12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Rearranging summarization, now with unit test in gtsam

release/4.3a0
Alex Cunningham 2013-05-08 10:11:45 +00:00
parent 3025c728ed
commit 81f63bcc0e
6 changed files with 475 additions and 325 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

358
.cproject
View File

@ -307,6 +307,14 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -333,7 +341,6 @@
</target> </target>
<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree.run</buildTarget> <buildTarget>tests/testBayesTree.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -341,7 +348,6 @@
</target> </target>
<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testBinaryBayesNet.run</buildTarget> <buildTarget>testBinaryBayesNet.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -389,7 +395,6 @@
</target> </target>
<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNet.run</buildTarget> <buildTarget>testSymbolicBayesNet.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -397,7 +402,6 @@
</target> </target>
<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testSymbolicFactor.run</buildTarget> <buildTarget>tests/testSymbolicFactor.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -405,7 +409,6 @@
</target> </target>
<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicFactorGraph.run</buildTarget> <buildTarget>testSymbolicFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -421,20 +424,11 @@
</target> </target>
<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree</buildTarget> <buildTarget>tests/testBayesTree</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testPoseRTV.run" path="build/gtsam_unstable/dynamics" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testPoseRTV.run" path="build/gtsam_unstable/dynamics" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j5</buildArguments>
@ -523,22 +517,6 @@
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="tests/testPose2.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>tests/testPose2.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="tests/testPose3.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>tests/testPose3.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -555,6 +533,22 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="tests/testPose2.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>tests/testPose2.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="tests/testPose3.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>tests/testPose3.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="spqr_mini" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="all" path="spqr_mini" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -579,26 +573,34 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testValues.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j5</buildArguments>
<buildTarget>all</buildTarget> <buildTarget>testValues.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="check" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testOrdering.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j5</buildArguments>
<buildTarget>check</buildTarget> <buildTarget>testOrdering.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="clean" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testKey.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j5</buildArguments>
<buildTarget>clean</buildTarget> <buildTarget>testKey.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testLinearContainerFactor.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testLinearContainerFactor.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
@ -683,34 +685,26 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testValues.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>testValues.run</buildTarget> <buildTarget>all</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testOrdering.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="check" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>testOrdering.run</buildTarget> <buildTarget>check</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testKey.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="clean" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>testKey.run</buildTarget> <buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testLinearContainerFactor.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testLinearContainerFactor.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
@ -1061,7 +1055,6 @@
</target> </target>
<target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGraph.run</buildTarget> <buildTarget>testGraph.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1069,7 +1062,6 @@
</target> </target>
<target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testJunctionTree.run</buildTarget> <buildTarget>testJunctionTree.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1077,7 +1069,6 @@
</target> </target>
<target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNetB.run</buildTarget> <buildTarget>testSymbolicBayesNetB.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1131,6 +1122,14 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testSummarization.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testSummarization.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="build/wrap/gtsam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="clean" path="build/wrap/gtsam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j5</buildArguments>
@ -1237,7 +1236,6 @@
</target> </target>
<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testErrors.run</buildTarget> <buildTarget>testErrors.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1283,6 +1281,14 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testGaussianFactor.run" path="build/linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="check" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -1363,14 +1369,6 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testGaussianFactor.run" path="build/linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="check" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -1677,6 +1675,7 @@
</target> </target>
<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated2DOriented.run</buildTarget> <buildTarget>testSimulated2DOriented.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1716,6 +1715,7 @@
</target> </target>
<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated2D.run</buildTarget> <buildTarget>testSimulated2D.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1723,6 +1723,7 @@
</target> </target>
<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated3D.run</buildTarget> <buildTarget>testSimulated3D.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1922,6 +1923,7 @@
</target> </target>
<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testGaussianISAM2</buildTarget> <buildTarget>tests/testGaussianISAM2</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1943,6 +1945,102 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </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"> <target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j3</buildArguments> <buildArguments>-j3</buildArguments>
@ -2144,7 +2242,6 @@
</target> </target>
<target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand> <buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>-G DEB</buildTarget> <buildTarget>-G DEB</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2152,7 +2249,6 @@
</target> </target>
<target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand> <buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>-G RPM</buildTarget> <buildTarget>-G RPM</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2160,7 +2256,6 @@
</target> </target>
<target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand> <buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>-G TGZ</buildTarget> <buildTarget>-G TGZ</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2168,7 +2263,6 @@
</target> </target>
<target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand> <buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>--config CPackSourceConfig.cmake</buildTarget> <buildTarget>--config CPackSourceConfig.cmake</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2310,98 +2404,34 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSpirit.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j5</buildArguments>
<buildTarget>testRot3.run</buildTarget> <buildTarget>testSpirit.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testRot2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testWrap.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j5</buildArguments>
<buildTarget>testRot2.run</buildTarget> <buildTarget>testWrap.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testPose3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="check.wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j5</buildArguments>
<buildTarget>testPose3.run</buildTarget> <buildTarget>check.wrap</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="timeRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j5</buildArguments>
<buildTarget>timeRot3.run</buildTarget> <buildTarget>wrap</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> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
@ -2445,38 +2475,6 @@
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </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> </buildTargets>
</storageModule> </storageModule>
</cproject> </cproject>

