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make timing compiles

release/4.3a0
dellaert 2014-12-28 16:37:54 +01:00
parent c816c33272
commit 3ebcfc5ce0
6 changed files with 28 additions and 28 deletions
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2
gtsam_unstable/timing/timeAdaptAutoDiff.cpp
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@ -19,7 +19,7 @@
#include "timeLinearize.h" #include "timeLinearize.h"
#include <gtsam/3rdparty/ceres/example.h> #include <gtsam/3rdparty/ceres/example.h>
#include <gtsam/nonlinear/AdaptAutoDiff.h> #include <gtsam/nonlinear/AdaptAutoDiff.h>
#include <gtsam_unstable/nonlinear/ExpressionFactor.h> #include <gtsam/nonlinear/ExpressionFactor.h>
#include <gtsam/slam/GeneralSFMFactor.h> #include <gtsam/slam/GeneralSFMFactor.h>
#include <gtsam/geometry/PinholeCamera.h> #include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Cal3Bundler.h> #include <gtsam/geometry/Cal3Bundler.h>

6
gtsam_unstable/timing/timeCameraExpression.cpp
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@ -16,8 +16,8 @@
* @date October 3, 2014 * @date October 3, 2014
*/ */
#include <gtsam_unstable/slam/expressions.h> #include <gtsam/slam/expressions.h>
#include <gtsam_unstable/nonlinear/ExpressionFactor.h> #include <gtsam/nonlinear/ExpressionFactor.h>
#include <gtsam/slam/ProjectionFactor.h> #include <gtsam/slam/ProjectionFactor.h>
#include <gtsam/slam/GeneralSFMFactor.h> #include <gtsam/slam/GeneralSFMFactor.h>
#include <gtsam/geometry/Pose3.h> #include <gtsam/geometry/Pose3.h>
@ -32,7 +32,7 @@ using namespace gtsam;
boost::shared_ptr<Cal3_S2> fixedK(new Cal3_S2()); boost::shared_ptr<Cal3_S2> fixedK(new Cal3_S2());
Point2 myProject(const Pose3& pose, const Point3& point, Point2 myProject(const Pose3& pose, const Point3& point,
boost::optional<Matrix26&> H1, boost::optional<Matrix23&> H2) { OptionalJacobian<2,6> H1, OptionalJacobian<2,3> H2) {
PinholeCamera<Cal3_S2> camera(pose, *fixedK); PinholeCamera<Cal3_S2> camera(pose, *fixedK);
return camera.project(point, H1, H2, boost::none); return camera.project(point, H1, H2, boost::none);
} }

4
gtsam_unstable/timing/timeOneCameraExpression.cpp
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@ -16,8 +16,8 @@
* @date October 3, 2014 * @date October 3, 2014
*/ */
#include <gtsam_unstable/slam/expressions.h> #include <gtsam/slam/expressions.h>
#include <gtsam_unstable/nonlinear/ExpressionFactor.h> #include <gtsam/nonlinear/ExpressionFactor.h>
#include "timeLinearize.h" #include "timeLinearize.h"
using namespace std; using namespace std;

4
gtsam_unstable/timing/timeSFMExpressions.cpp
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@ -16,8 +16,8 @@
* @date October 3, 2014 * @date October 3, 2014
*/ */
#include <gtsam_unstable/slam/expressions.h> #include <gtsam/slam/expressions.h>
#include <gtsam_unstable/nonlinear/ExpressionFactor.h> #include <gtsam/nonlinear/ExpressionFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h> #include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/linear/GaussianFactorGraph.h> #include <gtsam/linear/GaussianFactorGraph.h>

34
timing/timeIncremental.cpp
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@ -14,15 +14,15 @@
* @author Richard Roberts * @author Richard Roberts
*/ */
#include <gtsam/base/timing.h>
#include <gtsam/slam/dataset.h> #include <gtsam/slam/dataset.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/slam/PriorFactor.h> #include <gtsam/slam/PriorFactor.h>
#include <gtsam/slam/BetweenFactor.h> #include <gtsam/slam/BetweenFactor.h>
#include <gtsam/slam/BearingRangeFactor.h> #include <gtsam/slam/BearingRangeFactor.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/inference/Symbol.h> #include <gtsam/inference/Symbol.h>
#include <gtsam/nonlinear/ISAM2.h> #include <gtsam/nonlinear/ISAM2.h>
#include <gtsam/nonlinear/Marginals.h> #include <gtsam/nonlinear/Marginals.h>
#include <gtsam/base/timing.h>
#include <fstream> #include <fstream>
#include <boost/archive/binary_oarchive.hpp> #include <boost/archive/binary_oarchive.hpp>
@ -39,20 +39,20 @@ typedef NoiseModelFactor1<Pose> NM1;
typedef NoiseModelFactor2<Pose,Pose> NM2; typedef NoiseModelFactor2<Pose,Pose> NM2;
typedef BearingRangeFactor<Pose,Point2> BR; typedef BearingRangeFactor<Pose,Point2> BR;
GTSAM_VALUE_EXPORT(Value); //GTSAM_VALUE_EXPORT(Value);
GTSAM_VALUE_EXPORT(Pose); //GTSAM_VALUE_EXPORT(Pose);
GTSAM_VALUE_EXPORT(NonlinearFactor); //GTSAM_VALUE_EXPORT(NonlinearFactor);
GTSAM_VALUE_EXPORT(NoiseModelFactor); //GTSAM_VALUE_EXPORT(NoiseModelFactor);
GTSAM_VALUE_EXPORT(NM1); //GTSAM_VALUE_EXPORT(NM1);
GTSAM_VALUE_EXPORT(NM2); //GTSAM_VALUE_EXPORT(NM2);
GTSAM_VALUE_EXPORT(BetweenFactor<Pose>); //GTSAM_VALUE_EXPORT(BetweenFactor<Pose>);
GTSAM_VALUE_EXPORT(PriorFactor<Pose>); //GTSAM_VALUE_EXPORT(PriorFactor<Pose>);
GTSAM_VALUE_EXPORT(BR); //GTSAM_VALUE_EXPORT(BR);
GTSAM_VALUE_EXPORT(noiseModel::Base); //GTSAM_VALUE_EXPORT(noiseModel::Base);
GTSAM_VALUE_EXPORT(noiseModel::Isotropic); //GTSAM_VALUE_EXPORT(noiseModel::Isotropic);
GTSAM_VALUE_EXPORT(noiseModel::Gaussian); //GTSAM_VALUE_EXPORT(noiseModel::Gaussian);
GTSAM_VALUE_EXPORT(noiseModel::Diagonal); //GTSAM_VALUE_EXPORT(noiseModel::Diagonal);
GTSAM_VALUE_EXPORT(noiseModel::Unit); //GTSAM_VALUE_EXPORT(noiseModel::Unit);
double chi2_red(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& config) { double chi2_red(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& config) {
// Compute degrees of freedom (observations - variables) // Compute degrees of freedom (observations - variables)
@ -97,7 +97,7 @@ int main(int argc, char *argv[]) {
// cout << "Initializing " << 0 << endl; // cout << "Initializing " << 0 << endl;
newVariables.insert(0, Pose()); newVariables.insert(0, Pose());
// Add prior // Add prior
newFactors.add(PriorFactor<Pose>(0, Pose(), noiseModel::Unit::Create(Pose::Dim()))); newFactors.add(PriorFactor<Pose>(0, Pose(), noiseModel::Unit::Create(3)));
} }
while(nextMeasurement < measurements.size()) { while(nextMeasurement < measurements.size()) {

6
timing/timeiSAM2Chain.cpp
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@ -39,7 +39,7 @@ typedef Pose2 Pose;
typedef NoiseModelFactor1<Pose> NM1; typedef NoiseModelFactor1<Pose> NM1;
typedef NoiseModelFactor2<Pose,Pose> NM2; typedef NoiseModelFactor2<Pose,Pose> NM2;
noiseModel::Unit::shared_ptr model = noiseModel::Unit::Create(Pose::Dim()); noiseModel::Unit::shared_ptr model = noiseModel::Unit::Create(3);
int main(int argc, char *argv[]) { int main(int argc, char *argv[]) {
@ -61,10 +61,10 @@ int main(int argc, char *argv[]) {
gttic_(Create_measurements); gttic_(Create_measurements);
if(step == 0) { if(step == 0) {
// Add prior // Add prior
newFactors.add(PriorFactor<Pose>(0, Pose(), noiseModel::Unit::Create(Pose::Dim()))); newFactors.add(PriorFactor<Pose>(0, Pose(), noiseModel::Unit::Create(3)));
newVariables.insert(0, Pose()); newVariables.insert(0, Pose());
} else { } else {
Vector eta = Vector::Random(Pose::Dim()) * 0.1; Vector eta = Vector::Random(3) * 0.1;
Pose2 between = Pose().retract(eta); Pose2 between = Pose().retract(eta);
// Add between // Add between
newFactors.add(BetweenFactor<Pose>(step-1, step, between, model)); newFactors.add(BetweenFactor<Pose>(step-1, step, between, model));