Fixed compile problems with NonlinearOptimizationParameters, removed redundant typedef
Alex Cunningham
parent
93b1619c81
commit
67aa0bf63d
285
.cproject
285
.cproject
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@ -258,14 +258,6 @@
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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="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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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -292,6 +284,7 @@
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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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@ -299,6 +292,7 @@
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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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@ -346,6 +340,7 @@
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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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@ -353,6 +348,7 @@
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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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@ -360,6 +356,7 @@
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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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@ -375,11 +372,20 @@
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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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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testBayesTree</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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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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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check" path="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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@ -406,7 +412,6 @@
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</target>
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<target name="testGraph.run" path="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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@ -478,7 +483,6 @@
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</target>
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<target name="testInference.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testInference.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -486,7 +490,6 @@
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</target>
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<target name="testGaussianFactor.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGaussianFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -494,7 +497,6 @@
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</target>
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<target name="testJunctionTree.run" path="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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@ -502,7 +504,6 @@
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</target>
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<target name="testSymbolicBayesNet.run" path="tests" 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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@ -510,7 +511,6 @@
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</target>
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<target name="testSymbolicFactorGraph.run" path="tests" 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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@ -580,22 +580,6 @@
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<useDefaultCommand>false</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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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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<buildTarget>all</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="clean" 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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<buildTarget>clean</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="tests/testPose2.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -612,6 +596,22 @@