104
gtsam/nonlinear/summarization.cpp Normal file
View File

@ -0,0 +1,104 @@
/**
* @file summarization.cpp
*
* @date Jun 22, 2012
* @author Alex Cunningham
*/
#include <gtsam/linear/GaussianSequentialSolver.h>
#include <gtsam/nonlinear/summarization.h>
#include <gtsam/nonlinear/LinearContainerFactor.h>
//#include <gtsam_unstable/linear/bayesTreeOperations.h>
using namespace std;
namespace gtsam {
///* ************************************************************************* */
//GaussianFactorGraph::shared_ptr summarizeGraphSequential(
// const GaussianFactorGraph& full_graph, const std::vector<Index>& indices, bool useQR) {
// GaussianSequentialSolver solver(full_graph, useQR);
// return solver.jointFactorGraph(indices);
//}
//
///* ************************************************************************* */
//GaussianFactorGraph::shared_ptr summarizeGraphSequential(
// const GaussianFactorGraph& full_graph, const Ordering& ordering, const KeySet& saved_keys, bool useQR) {
// std::vector<Index> indices;
// BOOST_FOREACH(const Key& k, saved_keys)
// indices.push_back(ordering[k]);
// return summarizeGraphSequential(full_graph, indices, useQR);
//}
/* ************************************************************************* */
std::pair<GaussianFactorGraph,Ordering>
summarize(const NonlinearFactorGraph& graph, const Values& values,
const KeySet& saved_keys, bool useQR) {
// compute a new ordering with non-saved keys first
Ordering ordering;
KeySet eliminatedKeys;
BOOST_FOREACH(const Key& key, values.keys()) {
if (!saved_keys.count(key)) {
eliminatedKeys.insert(key);
ordering += key;
}
}
BOOST_FOREACH(const Key& key, saved_keys)
ordering += key;
// Linearize the system
GaussianFactorGraph full_graph = *graph.linearize(values, ordering);
GaussianFactorGraph summarized_system;
if (useQR)
summarized_system.push_back(EliminateQR(full_graph, eliminatedKeys.size()).second);
else
summarized_system.push_back(EliminateCholesky(full_graph, eliminatedKeys.size()).second);
return make_pair(summarized_system, ordering);
}
///* ************************************************************************* */
//std::pair<GaussianFactorGraph,Ordering>
//partialCholeskySummarization(const NonlinearFactorGraph& graph, const Values& values,
// const KeySet& saved_keys) {
// // compute a new ordering with non-saved keys first
// Ordering ordering;
// KeySet eliminatedKeys;
// BOOST_FOREACH(const Key& key, values.keys()) {
// if (!saved_keys.count(key)) {
// eliminatedKeys.insert(key);
// ordering += key;
// }
// }
//
// BOOST_FOREACH(const Key& key, saved_keys)
// ordering += key;
//
// // reorder the system
// GaussianFactorGraph linearSystem = *graph.linearize(values, ordering);
//
// // Eliminate frontals
// GaussianFactorGraph summarized_system;
// summarized_system.push_back(EliminateCholesky(linearSystem, eliminatedKeys.size()).second);
// return make_pair(summarized_system, ordering);
//}
//
//std::pair<GaussianFactorGraph,Ordering> GTSAM_EXPORT
//summarize(const NonlinearFactorGraph& graph, const Values& values,
// const KeySet& saved_keys, bool useQR = true);
/* ************************************************************************* */
NonlinearFactorGraph summarizeAsNonlinearContainer(
const NonlinearFactorGraph& graph, const Values& values,
const KeySet& saved_keys, bool useQR) {
GaussianFactorGraph summarized_graph;
Ordering ordering;
boost::tie(summarized_graph, ordering) = summarize(graph, values, saved_keys, useQR);
return LinearContainerFactor::convertLinearGraph(summarized_graph, ordering);
}
/* ************************************************************************* */
} // \namespace gtsam

