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Merge branch 'develop'

release/4.3a0
Luca 2014-03-17 15:54:46 -04:00
parent 5f8f38a8e0 c5c1460081
commit 17fef90eaf
5 changed files with 27 additions and 20 deletions
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7
gtsam/3rdparty/CMakeLists.txt vendored
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@ -15,16 +15,17 @@ if(NOT GTSAM_USE_SYSTEM_EIGEN)
install(FILES Eigen/Eigen/${filename} DESTINATION include/gtsam/3rdparty/Eigen/Eigen)
endif()
endforeach(eigen_dir)
# Add to project source
set(eigen_headers ${eigen_headers} PARENT_SCOPE)
# install Eigen - only the headers in our 3rdparty directory
install(DIRECTORY Eigen/Eigen
install(DIRECTORY Eigen/Eigen
DESTINATION include/gtsam/3rdparty/Eigen
FILES_MATCHING PATTERN "*.h")
endif()
option(GTSAM_BUILD_METIS_EXECUTABLES "Build metis library executables" OFF)
add_subdirectory(metis-5.1.0)
############ NOTE: When updating GeographicLib be sure to disable building their examples
############ and unit tests by commenting out their lines:

10
gtsam/3rdparty/metis-5.1.0/CMakeLists.txt vendored
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@ -1,6 +1,11 @@
cmake_minimum_required(VERSION 2.8)
project(METIS)
# Add flags for currect directory and below
add_definitions(-Wno-unused-variable)
add_definitions(-Wno-unknown-pragmas)
add_definitions(-Wno-sometimes-uninitialized)
set(GKLIB_PATH ${PROJECT_SOURCE_DIR}/GKlib CACHE PATH "path to GKlib")
set(SHARED FALSE CACHE BOOL "build a shared library")
@ -24,4 +29,7 @@ include_directories(include)
# Recursively look for CMakeLists.txt in subdirs.
add_subdirectory("include")
add_subdirectory("libmetis")
add_subdirectory("programs")
if(GTSAM_BUILD_METIS_EXECUTABLES)
add_subdirectory("programs")
endif()

1
gtsam_unstable/dynamics/PoseRTV.cpp
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@ -15,7 +15,6 @@ namespace gtsam {
using namespace std;
static const Vector g = delta(3, 2, 9.81);
const double pi = M_PI;
/* ************************************************************************* */
double bound(double a, double min, double max) {

25
gtsam_unstable/partition/GenericGraph.cpp
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@ -29,11 +29,10 @@ namespace gtsam { namespace partition {
typedef map<IntPair, FactorList::iterator> Connections;
// create disjoin set forest
int numNodes = keys.size();
DSFVector dsf(workspace.dsf, keys);
FactorList factors(graph.begin(), graph.end());
size_t i, nrFactors = factors.size();
size_t nrFactors = factors.size();
FactorList::iterator itEnd;
workspace.prepareDictionary(keys);
while (nrFactors) {
@ -135,7 +134,7 @@ namespace gtsam { namespace partition {
typedef list<sharedGenericFactor3D> FactorList;
FactorList factors(graph.begin(), graph.end());
size_t i, nrFactors = factors.size();
size_t nrFactors = factors.size();
FactorList::iterator itEnd;
while (nrFactors) {
@ -225,7 +224,7 @@ namespace gtsam { namespace partition {
// find singular cameras and landmarks
foundSingularCamera = false;
foundSingularLandmark = false;
for (int i=0; i<nrConstraints.size(); i++) {
for (size_t i=0; i<nrConstraints.size(); i++) {
if (isCamera[i] && nrConstraints[i] < minNrConstraintsPerCamera &&
singularCameras.find(i) == singularCameras.end()) {
singularCameras.insert(i);
@ -241,7 +240,7 @@ namespace gtsam { namespace partition {
/* ************************************************************************* */
list<vector<size_t> > findIslands(const GenericGraph3D& graph, const vector<size_t>& keys, WorkSpace& workspace,
const int minNrConstraintsPerCamera, const int minNrConstraintsPerLandmark) {
const size_t minNrConstraintsPerCamera, const size_t minNrConstraintsPerLandmark) {
// create disjoint set forest
workspace.prepareDictionary(keys);
@ -320,7 +319,7 @@ namespace gtsam { namespace partition {
}
// sanity check
int nrKeys = 0;
size_t nrKeys = 0;
BOOST_FOREACH(const vector<size_t>& island, islands)
nrKeys += island.size();
if (nrKeys != keys.size()) {
@ -336,7 +335,7 @@ namespace gtsam { namespace partition {
/* ************************************************************************* */
// return the number of intersection between two **sorted** landmark vectors
inline int getNrCommonLandmarks(const vector<size_t>& landmarks1, const vector<size_t>& landmarks2){
int i1 = 0, i2 = 0;
size_t i1 = 0, i2 = 0;
int nrCommonLandmarks = 0;
while (i1 < landmarks1.size() && i2 < landmarks2.size()) {
if (landmarks1[i1] < landmarks2[i2])
@ -392,8 +391,8 @@ namespace gtsam { namespace partition {
int factorIndex = 0;
int camera1, camera2, nrTotalConstraints;
bool hasOdometry;
for (int i1=0; i1<cameraKeys.size()-1; ++i1) {
for (int i2=i1+1; i2<cameraKeys.size(); ++i2) {
for (size_t i1=0; i1<cameraKeys.size()-1; ++i1) {
for (size_t i2=i1+1; i2<cameraKeys.size(); ++i2) {
camera1 = cameraKeys[i1];
camera2 = cameraKeys[i2];
int nrCommonLandmarks = getNrCommonLandmarks(cameraToLandmarks[camera1], cameraToLandmarks[camera2]);
@ -409,7 +408,7 @@ namespace gtsam { namespace partition {
/* ************************************************************************* */
void checkSingularity(const GenericGraph3D& graph, const std::vector<size_t>& frontals,
WorkSpace& workspace, const int minNrConstraintsPerCamera, const int minNrConstraintsPerLandmark) {
WorkSpace& workspace, const size_t minNrConstraintsPerCamera, const size_t minNrConstraintsPerLandmark) {
workspace.prepareDictionary(frontals);
vector<size_t> nrConstraints(workspace.dictionary.size(), 0);
@ -445,8 +444,8 @@ namespace gtsam { namespace partition {
// find the minimum constraint for cameras and landmarks
size_t minFoundConstraintsPerCamera = 10000;
size_t minFoundConstraintsPerLandmark = 10000;
for (int i=0; i<isValidCamera.size(); i++) {
for (size_t i=0; i<isValidCamera.size(); i++) {
if (isValidCamera[i]) {
minFoundConstraintsPerCamera = std::min(nrConstraints[i], minFoundConstraintsPerCamera);
if (nrConstraints[i] < minNrConstraintsPerCamera)
@ -454,7 +453,7 @@ namespace gtsam { namespace partition {
}
}
for (int j=0; j<isValidLandmark.size(); j++) {
for (size_t j=0; j<isValidLandmark.size(); j++) {
if (isValidLandmark[j]) {
minFoundConstraintsPerLandmark = std::min(nrConstraints[j], minFoundConstraintsPerLandmark);
if (nrConstraints[j] < minNrConstraintsPerLandmark)

4
gtsam_unstable/partition/GenericGraph.h
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@ -96,7 +96,7 @@ namespace gtsam { namespace partition {
/** merge nodes in DSF using constraints captured by the given graph */
std::list<std::vector<size_t> > findIslands(const GenericGraph3D& graph, const std::vector<size_t>& keys, WorkSpace& workspace,
const int minNrConstraintsPerCamera, const int minNrConstraintsPerLandmark);
const size_t minNrConstraintsPerCamera, const size_t minNrConstraintsPerLandmark);
/** eliminate the sensors from generic graph */
void reduceGenericGraph(const GenericGraph3D& graph, const std::vector<size_t>& cameraKeys, const std::vector<size_t>& landmarkKeys,
@ -104,7 +104,7 @@ namespace gtsam { namespace partition {
/** check whether the 3D graph is singular (under constrained) */
void checkSingularity(const GenericGraph3D& graph, const std::vector<size_t>& frontals,
WorkSpace& workspace, const int minNrConstraintsPerCamera, const int minNrConstraintsPerLandmark);
WorkSpace& workspace, const size_t minNrConstraintsPerCamera, const size_t minNrConstraintsPerLandmark);
/** print the graph **/