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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="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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<buildTarget>all</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="clean" 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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<buildTarget>clean</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="spqr_mini" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -636,7 +636,15 @@
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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="check" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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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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<buildTarget>all</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="check" 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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<buildTarget>check</buildTarget>
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@ -644,6 +652,14 @@
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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="clean" 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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<buildTarget>clean</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="tests/testGeneralSFMFactor.run" path="build/gtsam/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -684,15 +700,7 @@
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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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<buildTarget>all</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="check" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="check" path="build/gtsam/nonlinear" 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>check</buildTarget>
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@ -700,14 +708,6 @@
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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="clean" 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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<buildTarget>clean</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="check" path="build/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -1038,6 +1038,7 @@
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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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@ -1493,7 +1494,6 @@
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</target>
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<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated2DOriented.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1533,7 +1533,6 @@
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</target>
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<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated2D.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1541,7 +1540,6 @@
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</target>
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<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated3D.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1908,7 +1906,6 @@
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</target>
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<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testGaussianISAM2</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1930,6 +1927,46 @@
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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="install" path="" 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>install</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="clean" path="" 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>clean</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="check" path="" 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>check</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="" 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>all</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="dist" path="" 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>dist</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="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -2026,94 +2063,6 @@
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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="install" path="" 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>install</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="clean" path="" 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>clean</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="check" path="" 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>check</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="" 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>all</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="dist" path="" 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>dist</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="check" 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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<buildTarget>check</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="install" 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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<buildTarget>install</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="tests/testSpirit.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>tests/testSpirit.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="tests/testWrap.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>tests/testWrap.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="clean" path="build/wrap" 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="all" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>all</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
|
|
@ -2178,6 +2127,62 @@
|
|||
<useDefaultCommand>false</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check install" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>check install</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check" path="build/wrap" 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="install" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>install</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="tests/testSpirit.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>tests/testSpirit.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="tests/testWrap.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>tests/testWrap.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="clean" path="build/wrap" 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="all" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>all</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
</buildTargets>
|
||||
</storageModule>
|
||||
</cproject>
|
||||
|
|
|
|||
|
|
@ -68,7 +68,7 @@ int main(int argc, char** argv) {
|
|||
Ordering::shared_ptr ordering = graph->orderingCOLAMD(*initial);
|
||||
|
||||
/* 4.2.2 set up solver and optimize */
|
||||
NonlinearOptimizationParameters::sharedThis params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15);
|
||||
NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15);
|
||||
Optimizer optimizer(graph, initial, ordering, params);
|
||||
Optimizer optimizer_result = optimizer.levenbergMarquardt();
|
||||
|
||||
|
|
|
|||
|
|
@ -146,7 +146,7 @@ int main(int argc, char* argv[]) {
|
|||
|
||||
// Optimize the graph
|
||||
cout << "*******************************************************" << endl;
|
||||
NonlinearOptimizationParameters::sharedThis params = NonlinearOptimizationParameters::newVerbosity(Optimizer::Parameters::DAMPED);
|
||||
NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newVerbosity(Optimizer::Parameters::DAMPED);
|
||||
visualSLAM::Optimizer::shared_values result = visualSLAM::Optimizer::optimizeGN(graph, initialEstimates, params);
|
||||
|
||||
// Print final results
|
||||
|
|
|
|||
|
|
@ -18,7 +18,7 @@ sources += Point2.cpp Rot2.cpp Pose2.cpp Point3.cpp Pose3.cpp
|
|||
check_PROGRAMS += tests/testPoint2 tests/testRot2 tests/testPose2 tests/testPoint3 tests/testRot3M tests/testRot3Q tests/testPose3
|
||||
|
||||
# Cameras
|
||||
headers += GeneralCameraT.h Cal3_S2Stereo.h
|
||||
headers += GeneralCameraT.h Cal3_S2Stereo.h PinholeCamera.h
|
||||
sources += Cal3_S2.cpp Cal3DS2.cpp Cal3Bundler.cpp CalibratedCamera.cpp SimpleCamera.cpp
|
||||
check_PROGRAMS += tests/testCal3DS2 tests/testCal3_S2 tests/testCal3Bundler tests/testCalibratedCamera tests/testSimpleCamera
|
||||
|
||||
|
|
|
|||
|
|
@ -120,7 +120,7 @@ namespace gtsam {
|
|||
|
||||
/// move a cameras according to d
|
||||
PinholeCamera retract(const Vector& d) const {
|
||||
if ( d.size() == pose_.dim() )
|
||||
if ((size_t) d.size() == pose_.dim() )
|
||||
return PinholeCamera(pose().retract(d), calibration()) ;
|
||||
else
|
||||
return PinholeCamera(pose().retract(d.head(pose().dim())),
|
||||
|
|
|
|||
|
|
@ -22,9 +22,9 @@ check_PROGRAMS += tests/testValues tests/testKey tests/testOrdering
|
|||
# Nonlinear nonlinear
|
||||
headers += Key.h
|
||||
headers += NonlinearFactorGraph.h NonlinearFactorGraph-inl.h
|
||||
headers += NonlinearOptimizer-inl.h NonlinearOptimization.h NonlinearOptimization-inl.h NonlinearOptimizationParameters.h
|
||||
headers += NonlinearOptimizer-inl.h NonlinearOptimization.h NonlinearOptimization-inl.h