76
gtsam/nonlinear/summarization.h Normal file
View File

@ -0,0 +1,76 @@
/**
* @file summarization.h
*
* @brief Types and utility functions for summarization
*
* @date Jun 22, 2012
* @author Alex Cunningham
*/
#pragma once
#include <gtsam_unstable/base/dllexport.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/nonlinear/Ordering.h>
namespace gtsam {
/**
* Summarization function to remove a subset of variables from a system with the
* sequential solver. This does not require that the system be fully constrained.
*
* @param graph A full nonlinear graph
* @param values The chosen linearization point
* @param saved_keys is the set of keys for variables that should remain
* @param useQR uses QR as the elimination algorithm if true, Cholesky otherwise
* @return a pair of the remaining graph and the ordering used for linearization
*/
std::pair<GaussianFactorGraph,Ordering> GTSAM_EXPORT
summarize(const NonlinearFactorGraph& graph, const Values& values,
const KeySet& saved_keys, bool useQR = true);
///**
// * Summarization function to remove a subset of variables from a system using
// * a partial cholesky approach. This does not require that the system be fully constrained.
// * Performs linearization to apply an ordering.
// *
// * @param graph A full nonlinear graph
// * @param values The chosen linearization point
// * @param saved_keys is the set of keys for variables that should remain
// * * @return a pair of the remaining graph and the ordering used for linearization
// */
//std::pair<GaussianFactorGraph,Ordering> GTSAM_EXPORT
//partialCholeskySummarization(const NonlinearFactorGraph& graph, const Values& values,
// const KeySet& saved_keys);
/**
* Performs the same summarization technique used in summarize(), but returns the
* result as a NonlinearFactorGraph comprised of LinearContainerFactors.
*
* @param graph A full nonlinear graph
* @param values The chosen linearization point
* @param saved_keys is the set of keys for variables that should remain
* @param useQR uses QR as the elimination algorithm if true, Cholesky otherwise
* @return a NonlinearFactorGraph with linear factors
*/
NonlinearFactorGraph GTSAM_EXPORT summarizeAsNonlinearContainer(
const NonlinearFactorGraph& graph, const Values& values,
const KeySet& saved_keys, bool useQR = true);
/**
* Summarization function that eliminates a set of variables (does not convert to Jacobians)
* NOTE: uses sequential solver - requires fully constrained system
*/
//GaussianFactorGraph::shared_ptr GTSAM_UNSTABLE_EXPORT summarizeGraphSequential(
// const GaussianFactorGraph& full_graph, const std::vector<Index>& indices, bool useQR = false);
//
///** Summarization that also converts keys to indices */
//GaussianFactorGraph::shared_ptr GTSAM_UNSTABLE_EXPORT summarizeGraphSequential(
// const GaussianFactorGraph& full_graph, const Ordering& ordering,
// const KeySet& saved_keys, bool useQR = false);
} // \namespace gtsam

84
gtsam_unstable/nonlinear/summarization.cpp
View File

@ -1,84 +0,0 @@
/**
* @file summarization.cpp
*
* @date Jun 22, 2012
* @author Alex Cunningham
*/
#include <gtsam/linear/GaussianSequentialSolver.h>
#include <gtsam_unstable/nonlinear/summarization.h>
#include <gtsam_unstable/linear/bayesTreeOperations.h>
using namespace std;
namespace gtsam {
/* ************************************************************************* */
GaussianFactorGraph::shared_ptr summarizeGraphSequential(
const GaussianFactorGraph& full_graph, const std::vector<Index>& indices, bool useQR) {
GaussianSequentialSolver solver(full_graph, useQR);
return solver.jointFactorGraph(indices);
}
/* ************************************************************************* */
GaussianFactorGraph::shared_ptr summarizeGraphSequential(
const GaussianFactorGraph& full_graph, const Ordering& ordering, const KeySet& saved_keys, bool useQR) {
std::vector<Index> indices;
BOOST_FOREACH(const Key& k, saved_keys)
indices.push_back(ordering[k]);
return summarizeGraphSequential(full_graph, indices, useQR);
}
/* ************************************************************************* */
std::pair<GaussianFactorGraph,Ordering>
sequentialSummarization(const NonlinearFactorGraph& graph, const Values& values,
const KeySet& saved_keys) {
// compute a new ordering with non-saved keys first
Ordering ordering;
KeySet eliminatedKeys;
BOOST_FOREACH(const Key& key, values.keys()) {
if (!saved_keys.count(key)) {
eliminatedKeys.insert(key);
ordering += key;
}
}
BOOST_FOREACH(const Key& key, saved_keys)
ordering += key;
// Linearize the system
GaussianFactorGraph full_graph = *graph.linearize(values, ordering);
GaussianFactorGraph summarized_system;
summarized_system.push_back(EliminateQR(full_graph, eliminatedKeys.size()).second);
return make_pair(summarized_system, ordering);
}
/* ************************************************************************* */
std::pair<GaussianFactorGraph,Ordering>
partialCholeskySummarization(const NonlinearFactorGraph& graph, const Values& values,
const KeySet& saved_keys) {
// compute a new ordering with non-saved keys first
Ordering ordering;
KeySet eliminatedKeys;
BOOST_FOREACH(const Key& key, values.keys()) {
if (!saved_keys.count(key)) {
eliminatedKeys.insert(key);
ordering += key;
}
}
BOOST_FOREACH(const Key& key, saved_keys)
ordering += key;
// reorder the system
GaussianFactorGraph linearSystem = *graph.linearize(values, ordering);
// Eliminate frontals
GaussianFactorGraph summarized_system;
summarized_system.push_back(EliminateCholesky(linearSystem, eliminatedKeys.size()).second);
return make_pair(summarized_system, ordering);
}
/* ************************************************************************* */
} // \namespace gtsam

61
gtsam_unstable/nonlinear/summarization.h
View File

@ -1,61 +0,0 @@
/**
* @file summarization.h
*
* @brief Types and utility functions for summarization
*
* @date Jun 22, 2012
* @author Alex Cunningham
*/
#pragma once
#include <gtsam_unstable/base/dllexport.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/nonlinear/Ordering.h>
namespace gtsam {
/**
* Summarization function to remove a subset of variables from a system with the
* sequential solver. This does not require that the system be fully constrained.
*
* @param graph A full nonlinear graph
* @param values The chosen linearization point
* @param saved_keys is the set of keys for variables that should remain
* @return a pair of the remaining graph and the ordering used for linearization
*/
std::pair<GaussianFactorGraph,Ordering> GTSAM_UNSTABLE_EXPORT
sequentialSummarization(const NonlinearFactorGraph& graph, const Values& values,
const KeySet& saved_keys);
/**
* Summarization function to remove a subset of variables from a system using
* a partial cholesky approach. This does not require that the system be fully constrained.
* Performs linearization to apply an ordering.
*
* @param graph A full nonlinear graph
* @param values The chosen linearization point
* @param saved_keys is the set of keys for variables that should remain
* * @return a pair of the remaining graph and the ordering used for linearization
*/
std::pair<GaussianFactorGraph,Ordering> GTSAM_UNSTABLE_EXPORT
partialCholeskySummarization(const NonlinearFactorGraph& graph, const Values& values,
const KeySet& saved_keys);
/**
* Summarization function that eliminates a set of variables (does not convert to Jacobians)
* NOTE: uses sequential solver - requires fully constrained system
*/
GaussianFactorGraph::shared_ptr GTSAM_UNSTABLE_EXPORT summarizeGraphSequential(
const GaussianFactorGraph& full_graph, const std::vector<Index>& indices, bool useQR = false);
/** Summarization that also converts keys to indices */
GaussianFactorGraph::shared_ptr GTSAM_UNSTABLE_EXPORT summarizeGraphSequential(
const GaussianFactorGraph& full_graph, const Ordering& ordering,
const KeySet& saved_keys, bool useQR = false);
} // \namespace gtsam

117
tests/testSummarization.cpp Normal file
View File

@ -0,0 +1,117 @@
/**
* @file testSummarization.cpp
*
* @brief Test ported from MastSLAM for a simple batch summarization technique
*
* @date May 7, 2013
* @author Alex Cunningham
*/
#include <boost/assign/std/set.hpp>
#include <boost/assign/std/vector.hpp>
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/nonlinear/LabeledSymbol.h>
#include <gtsam/nonlinear/summarization.h>
#include <gtsam/nonlinear/LinearContainerFactor.h>
#include <gtsam/slam/PriorFactor.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/slam/BearingRangeFactor.h>
//#include <ddfsam/domains/planarDDFSystem.h>
//
//#include <ddfsam/ddf1/DDF1SummarizedMap.h>
using namespace std;
using namespace boost::assign;
using namespace gtsam;
//using namespace ddfsam;
//using namespace planarDDF;
const double tol=1e-5;
typedef gtsam::PriorFactor<gtsam::Pose2> PosePrior;
typedef gtsam::BetweenFactor<gtsam::Pose2> PoseBetween;
typedef gtsam::BearingRangeFactor<gtsam::Pose2, gtsam::Point2> PosePointBearingRange;
/* ************************************************************************* */
TEST( testSummarization, example_from_ddf1 ) {
Key xA0 = LabeledSymbol('x', 'A', 0),
xA1 = LabeledSymbol('x', 'A', 1),
xA2 = LabeledSymbol('x', 'A', 2);
Key lA3 = LabeledSymbol('l', 'A', 3), lA5 = LabeledSymbol('l', 'A', 5);
gtsam::noiseModel::Base::shared_ptr model2 = noiseModel::Unit::Create(2);
gtsam::noiseModel::Base::shared_ptr model3 = noiseModel::Unit::Create(3);
SharedDiagonal model = noiseModel::Unit::Create(2);
Pose2 pose0;
Pose2 pose1(1.0, 0.0, 0.0);
Pose2 pose2(2.0, 0.0, 0.0);
Point2 landmark3(3.0, 3.0);
Point2 landmark5(5.0, 5.0);
Values values;
values.insert(xA0, pose0);
values.insert(xA1, pose1);
values.insert(xA2, pose2);
values.insert(lA3, landmark3);
values.insert(lA5, landmark5);
// build from nonlinear graph/values
NonlinearFactorGraph graph;
graph.add(PosePrior(xA0, Pose2(), model3));
graph.add(PoseBetween(xA0, xA1, pose0.between(pose1), model3));
graph.add(PoseBetween(xA1, xA2, pose1.between(pose2), model3));
graph.add(PosePointBearingRange(xA0, lA3, pose0.bearing(landmark3), pose0.range(landmark3), model2));
graph.add(PosePointBearingRange(xA1, lA3, pose1.bearing(landmark3), pose1.range(landmark3), model2));
graph.add(PosePointBearingRange(xA2, lA5, pose2.bearing(landmark5), pose2.range(landmark5), model2));
KeySet saved_keys;
saved_keys += lA3, lA5;
// Summarize to a linear system
GaussianFactorGraph actLinGraph; Ordering actOrdering;
bool useQR = true;
boost::tie(actLinGraph, actOrdering) = summarize(graph, values, saved_keys, useQR);
Ordering expSumOrdering; expSumOrdering += xA0, xA1, xA2, lA3, lA5;
EXPECT(assert_equal(expSumOrdering, actOrdering));
GaussianFactorGraph expLinGraph;
expLinGraph.add(
expSumOrdering[lA3],
Matrix_(2,2,
0.595867, 0.605092,
0.0, 0.406109),
expSumOrdering[lA5],
Matrix_(2,2,
-0.125971, -0.160052,
-0.13586, -0.301096),
zero(2), model);
expLinGraph.add(
expSumOrdering[lA5],
Matrix_(2,2,
0.268667, 0.31703,
0.0, 0.131698),
zero(2), model);
EXPECT(assert_equal(expLinGraph, actLinGraph, tol));
// Summarize directly from a nonlinear graph to another nonlinear graph
NonlinearFactorGraph actContainerGraph = summarizeAsNonlinearContainer(graph, values, saved_keys, useQR);
NonlinearFactorGraph expContainerGraph = LinearContainerFactor::convertLinearGraph(expLinGraph, expSumOrdering);
EXPECT(assert_equal(expContainerGraph, actContainerGraph, tol));
}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */