Merge pull request #1138 from borglab/various-fixes
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4acbaa26e9
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@ -191,7 +191,7 @@ endif()
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if (NOT MSVC)
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option(GTSAM_BUILD_WITH_MARCH_NATIVE "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" ON)
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if(GTSAM_BUILD_WITH_MARCH_NATIVE)
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if(GTSAM_BUILD_WITH_MARCH_NATIVE AND (APPLE AND NOT CMAKE_SYSTEM_PROCESSOR STREQUAL "arm64"))
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# Add as public flag so all dependant projects also use it, as required
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# by Eigen to avid crashes due to SIMD vectorization:
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list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-march=native")
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@ -786,7 +786,6 @@ namespace gtsam {
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template <typename L, typename Y>
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DecisionTree<L, Y> DecisionTree<L, Y>::apply(
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const UnaryAssignment& op) const {
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std::cout << "Calling the correct apply" << std::endl;
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// It is unclear what should happen if tree is empty:
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if (empty()) {
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throw std::runtime_error(
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@ -462,7 +462,7 @@ TEST(DecisionTree, ApplyWithAssignment) {
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DecisionTree<string, double> probTree(
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keys, "0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08");
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double threshold = 0.035;
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double threshold = 0.045;
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// We test pruning one tree by indexing into another.
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auto pruner = [&](const Assignment<string>& choices, const int& x) {
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@ -475,8 +475,18 @@ TEST(DecisionTree, ApplyWithAssignment) {
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};
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DT prunedTree = tree.apply(pruner);
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DT expectedTree(keys, "0 0 0 4 5 6 7 8");
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DT expectedTree(keys, "0 0 0 0 5 6 7 8");
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EXPECT(assert_equal(expectedTree, prunedTree));
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size_t count = 0;
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auto counter = [&](const Assignment<string>& choices, const int& x) {
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count += 1;
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return x;
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};
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DT prunedTree2 = prunedTree.apply(counter);
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// Check if apply doesn't enumerate all leaves.
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EXPECT_LONGS_EQUAL(5, count);
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}
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/* ************************************************************************* */
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@ -426,7 +426,6 @@ NonlinearFactorGraph SfmData::generalSfmFactors(
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NonlinearFactorGraph SfmData::sfmFactorGraph(
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const SharedNoiseModel &model, boost::optional<size_t> fixedCamera,
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boost::optional<size_t> fixedPoint) const {
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using ProjectionFactor = GeneralSFMFactor<SfmCamera, Point3>;
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NonlinearFactorGraph graph = generalSfmFactors(model);
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using noiseModel::Constrained;
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if (fixedCamera) {
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