -468,9 +469,9 @@ namespace gtsam { namespace partition {
}
if (minFoundConstraintsPerCamera < minNrConstraintsPerCamera)
throw runtime_error("checkSingularity:minConstraintsPerCamera < " + minFoundConstraintsPerCamera);
throw runtime_error("checkSingularity:minConstraintsPerCamera < " + boost::lexical_cast<string>(minFoundConstraintsPerCamera));
if (minFoundConstraintsPerLandmark < minNrConstraintsPerLandmark)
throw runtime_error("checkSingularity:minConstraintsPerLandmark < " + minFoundConstraintsPerLandmark);
throw runtime_error("checkSingularity:minConstraintsPerLandmark < " + boost::lexical_cast<string>(minFoundConstraintsPerLandmark));
}
}} // namespace