Merge branch 'develop'

gtsam/3rdparty/CMakeLists.txt

@@ -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)

gtsam/3rdparty/metis-5.1.0/CMakeLists.txt

@@ -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")

gtsam/3rdparty/metis-5.1.0/GKlib/GKlibSystem.cmake

@@ -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")

gtsam/linear/GaussianFactorGraph.h

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

gtsam/nonlinear/ISAM2.cpp

@@ -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;
+  this->update_count_++;
-  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";

gtsam/nonlinear/ISAM2.h

@@ -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

gtsam_unstable/CMakeLists.txt

@@ -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)

gtsam_unstable/partition/CMakeLists.txt

@@ -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")

gtsam_unstable/partition/GenericGraph.cpp

@@ -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