|
||||
headers += NonlinearFactor.h
|
||||
sources += NonlinearOptimizer.cpp Ordering.cpp DoglegOptimizerImpl.cpp
|
||||
sources += NonlinearOptimizer.cpp Ordering.cpp DoglegOptimizerImpl.cpp NonlinearOptimizationParameters.cpp
|
||||
headers += DoglegOptimizer.h DoglegOptimizer-inl.h
|
||||
|
||||
# Nonlinear iSAM(2)
|
||||
|
|
|
|||
|
|
@ -0,0 +1,121 @@
|
|||
/* ----------------------------------------------------------------------------
|
||||
|
||||
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
||||
* Atlanta, Georgia 30332-0415
|
||||
* All Rights Reserved
|
||||
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
||||
|
||||
* See LICENSE for the license information
|
||||
|
||||
* -------------------------------------------------------------------------- */
|
||||
|
||||
/**
|
||||
* @file NonlinearOptimizationParameters.cpp
|
||||
* @date Jan 28, 2012
|
||||
* @author Alex Cunningham
|
||||
* @brief Implements parameters structure
|
||||
*/
|
||||
|
||||
#include <iostream>
|
||||
|
||||
#include <boost/make_shared.hpp>
|
||||
|
||||
#include <gtsam/nonlinear/NonlinearOptimizationParameters.h>
|
||||
|
||||
namespace gtsam {
|
||||
|
||||
using namespace std;
|
||||
|
||||
/* ************************************************************************* */
|
||||
NonlinearOptimizationParameters::NonlinearOptimizationParameters() :
|
||||
absDecrease_(1e-6), relDecrease_(1e-6), sumError_(0.0), maxIterations_(
|
||||
100), lambda_(1e-5), lambdaFactor_(10.0), verbosity_(SILENT), lambdaMode_(
|
||||
BOUNDED), useQR_(false) {
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
NonlinearOptimizationParameters::NonlinearOptimizationParameters(double absDecrease, double relDecrease,
|
||||
double sumError, int iIters, double lambda,
|
||||
double lambdaFactor, verbosityLevel v,
|
||||
LambdaMode lambdaMode, bool useQR) :
|
||||
absDecrease_(absDecrease), relDecrease_(relDecrease), sumError_(
|
||||
sumError), maxIterations_(iIters), lambda_(lambda), lambdaFactor_(
|
||||
lambdaFactor), verbosity_(v), lambdaMode_(lambdaMode), useQR_(useQR) {
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
NonlinearOptimizationParameters::NonlinearOptimizationParameters(
|
||||
const NonlinearOptimizationParameters ¶meters) :
|
||||
absDecrease_(parameters.absDecrease_), relDecrease_(
|
||||
parameters.relDecrease_), sumError_(parameters.sumError_), maxIterations_(
|
||||
parameters.maxIterations_), lambda_(parameters.lambda_), lambdaFactor_(
|
||||
parameters.lambdaFactor_), verbosity_(parameters.verbosity_), lambdaMode_(
|
||||
parameters.lambdaMode_), useQR_(parameters.useQR_) {
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void NonlinearOptimizationParameters::print(const std::string& s) const {
|
||||
cout << "NonlinearOptimizationParameters " << s << endl;
|
||||
cout << "absolute decrease threshold: " << absDecrease_ << endl;
|
||||
cout << "relative decrease threshold: " << relDecrease_ << endl;
|
||||
cout << " error sum threshold: " << sumError_ << endl;
|
||||
cout << " maximum nr. of iterations: " << maxIterations_ << endl;
|
||||
cout << " initial lambda value: " << lambda_ << endl;
|
||||
cout << " factor to multiply lambda: " << lambdaFactor_ << endl;
|
||||
cout << " verbosity level: " << verbosity_ << endl;
|
||||
cout << " lambda mode: " << lambdaMode_ << endl;
|
||||
cout << " use QR: " << useQR_ << endl;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
NonlinearOptimizationParameters::shared_ptr
|
||||
NonlinearOptimizationParameters::newLambda_(double lambda) const {
|
||||
shared_ptr ptr(
|
||||
boost::make_shared < NonlinearOptimizationParameters > (*this));
|
||||
ptr->lambda_ = lambda;
|
||||
return ptr;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
NonlinearOptimizationParameters::shared_ptr
|
||||
NonlinearOptimizationParameters::newVerbosity(verbosityLevel verbosity) {
|
||||
shared_ptr ptr(boost::make_shared<NonlinearOptimizationParameters>());
|
||||
ptr->verbosity_ = verbosity;
|
||||
return ptr;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
NonlinearOptimizationParameters::shared_ptr
|
||||
NonlinearOptimizationParameters::newMaxIterations(int maxIterations) {
|
||||
shared_ptr ptr(boost::make_shared<NonlinearOptimizationParameters>());
|
||||
ptr->maxIterations_ = maxIterations;
|
||||
return ptr;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
NonlinearOptimizationParameters::shared_ptr
|
||||
NonlinearOptimizationParameters::newLambda(double lambda) {
|
||||
shared_ptr ptr(boost::make_shared<NonlinearOptimizationParameters>());
|
||||
ptr->lambda_ = lambda;
|
||||
return ptr;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
