Merged to trunk from branch 'branches/2.1.0'
						commit
						1c9fb8503b
					
				|  | @ -81,38 +81,38 @@ TEST(cholesky, BadScalingSVD) { | |||
|   double expectedCondition = 1e40; | ||||
|   double actualCondition = S(0) / S(1); | ||||
| 
 | ||||
|   DOUBLES_EQUAL(expectedCondition, actualCondition, 1e-41); | ||||
|   DOUBLES_EQUAL(expectedCondition, actualCondition, 1e30); | ||||
| } | ||||
| 
 | ||||
| /* ************************************************************************* */ | ||||
| TEST(cholesky, underconstrained) { | ||||
| 	Matrix L(6,6); L << | ||||
| 		1,	0,	0,	0,	0,	0, | ||||
| 		1.11177808157954,	1.06204809504665,	0.507342638873381,	1.34953401829486,	1,	0, | ||||
| 		0.155864888199928,	1.10933048588373,	0.501255576961674,	1,	0,	0, | ||||
| 		1.12108665967793,	1.01584408366945,	1,	0,	0,	0, | ||||
| 		0.776164062474843,	0.117617236580373,	-0.0236628691347294,	0.814118199972143,	0.694309975328922,	1, | ||||
| 		1,	0,	0,	0,	0,	0, | ||||
| 		1.11177808157954,	1.06204809504665,	0.507342638873381,	1.34953401829486,	1,	0, | ||||
| 		0.155864888199928,	1.10933048588373,	0.501255576961674,	1,	0,	0, | ||||
| 		1.12108665967793,	1.01584408366945,	1,	0,	0,	0, | ||||
| 		0.776164062474843,	0.117617236580373,	-0.0236628691347294,	0.814118199972143,	0.694309975328922,	1, | ||||
| 		0.1197220685104,	1,	0,	0,	0,	0; | ||||
| 	Matrix D1(6,6); D1 << | ||||
| 		0.814723686393179,	0,	0,	0,	0,	0, | ||||
| 		0,	0.811780089277421,	0,	0,	0,	0, | ||||
| 		0,	0,	1.82596950680844,	0,	0,	0, | ||||
| 		0,	0,	0,	0.240287537694585,	0,	0, | ||||
| 		0,	0,	0,	0,	1.34342584865901,	0, | ||||
| 		0.814723686393179,	0,	0,	0,	0,	0, | ||||
| 		0,	0.811780089277421,	0,	0,	0,	0, | ||||
| 		0,	0,	1.82596950680844,	0,	0,	0, | ||||
| 		0,	0,	0,	0.240287537694585,	0,	0, | ||||
| 		0,	0,	0,	0,	1.34342584865901,	0, | ||||
| 		0,	0,	0,	0,	0,	1e-12; | ||||
| 	Matrix D2(6,6); D2 << | ||||
| 		0.814723686393179,	0,	0,	0,	0,	0, | ||||
| 		0,	0.811780089277421,	0,	0,	0,	0, | ||||
| 		0,	0,	1.82596950680844,	0,	0,	0, | ||||
| 		0,	0,	0,	0.240287537694585,	0,	0, | ||||
| 		0,	0,	0,	0,	0,	0, | ||||
| 		0.814723686393179,	0,	0,	0,	0,	0, | ||||
| 		0,	0.811780089277421,	0,	0,	0,	0, | ||||
| 		0,	0,	1.82596950680844,	0,	0,	0, | ||||
| 		0,	0,	0,	0.240287537694585,	0,	0, | ||||
| 		0,	0,	0,	0,	0,	0, | ||||
| 		0,	0,	0,	0,	0,	0; | ||||
| 	Matrix D3(6,6); D3 << | ||||
| 		0.814723686393179,	0,	0,	0,	0,	0, | ||||
| 		0,	0.811780089277421,	0,	0,	0,	0, | ||||
| 		0,	0,	1.82596950680844,	0,	0,	0, | ||||
| 		0,	0,	0,	0.240287537694585,	0,	0, | ||||
| 		0,	0,	0,	0,	-0.5,	0, | ||||
| 		0.814723686393179,	0,	0,	0,	0,	0, | ||||
| 		0,	0.811780089277421,	0,	0,	0,	0, | ||||
| 		0,	0,	1.82596950680844,	0,	0,	0, | ||||
| 		0,	0,	0,	0.240287537694585,	0,	0, | ||||
| 		0,	0,	0,	0,	-0.5,	0, | ||||
| 		0,	0,	0,	0,	0,	-0.6; | ||||
| 
 | ||||
| 	Matrix A1 = L * D1 * L.transpose(); | ||||
|  |  | |||
|  | @ -366,7 +366,7 @@ TEST( GeneralSFMFactor_Cal3Bundler, optimize_varK_BA ) { | |||
|   } | ||||
| 
 | ||||
|   // Constrain position of system with the first camera constrained to the origin
 | ||||
|   graph.addCameraConstraint(X(0), cameras[0]); | ||||
|   graph.addCameraConstraint(0, cameras[0]); | ||||
| 
 | ||||
|   // Constrain the scale of the problem with a soft range factor of 1m between the cameras
 | ||||
|   graph.add(RangeFactor<GeneralCamera,GeneralCamera>(X(0), X(1), 2.0, noiseModel::Isotropic::Sigma(1, 10.0))); | ||||
|  |  | |||
|  | @ -0,0 +1,8 @@ | |||
| #!/bin/sh | ||||
| 
 | ||||
| # Compile boost statically, with -fPIC to allow linking it into the mex | ||||
| # module (which is a dynamic library).  --disable-icu prevents depending | ||||
| # on libicu, which is unneeded and would require then linking the mex | ||||
| # module with it as well.  We just stage instead of install, then the | ||||
| # toolbox_package_unix.sh script uses the staged boost. | ||||
| ./b2 link=static threading=multi cxxflags=-fPIC cflags=-fPIC --disable-icu -a stage | ||||
|  | @ -7,6 +7,8 @@ if [ "$os" = "Linux" -a "$arch" = "x86_64" ]; then | |||
| 	platform=lin64 | ||||
| elif [ "$os" = "Linux" -a "$arch" = "i686" ]; then | ||||
| 	platform=lin32 | ||||
| elif [ "$os" = "Darwin" -a "$arch" = "x86_64" ]; then | ||||
| 	platform=mac64 | ||||
| else | ||||
| 	echo "Unrecognized platform" | ||||
| 	exit 1 | ||||
|  |  | |||
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