added measure of fit between original and linearized model in LM
Luca
parent
7656ce8b05
commit
2a3575fcbc
410
.cproject
410
.cproject
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@ -1,19 +1,17 @@
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<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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@ -62,13 +60,13 @@
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@ -118,13 +116,13 @@
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@ -542,14 +540,6 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testGaussianFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<buildArguments>-j2</buildArguments>
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@ -576,6 +566,7 @@
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</target>
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<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testBayesTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -583,6 +574,7 @@
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</target>
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<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testBinaryBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -630,6 +622,7 @@
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</target>
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<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -637,6 +630,7 @@
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</target>
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<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testSymbolicFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -644,6 +638,7 @@
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</target>
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<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -659,11 +654,20 @@
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</target>
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<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildArguments>-j2</buildArguments>
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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@ -760,22 +764,6 @@
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<useDefaultCommand>false</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<useDefaultCommand>true</useDefaultCommand>
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -792,6 +780,22 @@
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<useDefaultCommand>true</useDefaultCommand>
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<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<useDefaultCommand>true</useDefaultCommand>
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<buildArguments>-j2</buildArguments>
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<useDefaultCommand>true</useDefaultCommand>
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -816,46 +820,6 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testValues.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testValues.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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<buildArguments>-j5</buildArguments>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testLinearContainerFactor.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testLinearContainerFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testWhiteNoiseFactor.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j6 -j8</buildArguments>
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<buildTarget>testWhiteNoiseFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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<target name="testGeneralSFMFactor.run" path="build/gtsam/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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@ -920,6 +884,46 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testValues.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testKey.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testKey.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testLinearContainerFactor.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testLinearContainerFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testWhiteNoiseFactor.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j6 -j8</buildArguments>
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<buildTarget>testWhiteNoiseFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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</target>
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<target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1337,6 +1342,7 @@
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</target>
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<target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testJunctionTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1344,6 +1350,7 @@
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</target>
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<target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesNetB.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1511,6 +1518,7 @@
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</target>
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<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testErrors.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1556,22 +1564,6 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testParticleFactor.run" path="build/gtsam_unstable/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testParticleFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testGaussianFactor.run" path="build/linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testGaussianFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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<target name="check" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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<target name="testGaussianFactor.run" path="build/linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testGaussianFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<target name="testParticleFactor.run" path="build/gtsam_unstable/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>testParticleFactor.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
|
|
@ -2014,7 +2022,6 @@
|
|||
</target>
|
||||
<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testSimulated2DOriented.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2054,7 +2061,6 @@
|
|||
</target>
|
||||
<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testSimulated2D.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2062,7 +2068,6 @@
|
|||
</target>
|
||||
<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testSimulated3D.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2350,7 +2355,6 @@
|
|||
</target>
|
||||
<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>tests/testGaussianISAM2</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2372,102 +2376,6 @@
|
|||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testRot3.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testRot2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testRot2.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testPose3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testPose3.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="timeRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>timeRot3.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testPose2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testPose2.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testCal3_S2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testCal3_S2.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testSimpleCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testSimpleCamera.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testHomography2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testHomography2.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testCalibratedCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testCalibratedCamera.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>check</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="clean" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>clean</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testPoint2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testPoint2.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j3</buildArguments>
|
||||
|
|
@ -2669,6 +2577,7 @@
|
|||
</target>
|
||||
<target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>cpack</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>-G DEB</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2676,6 +2585,7 @@
|
|||
</target>
|
||||
<target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>cpack</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>-G RPM</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2683,6 +2593,7 @@
|
|||
</target>
|
||||
<target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>cpack</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>-G TGZ</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2690,6 +2601,7 @@
|
|||
</target>
|
||||
<target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>cpack</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>--config CPackSourceConfig.cmake</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2855,34 +2767,98 @@
|
|||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testSpirit.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>testSpirit.run</buildTarget>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testRot3.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testWrap.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<target name="testRot2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>testWrap.run</buildTarget>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testRot2.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check.wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<target name="testPose3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>check.wrap</buildTarget>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testPose3.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<target name="timeRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>wrap</buildTarget>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>timeRot3.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testPose2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testPose2.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testCal3_S2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testCal3_S2.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testSimpleCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testSimpleCamera.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testHomography2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testHomography2.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testCalibratedCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testCalibratedCamera.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>check</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="clean" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>clean</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testPoint2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testPoint2.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
|
|
@ -2926,6 +2902,38 @@
|
|||
<useDefaultCommand>false</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testSpirit.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>testSpirit.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testWrap.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>testWrap.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check.wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>check.wrap</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>wrap</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
</buildTargets>
|
||||
</storageModule>
|
||||
</cproject>
|
||||
|
|
|
|||
|
|
@ -20,6 +20,7 @@
|
|||
#include <gtsam/linear/linearExceptions.h>
|
||||
#include <gtsam/linear/GaussianFactorGraph.h>
|
||||
#include <gtsam/linear/VectorValues.h>
|
||||
#include <gtsam/linear/Errors.h>
|
||||
|
||||
#include <boost/algorithm/string.hpp>
|
||||
#include <string>
|
||||
|
|
@ -75,12 +76,12 @@ GaussianFactorGraph::shared_ptr LevenbergMarquardtOptimizer::linearize() const {
|
|||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void LevenbergMarquardtOptimizer::increaseLambda(){
|
||||
void LevenbergMarquardtOptimizer::increaseLambda(double stepQuality){
|
||||
state_.lambda *= params_.lambdaFactor;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void LevenbergMarquardtOptimizer::decreaseLambda(){
|
||||
void LevenbergMarquardtOptimizer::decreaseLambda(double stepQuality){
|
||||
state_.lambda /= params_.lambdaFactor;
|
||||
}
|
||||
|
||||
|
|
@ -98,6 +99,8 @@ void LevenbergMarquardtOptimizer::iterate() {
|
|||
cout << "linearizing = " << endl;
|
||||
GaussianFactorGraph::shared_ptr linear = linearize();
|
||||
|
||||
double modelMismatch = std::numeric_limits<size_t>::max();
|
||||
|
||||
// Keep increasing lambda until we make make progress
|
||||
while (true) {
|
||||
++state_.totalNumberInnerIterations;
|
||||
|
|
@ -153,10 +156,25 @@ void LevenbergMarquardtOptimizer::iterate() {
|
|||
|
||||
if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA) cout << "next error = " << error << endl;
|
||||
|
||||
// oldCost - newCost
|
||||
double costChange = state_.error - error;
|
||||
|
||||
// newLinearizedCost (scalar) = 1/2 [f + J * step]^2 = 1/2 [ f'f + 2f'J * step + step' * J' * J * step ]
|
||||
// linearizedCostChange = oldCost - newLinearizedCost = f'f/2 - 1/2 [ f'f + 2f'J * step + step' * J' * J * step]
|
||||
// = -f'J * step - step' * J' * J * step / 2 = -(f' + modelResidual') * (modelResidual)
|
||||
// (with modelResidual = J * step)
|
||||
Errors modelResidualList = (*linear) * delta; // modelResidual = A * delta
|
||||
Vector modelResidual = concatVectors(modelResidualList); // TODO: is this an ordered list?
|
||||
Vector residuals = - linear->jacobian().second; // TODO: optimize this computation, TODO: is there a minus sign?
|
||||
double linearizedCostChange = dot(- modelResidual, (residuals + modelResidual / 2.0) );
|
||||
|
||||
// Measure of mismatch between original (usually nonlinear) system and its linearized version
|
||||
modelMismatch = costChange / linearizedCostChange;
|
||||
|
||||
if (error <= state_.error) {
|
||||
state_.values.swap(newValues);
|
||||
state_.error = error;
|
||||
decreaseLambda();
|
||||
decreaseLambda(modelMismatch);
|
||||
break;
|
||||
} else {
|
||||
// Either we're not cautious, or the same lambda was worse than the current error.
|
||||
|
|
@ -170,7 +188,7 @@ void LevenbergMarquardtOptimizer::iterate() {
|
|||
if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA)
|
||||
cout << "increasing lambda: old error (" << state_.error << ") new error (" << error << ")" << endl;
|
||||
|
||||
increaseLambda();
|
||||
increaseLambda(modelMismatch);
|
||||
}
|
||||
}
|
||||
} catch (IndeterminantLinearSystemException& e) {
|
||||
|
|
@ -185,13 +203,13 @@ void LevenbergMarquardtOptimizer::iterate() {
|
|||
cout << "Warning: Levenberg-Marquardt giving up because cannot decrease error with maximum lambda" << endl;
|
||||
break;
|
||||
} else {
|
||||
increaseLambda();
|
||||
increaseLambda(modelMismatch);
|
||||
}
|
||||
}
|
||||
// Frank asks: why would we do that?
|
||||
// catch(...) {
|
||||
// throw;
|
||||
// }
|
||||
// Frank asks: why would we do that?
|
||||
// catch(...) {
|
||||
// throw;
|
||||
// }
|
||||
} // end while
|
||||
|
||||
if (lmVerbosity >= LevenbergMarquardtParams::LAMBDA)
|
||||
|
|
@ -203,7 +221,7 @@ void LevenbergMarquardtOptimizer::iterate() {
|
|||
|
||||
/* ************************************************************************* */
|
||||
LevenbergMarquardtParams LevenbergMarquardtOptimizer::ensureHasOrdering(
|
||||
LevenbergMarquardtParams params, const NonlinearFactorGraph& graph) const
|
||||
LevenbergMarquardtParams params, const NonlinearFactorGraph& graph) const
|
||||
{
|
||||
if(!params.ordering)
|
||||
params.ordering = Ordering::COLAMD(graph);
|
||||
|
|
|
|||
|
|
@ -181,11 +181,11 @@ public:
|
|||
return state_.lambda;
|
||||
}
|
||||
|
||||
// Apply policy to increase lambda if the current update was successful
|
||||
virtual void increaseLambda();
|
||||
// Apply policy to increase lambda if the current update was successful (stepQuality not used in the naive policy)
|
||||
virtual void increaseLambda(double stepQuality);
|
||||
|
||||
// Apply policy to decrease lambda if the current update was NOT successful
|
||||
virtual void decreaseLambda();
|
||||
// Apply policy to decrease lambda if the current update was NOT successful (stepQuality not used in the naive policy)
|
||||
virtual void decreaseLambda(double stepQuality);
|
||||
|
||||
/// Access the current number of inner iterations
|
||||
int getInnerIterations() const {
|
||||
|
|
|
|||
Loading…
Reference in New Issue