NonlinearOptimizationParameters::shared_ptr
|
||||
NonlinearOptimizationParameters::newDrecreaseThresholds(double absDecrease,
|
||||
double relDecrease) {
|
||||
shared_ptr ptr(boost::make_shared<NonlinearOptimizationParameters>());
|
||||
ptr->absDecrease_ = absDecrease;
|
||||
ptr->relDecrease_ = relDecrease;
|
||||
return ptr;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
NonlinearOptimizationParameters::shared_ptr
|
||||
NonlinearOptimizationParameters::newFactorization(bool useQR) {
|
||||
shared_ptr ptr(boost::make_shared<NonlinearOptimizationParameters>());
|
||||
ptr->useQR_ = useQR;
|
||||
return ptr;
|
||||
}
|
||||
|
||||
} // \namespace gtsam
|
||||
|
|
@ -18,8 +18,8 @@
|
|||
|
||||
#pragma once
|
||||
|
||||
#include <string>
|
||||
#include <boost/shared_ptr.hpp>
|
||||
#include <boost/make_shared.hpp>
|
||||
#include <boost/serialization/nvp.hpp>
|
||||
|
||||
namespace gtsam {
|
||||
|
|
@ -32,7 +32,6 @@ namespace gtsam {
|
|||
|
||||
typedef boost::shared_ptr<NonlinearOptimizationParameters> shared_ptr;
|
||||
typedef NonlinearOptimizationParameters This;
|
||||
typedef boost::shared_ptr<NonlinearOptimizationParameters> sharedThis;
|
||||
|
||||
double absDecrease_; ///< threshold for the absolute decrease per iteration
|
||||
|
||||
|
|
@ -75,98 +74,47 @@ namespace gtsam {
|
|||
/// @{
|
||||
|
||||
/// Default constructor
|
||||
NonlinearOptimizationParameters() :
|
||||
absDecrease_(1e-6), relDecrease_(1e-6), sumError_(0.0), maxIterations_(
|
||||
100), lambda_(1e-5), lambdaFactor_(10.0), verbosity_(SILENT), lambdaMode_(
|
||||
BOUNDED), useQR_(false) {
|
||||
}
|
||||
NonlinearOptimizationParameters();
|
||||
|
||||
/// Constructor from doubles
|
||||
NonlinearOptimizationParameters(double absDecrease, double relDecrease,
|
||||
double sumError, int iIters = 100, double lambda = 1e-5,
|
||||
double lambdaFactor = 10, verbosityLevel v = SILENT,
|
||||
LambdaMode lambdaMode = BOUNDED, bool useQR = false) :
|
||||
absDecrease_(absDecrease), relDecrease_(relDecrease), sumError_(
|
||||
sumError), maxIterations_(iIters), lambda_(lambda), lambdaFactor_(
|
||||
lambdaFactor), verbosity_(v), lambdaMode_(lambdaMode), useQR_(useQR) {
|
||||
}
|
||||
LambdaMode lambdaMode = BOUNDED, bool useQR = false);
|
||||
|
||||
/// Copy constructor
|
||||
NonlinearOptimizationParameters(
|
||||
const NonlinearOptimizationParameters ¶meters) :
|
||||
absDecrease_(parameters.absDecrease_), relDecrease_(
|
||||
parameters.relDecrease_), sumError_(parameters.sumError_), maxIterations_(
|
||||
parameters.maxIterations_), lambda_(parameters.lambda_), lambdaFactor_(
|
||||
parameters.lambdaFactor_), verbosity_(parameters.verbosity_), lambdaMode_(
|
||||
parameters.lambdaMode_), useQR_(parameters.useQR_) {
|
||||
}
|
||||
const NonlinearOptimizationParameters ¶meters);
|
||||
|
||||
/// @}
|
||||
/// @name Standard Interface
|
||||
/// @{
|
||||
|
||||
/// print
|
||||
void print(const std::string& s="") const {
|
||||
cout << "NonlinearOptimizationParameters " << s << endl;
|
||||
cout << "absolute decrease threshold: " << absDecrease_ << endl;
|
||||
cout << "relative decrease threshold: " << relDecrease_ << endl;
|
||||
cout << " error sum threshold: " << sumError_ << endl;
|
||||
cout << " maximum nr. of iterations: " << maxIterations_ << endl;
|
||||
cout << " initial lambda value: " << lambda_ << endl;
|
||||
cout << " factor to multiply lambda: " << lambdaFactor_ << endl;
|
||||
cout << " verbosity level: " << verbosity_ << endl;
|
||||
cout << " lambda mode: " << lambdaMode_ << endl;
|
||||
cout << " use QR: " << useQR_ << endl;
|
||||
}
|
||||
void print(const std::string& s="") const;
|
||||
|
||||
/// a copy of old instance except new lambda
|
||||
sharedThis newLambda_(double lambda) const {
|
||||
sharedThis ptr(
|
||||
boost::make_shared < NonlinearOptimizationParameters > (*this));
|
||||
ptr->lambda_ = lambda;
|
||||
return ptr;
|
||||
}
|
||||
shared_ptr newLambda_(double lambda) const;
|
||||
|
||||
/// @}
|
||||
/// @name Advanced Interface
|
||||
/// @{
|
||||
|
||||
/// a copy of old instance except new verbosity
|
||||
static sharedThis newVerbosity(verbosityLevel verbosity) {
|
||||
sharedThis ptr(boost::make_shared<NonlinearOptimizationParameters>());
|
||||
ptr->verbosity_ = verbosity;
|
||||
return ptr;
|
||||
}
|
||||
static shared_ptr newVerbosity(verbosityLevel verbosity);
|
||||
|
||||
/// a copy of old instance except new maxIterations
|
||||
static sharedThis newMaxIterations(int maxIterations) {
|
||||
sharedThis ptr(boost::make_shared<NonlinearOptimizationParameters>());
|
||||
ptr->maxIterations_ = maxIterations;
|
||||
return ptr;
|
||||
}
|
||||
static shared_ptr newMaxIterations(int maxIterations);
|
||||
|
||||
/// a copy of old instance except new lambda
|
||||
static sharedThis newLambda(double lambda) {
|
||||
sharedThis ptr(boost::make_shared<NonlinearOptimizationParameters>());
|
||||
ptr->lambda_ = lambda;
|
||||
return ptr;
|
||||
}
|
||||
static shared_ptr newLambda(double lambda);
|
||||
|
||||
/// a copy of old instance except new thresholds
|
||||
static sharedThis newDrecreaseThresholds(double absDecrease,
|
||||
double relDecrease) {
|
||||
sharedThis ptr(boost::make_shared<NonlinearOptimizationParameters>());
|
||||
ptr->absDecrease_ = absDecrease;
|
||||
ptr->relDecrease_ = relDecrease;
|
||||
return ptr;
|
||||
}
|
||||
static shared_ptr newDrecreaseThresholds(double absDecrease,
|
||||
double relDecrease);
|
||||
|
||||
/// a copy of old instance except new QR flag
|
||||
static sharedThis newFactorization(bool useQR) {
|
||||
sharedThis ptr(boost::make_shared<NonlinearOptimizationParameters>());
|
||||
ptr->useQR_ = useQR;
|
||||
return ptr;
|
||||
}
|
||||
static shared_ptr newFactorization(bool useQR);
|
||||
|
||||
/// @}
|
||||
|
||||
|
|
|
|||
|
|
@ -187,7 +187,7 @@ TEST( GeneralSFMFactor, optimize_defaultK ) {
|
|||
|
||||
// Create an ordering of the variables
|
||||
shared_ptr<Ordering> ordering = getOrdering(X,L);
|
||||
NonlinearOptimizationParameters::sharedThis params (
|
||||
NonlinearOptimizationParameters::shared_ptr params (
|
||||
new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-5, 10, NonlinearOptimizationParameters::SILENT));
|
||||
Optimizer optimizer(graph, values, ordering, params);
|
||||
Optimizer optimizer2 = optimizer.levenbergMarquardt();
|
||||
|
|
@ -232,7 +232,7 @@ TEST( GeneralSFMFactor, optimize_varK_SingleMeasurementError ) {
|
|||
const double reproj_error = 1e-5;
|
||||
|
||||
shared_ptr<Ordering> ordering = getOrdering(X,L);
|
||||
NonlinearOptimizationParameters::sharedThis params (
|
||||
NonlinearOptimizationParameters::shared_ptr params (
|
||||
new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-5, 10, NonlinearOptimizationParameters::SILENT));
|
||||
Optimizer optimizer(graph, values, ordering, params);
|
||||
Optimizer optimizer2 = optimizer.levenbergMarquardt();
|
||||
|
|
@ -275,7 +275,7 @@ TEST( GeneralSFMFactor, optimize_varK_FixCameras ) {
|
|||
const double reproj_error = 1e-5 ;
|
||||
|
||||
shared_ptr<Ordering> ordering = getOrdering(X,L);
|
||||
NonlinearOptimizationParameters::sharedThis params (
|
||||
NonlinearOptimizationParameters::shared_ptr params (
|
||||
new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-3, 10, NonlinearOptimizationParameters::SILENT));
|
||||
Optimizer optimizer(graph, values, ordering, params);
|
||||
|
||||
|
|
@ -335,7 +335,7 @@ TEST( GeneralSFMFactor, optimize_varK_FixLandmarks ) {
|
|||
const double reproj_error = 1e-5 ;
|
||||
|
||||
shared_ptr<Ordering> ordering = getOrdering(X,L);
|
||||
NonlinearOptimizationParameters::sharedThis params (
|
||||
NonlinearOptimizationParameters::shared_ptr params (
|
||||
new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-3, 10, NonlinearOptimizationParameters::SILENT));
|
||||
Optimizer optimizer(graph, values, ordering, params);
|
||||
|
||||
|
|
@ -378,7 +378,7 @@ TEST( GeneralSFMFactor, optimize_varK_BA ) {
|
|||
const double reproj_error = 1e-5 ;
|
||||
|
||||
shared_ptr<Ordering> ordering = getOrdering(X,L);
|
||||
NonlinearOptimizationParameters::sharedThis params (
|
||||
NonlinearOptimizationParameters::shared_ptr params (
|
||||
new NonlinearOptimizationParameters(1e-2, 1e-2, 0.0, 100, 1e-5, 10, NonlinearOptimizationParameters::SILENT));
|
||||
Optimizer optimizer(graph, values, ordering, params);
|
||||
|
||||
|
|
|
|||
|
|
@ -188,7 +188,7 @@ TEST( GeneralSFMFactor, optimize_defaultK ) {
|
|||
|
||||
// Create an ordering of the variables
|
||||
shared_ptr<Ordering> ordering = getOrdering(X,L);
|
||||
NonlinearOptimizationParameters::sharedThis params (
|
||||
NonlinearOptimizationParameters::shared_ptr params (
|
||||
new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-5, 10, NonlinearOptimizationParameters::SILENT));
|
||||
Optimizer optimizer(graph, values, ordering, params);
|
||||
Optimizer optimizer2 = optimizer.levenbergMarquardt();
|
||||
|
|
@ -233,7 +233,7 @@ TEST( GeneralSFMFactor, optimize_varK_SingleMeasurementError ) {
|
|||
const double reproj_error = 1e-5;
|
||||
|
||||
shared_ptr<Ordering> ordering = getOrdering(X,L);
|
||||
NonlinearOptimizationParameters::sharedThis params (
|
||||
NonlinearOptimizationParameters::shared_ptr params (
|
||||
new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-5, 10, NonlinearOptimizationParameters::SILENT));
|
||||
Optimizer optimizer(graph, values, ordering, params);
|
||||
Optimizer optimizer2 = optimizer.levenbergMarquardt();
|
||||
|
|
@ -276,7 +276,7 @@ TEST( GeneralSFMFactor, optimize_varK_FixCameras ) {
|
|||
const double reproj_error = 1e-5 ;
|
||||
|
||||
shared_ptr<Ordering> ordering = getOrdering(X,L);
|
||||
NonlinearOptimizationParameters::sharedThis params (
|
||||
NonlinearOptimizationParameters::shared_ptr params (
|
||||
new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-3, 10, NonlinearOptimizationParameters::SILENT));
|
||||
Optimizer optimizer(graph, values, ordering, params);
|
||||
|
||||
|
|
@ -332,7 +332,7 @@ TEST( GeneralSFMFactor, optimize_varK_FixLandmarks ) {
|
|||
const double reproj_error = 1e-5 ;
|
||||
|
||||
shared_ptr<Ordering> ordering = getOrdering(X,L);
|
||||
NonlinearOptimizationParameters::sharedThis params (
|
||||
NonlinearOptimizationParameters::shared_ptr params (
|
||||
new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-3, 10, NonlinearOptimizationParameters::SILENT));
|
||||
Optimizer optimizer(graph, values, ordering, params);
|
||||
|
||||
|
|
@ -374,7 +374,7 @@ TEST( GeneralSFMFactor, optimize_varK_BA ) {
|
|||
const double reproj_error = 1e-5 ;
|
||||
|
||||
shared_ptr<Ordering> ordering = getOrdering(X,L);
|
||||
NonlinearOptimizationParameters::sharedThis params (
|
||||
NonlinearOptimizationParameters::shared_ptr params (
|
||||
new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-5, 10, NonlinearOptimizationParameters::SILENT));
|
||||
Optimizer optimizer(graph, values, ordering, params);
|
||||
|
||||
|
|
|
|||
|
|
@ -162,7 +162,7 @@ TEST(Pose2Graph, optimize) {
|
|||
*ordering += "x0","x1";
|
||||
typedef NonlinearOptimizer<pose2SLAM::Graph, pose2SLAM::Values> Optimizer;
|
||||
|
||||
NonlinearOptimizationParameters::sharedThis params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15);
|
||||
NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15);
|
||||
Optimizer optimizer0(fg, initial, ordering, params);
|
||||
Optimizer optimizer = optimizer0.levenbergMarquardt();
|
||||
|
||||
|
|
@ -200,7 +200,7 @@ TEST(Pose2Graph, optimizeThreePoses) {
|
|||
*ordering += "x0","x1","x2";
|
||||
|
||||
// optimize
|
||||
NonlinearOptimizationParameters::sharedThis params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15);
|
||||
NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15);
|
||||
pose2SLAM::Optimizer optimizer0(fg, initial, ordering, params);
|
||||
pose2SLAM::Optimizer optimizer = optimizer0.levenbergMarquardt();
|
||||
|
||||
|
|
@ -243,7 +243,7 @@ TEST_UNSAFE(Pose2SLAM, optimizeCircle) {
|
|||
*ordering += "x0","x1","x2","x3","x4","x5";
|
||||
|
||||
// optimize
|
||||
NonlinearOptimizationParameters::sharedThis params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15);
|
||||
NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15);
|
||||
pose2SLAM::Optimizer optimizer0(fg, initial, ordering, params);
|
||||
pose2SLAM::Optimizer optimizer = optimizer0.levenbergMarquardt();
|
||||
|
||||
|
|
|
|||
|
|
@ -76,7 +76,7 @@ TEST(Pose3Graph, optimizeCircle) {
|
|||
// Choose an ordering and optimize
|
||||
shared_ptr<Ordering> ordering(new Ordering);
|
||||
*ordering += "x0","x1","x2","x3","x4","x5";
|
||||
NonlinearOptimizationParameters::sharedThis params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15);
|
||||
NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15);
|
||||
pose3SLAM::Optimizer optimizer0(fg, initial, ordering, params);
|
||||
pose3SLAM::Optimizer optimizer = optimizer0.levenbergMarquardt();
|
||||
|
||||
|
|
|
|||
|
|
@ -201,7 +201,7 @@ TEST ( NonlinearEquality, allow_error_optimize ) {
|
|||
// optimize
|
||||
boost::shared_ptr<Ordering> ord(new Ordering());
|
||||
ord->push_back(key1);
|
||||
NonlinearOptimizationParameters::sharedThis params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-5, 1e-5);
|
||||
NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-5, 1e-5);
|
||||
PoseOptimizer optimizer(graph, init, ord, params);
|
||||
PoseOptimizer result = optimizer.levenbergMarquardt();
|
||||
|
||||
|
|
@ -237,7 +237,7 @@ TEST ( NonlinearEquality, allow_error_optimize_with_factors ) {
|
|||
// optimize
|
||||
boost::shared_ptr<Ordering> ord(new Ordering());
|
||||
ord->push_back(key1);
|
||||
NonlinearOptimizationParameters::sharedThis params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-5, 1e-5);
|
||||
NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-5, 1e-5);
|
||||
PoseOptimizer optimizer(graph, init, ord, params);
|
||||
PoseOptimizer result = optimizer.levenbergMarquardt();
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue