Finish TSAMFactors
dellaert
commit
9373711a85
438
.cproject
438
.cproject
|
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@ -1,17 +1,19 @@
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|||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
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<?fileVersion 4.0.0?>
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<cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
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<storageModule moduleId="org.eclipse.cdt.core.settings">
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||||
<cconfiguration id="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544">
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||||
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544" moduleId="org.eclipse.cdt.core.settings" name="MacOSX GCC">
|
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<externalSettings/>
|
||||
<extensions>
|
||||
<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
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||||
<extension id="org.eclipse.cdt.core.MachO64" point="org.eclipse.cdt.core.BinaryParser"/>
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||||
<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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||||
<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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||||
<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
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||||
<extension id="org.eclipse.cdt.core.MachO64" point="org.eclipse.cdt.core.BinaryParser"/>
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</extensions>
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</storageModule>
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<storageModule moduleId="cdtBuildSystem" version="4.0.0">
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@ -60,13 +62,13 @@
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<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.1441575890" moduleId="org.eclipse.cdt.core.settings" name="Timing">
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<externalSettings/>
|
||||
<extensions>
|
||||
<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
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||||
<extension id="org.eclipse.cdt.core.MachO64" point="org.eclipse.cdt.core.BinaryParser"/>
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||||
<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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||||
<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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||||
<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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||||
<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
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<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
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<extension id="org.eclipse.cdt.core.MachO64" point="org.eclipse.cdt.core.BinaryParser"/>
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</extensions>
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</storageModule>
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<storageModule moduleId="cdtBuildSystem" version="4.0.0">
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@ -116,13 +118,13 @@
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<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.127261216" moduleId="org.eclipse.cdt.core.settings" name="fast">
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<externalSettings/>
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||||
<extensions>
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||||
<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
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||||
<extension id="org.eclipse.cdt.core.MachO64" point="org.eclipse.cdt.core.BinaryParser"/>
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<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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||||
<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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||||
<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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||||
<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
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<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
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<extension id="org.eclipse.cdt.core.MachO64" point="org.eclipse.cdt.core.BinaryParser"/>
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</extensions>
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</storageModule>
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<storageModule moduleId="cdtBuildSystem" version="4.0.0">
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@ -540,14 +542,6 @@
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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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@ -574,6 +568,7 @@
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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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@ -581,6 +576,7 @@
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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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@ -628,6 +624,7 @@
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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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@ -635,6 +632,7 @@
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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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@ -642,6 +640,7 @@
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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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@ -657,11 +656,20 @@
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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="testPoseRTV.run" path="build/gtsam_unstable/dynamics" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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@ -758,22 +766,6 @@
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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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@ -790,6 +782,22 @@
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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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@ -814,42 +822,26 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testValues.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testValues.run</buildTarget>
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<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="testOrdering.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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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>-j5</buildArguments>
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<buildTarget>testOrdering.run</buildTarget>
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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="testKey.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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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>-j5</buildArguments>
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<buildTarget>testKey.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testLinearContainerFactor.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testLinearContainerFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testWhiteNoiseFactor.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j6 -j8</buildArguments>
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<buildTarget>testWhiteNoiseFactor.run</buildTarget>
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<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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@ -918,26 +910,42 @@
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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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<target name="testValues.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>all</buildTarget>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testValues.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="testOrdering.run" 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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<buildArguments>-j5</buildArguments>
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<buildTarget>testOrdering.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="clean" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="testKey.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>clean</buildTarget>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testKey.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testLinearContainerFactor.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
|
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<buildTarget>testLinearContainerFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testWhiteNoiseFactor.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j6 -j8</buildArguments>
|
||||
<buildTarget>testWhiteNoiseFactor.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
|
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<runAllBuilders>true</runAllBuilders>
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@ -1086,6 +1094,14 @@
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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="testTSAMFactors.run" path="build/gtsam_unstable/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>testTSAMFactors.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
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||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testDiscreteFactor.run" path="build/gtsam/discrete" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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||||
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@ -1328,6 +1344,7 @@
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</target>
|
||||
<target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testGraph.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
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||||
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@ -1335,6 +1352,7 @@
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</target>
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||||
<target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
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||||
<buildArguments/>
|
||||
<buildTarget>testJunctionTree.run</buildTarget>
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||||
<stopOnError>true</stopOnError>
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||||
<useDefaultCommand>false</useDefaultCommand>
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@ -1342,6 +1360,7 @@
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</target>
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||||
<target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testSymbolicBayesNetB.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
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@ -1509,6 +1528,7 @@
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</target>
|
||||
<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testErrors.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -1554,22 +1574,6 @@
|
|||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testParticleFactor.run" path="build/gtsam_unstable/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>testParticleFactor.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="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">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
|
|
@ -1650,6 +1654,22 @@
|
|||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</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="testParticleFactor.run" path="build/gtsam_unstable/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>testParticleFactor.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
|
|
@ -1930,22 +1950,6 @@
|
|||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testImuFactor.run" path="build/gtsam/navigation" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>testImuFactor.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testCombinedImuFactor.run" path="build/gtsam/navigation" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>testCombinedImuFactor.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="all" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
|
|
@ -2028,7 +2032,6 @@
|
|||
</target>
|
||||
<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testSimulated2DOriented.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2068,7 +2071,6 @@
|
|||
</target>
|
||||
<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testSimulated2D.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2076,7 +2078,6 @@
|
|||
</target>
|
||||
<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testSimulated3D.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2090,6 +2091,22 @@
|
|||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testImuFactor.run" path="build/gtsam/navigation" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>testImuFactor.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testCombinedImuFactor.run" path="build/gtsam/navigation" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>testCombinedImuFactor.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testVector.run" path="build/gtsam/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
|
|
@ -2364,7 +2381,6 @@
|
|||
</target>
|
||||
<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>tests/testGaussianISAM2</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2386,102 +2402,6 @@
|
|||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testRot3.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testRot2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testRot2.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testPose3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testPose3.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="timeRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>timeRot3.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testPose2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testPose2.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testCal3_S2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testCal3_S2.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testSimpleCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testSimpleCamera.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testHomography2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testHomography2.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testCalibratedCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testCalibratedCamera.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>check</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="clean" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>clean</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testPoint2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testPoint2.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j3</buildArguments>
|
||||
|
|
@ -2683,6 +2603,7 @@
|
|||
</target>
|
||||
<target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>cpack</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>-G DEB</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2690,6 +2611,7 @@
|
|||
</target>
|
||||
<target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>cpack</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>-G RPM</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2697,6 +2619,7 @@
|
|||
</target>
|
||||
<target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>cpack</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>-G TGZ</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2704,6 +2627,7 @@
|
|||
</target>
|
||||
<target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>cpack</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>--config CPackSourceConfig.cmake</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2877,34 +2801,98 @@
|
|||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testSpirit.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>testSpirit.run</buildTarget>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testRot3.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testWrap.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<target name="testRot2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>testWrap.run</buildTarget>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testRot2.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check.wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<target name="testPose3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>check.wrap</buildTarget>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testPose3.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<target name="timeRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>wrap</buildTarget>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>timeRot3.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testPose2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testPose2.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testCal3_S2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testCal3_S2.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testSimpleCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testSimpleCamera.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testHomography2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testHomography2.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testCalibratedCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testCalibratedCamera.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>check</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="clean" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>clean</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testPoint2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testPoint2.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
|
|
@ -2948,6 +2936,38 @@
|
|||
<useDefaultCommand>false</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testSpirit.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>testSpirit.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testWrap.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>testWrap.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check.wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>check.wrap</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>wrap</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
</buildTargets>
|
||||
</storageModule>
|
||||
</cproject>
|
||||
|
|
|
|||
1
gtsam.h
1
gtsam.h
|
|
@ -2363,6 +2363,7 @@ namespace utilities {
|
|||
gtsam::Values allPose3s(gtsam::Values& values);
|
||||
Matrix extractPose3(const gtsam::Values& values);
|
||||
void perturbPoint2(gtsam::Values& values, double sigma, int seed);
|
||||
void perturbPose2 (gtsam::Values& values, double sigmaT, double sigmaR, int seed);
|
||||
void perturbPoint3(gtsam::Values& values, double sigma, int seed);
|
||||
void insertBackprojections(gtsam::Values& values, const gtsam::SimpleCamera& c, Vector J, Matrix Z, double depth);
|
||||
void insertProjectionFactors(gtsam::NonlinearFactorGraph& graph, size_t i, Vector J, Matrix Z, const gtsam::noiseModel::Base* model, const gtsam::Cal3_S2* K);
|
||||
|
|
|
|||
|
|
@ -119,14 +119,20 @@ namespace gtsam {
|
|||
/* ************************************************************************* */
|
||||
VectorValues GaussianConditional::solve(const VectorValues& x) const
|
||||
{
|
||||
// Solve matrix
|
||||
// Concatenate all vector values that correspond to parent variables
|
||||
Vector xS = x.vector(FastVector<Key>(beginParents(), endParents()));
|
||||
|
||||
// Update right-hand-side
|
||||
xS = getb() - get_S() * xS;
|
||||
|
||||
// Solve matrix
|
||||
Vector soln = get_R().triangularView<Eigen::Upper>().solve(xS);
|
||||
|
||||
// Check for indeterminant solution
|
||||
if(soln.hasNaN()) throw IndeterminantLinearSystemException(keys().front());
|
||||
|
||||
// TODO, do we not have to scale by sigmas here? Copy/paste bug
|
||||
|
||||
// Insert solution into a VectorValues
|
||||
VectorValues result;
|
||||
DenseIndex vectorPosition = 0;
|
||||
|
|
@ -142,9 +148,14 @@ namespace gtsam {
|
|||
VectorValues GaussianConditional::solveOtherRHS(
|
||||
const VectorValues& parents, const VectorValues& rhs) const
|
||||
{
|
||||
// Concatenate all vector values that correspond to parent variables
|
||||
Vector xS = parents.vector(FastVector<Key>(beginParents(), endParents()));
|
||||
|
||||
// Instead of updating getb(), update the right-hand-side from the given rhs
|
||||
const Vector rhsR = rhs.vector(FastVector<Key>(beginFrontals(), endFrontals()));
|
||||
xS = rhsR - get_S() * xS;
|
||||
|
||||
// Solve Matrix
|
||||
Vector soln = get_R().triangularView<Eigen::Upper>().solve(xS);
|
||||
|
||||
// Scale by sigmas
|
||||
|
|
|
|||
|
|
@ -15,8 +15,11 @@ virtual class gtsam::Pose3;
|
|||
virtual class gtsam::noiseModel::Base;
|
||||
virtual class gtsam::noiseModel::Gaussian;
|
||||
virtual class gtsam::imuBias::ConstantBias;
|
||||
virtual class gtsam::NoiseModelFactor;
|
||||
virtual class gtsam::NonlinearFactor;
|
||||
virtual class gtsam::NoiseModelFactor;
|
||||
virtual class gtsam::NoiseModelFactor2;
|
||||
virtual class gtsam::NoiseModelFactor3;
|
||||
virtual class gtsam::NoiseModelFactor4;
|
||||
virtual class gtsam::GaussianFactor;
|
||||
virtual class gtsam::HessianFactor;
|
||||
virtual class gtsam::JacobianFactor;
|
||||
|
|
@ -709,4 +712,32 @@ class AHRS {
|
|||
void print(string s) const;
|
||||
};
|
||||
|
||||
// Tectonic SAM Factors
|
||||
|
||||
#include <gtsam_unstable/slam/TSAMFactors.h>
|
||||
#include <gtsam/nonlinear/NonlinearFactor.h>
|
||||
|
||||
//typedef gtsam::NoiseModelFactor2<gtsam::Pose2, gtsam::Point2> NLPosePose;
|
||||
virtual class DeltaFactor : gtsam::NoiseModelFactor {
|
||||
DeltaFactor(size_t i, size_t j, const gtsam::Point2& measured,
|
||||
const gtsam::noiseModel::Base* noiseModel);
|
||||
void print(string s) const;
|
||||
};
|
||||
|
||||
//typedef gtsam::NoiseModelFactor4<gtsam::Pose2, gtsam::Pose2, gtsam::Pose2,
|
||||
// gtsam::Point2> NLPosePosePosePoint;
|
||||
virtual class DeltaFactorBase : gtsam::NoiseModelFactor {
|
||||
DeltaFactorBase(size_t b1, size_t i, size_t b2, size_t j,
|
||||
const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel);
|
||||
void print(string s) const;
|
||||
};
|
||||
|
||||
//typedef gtsam::NoiseModelFactor4<gtsam::Pose2, gtsam::Pose2, gtsam::Pose2,
|
||||
// gtsam::Pose2> NLPosePosePosePose;
|
||||
virtual class OdometryFactorBase : gtsam::NoiseModelFactor {
|
||||
OdometryFactorBase(size_t b1, size_t i, size_t b2, size_t j,
|
||||
const gtsam::Pose2& measured, const gtsam::noiseModel::Base* noiseModel);
|
||||
void print(string s) const;
|
||||
};
|
||||
|
||||
} //\namespace gtsam
|
||||
|
|
|
|||
|
|
@ -0,0 +1,167 @@
|
|||
/* ----------------------------------------------------------------------------
|
||||
|
||||
* 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 TSAMFactors.h
|
||||
* @brief TSAM 1 Factors, simpler than the hierarchical TSAM 2
|
||||
* @author Frank Dellaert
|
||||
* @date May 2014
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <gtsam/geometry/Pose2.h>
|
||||
#include <gtsam/nonlinear/NonlinearFactor.h>
|
||||
|
||||
namespace gtsam {
|
||||
|
||||
/**
|
||||
* DeltaFactor: relative 2D measurement between Pose2 and Point2
|
||||
*/
|
||||
class DeltaFactor: public NoiseModelFactor2<Pose2, Point2> {
|
||||
|
||||
public:
|
||||
typedef DeltaFactor This;
|
||||
typedef NoiseModelFactor2<Pose2, Point2> Base;
|
||||
typedef boost::shared_ptr<This> shared_ptr;
|
||||
|
||||
private:
|
||||
Point2 measured_; ///< the measurement
|
||||
|
||||
public:
|
||||
|
||||
/// Constructor
|
||||
DeltaFactor(Key i, Key j, const Point2& measured,
|
||||
const SharedNoiseModel& model) :
|
||||
Base(model, i, j), measured_(measured) {
|
||||
}
|
||||
|
||||
/// Evaluate measurement error h(x)-z
|
||||
Vector evaluateError(const Pose2& pose, const Point2& point,
|
||||
boost::optional<Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 =
|
||||
boost::none) const {
|
||||
Point2 d = pose.transform_to(point, H1, H2);
|
||||
Point2 e = measured_.between(d);
|
||||
return e.vector();
|
||||
}
|
||||
};
|
||||
|
||||
/**
|
||||
* DeltaFactorBase: relative 2D measurement between Pose2 and Point2, with Basenodes
|
||||
*/
|
||||
class DeltaFactorBase: public NoiseModelFactor4<Pose2, Pose2, Pose2, Point2> {
|
||||
|
||||
public:
|
||||
typedef DeltaFactorBase This;
|
||||
typedef NoiseModelFactor4<Pose2, Pose2, Pose2, Point2> Base;
|
||||
typedef boost::shared_ptr<This> shared_ptr;
|
||||
|
||||
private:
|
||||
Point2 measured_; ///< the measurement
|
||||
|
||||
public:
|
||||
|
||||
/// Constructor
|
||||
DeltaFactorBase(Key b1, Key i, Key b2, Key j, const Point2& measured,
|
||||
const SharedNoiseModel& model) :
|
||||
Base(model, b1, i, b2, j), measured_(measured) {
|
||||
}
|
||||
|
||||
/// Evaluate measurement error h(x)-z
|
||||
Vector evaluateError(const Pose2& base1, const Pose2& pose,
|
||||
const Pose2& base2, const Point2& point, //
|
||||
boost::optional<Matrix&> H1 = boost::none, //
|
||||
boost::optional<Matrix&> H2 = boost::none, //
|
||||
boost::optional<Matrix&> H3 = boost::none, //
|
||||
boost::optional<Matrix&> H4 = boost::none) const {
|
||||
if (H1 || H2 || H3 || H4) {
|
||||
// TODO use fixed-size matrices
|
||||
Matrix D_pose_g_base1, D_pose_g_pose;
|
||||
Pose2 pose_g = base1.compose(pose, D_pose_g_base1, D_pose_g_pose);
|
||||
Matrix D_point_g_base2, D_point_g_point;
|
||||
Point2 point_g = base2.transform_from(point, D_point_g_base2,
|
||||
D_point_g_point);
|
||||
Matrix D_e_pose_g, D_e_point_g;
|
||||
Point2 d = pose_g.transform_to(point_g, D_e_pose_g, D_e_point_g);
|
||||
if (H1)
|
||||
*H1 = D_e_pose_g * D_pose_g_base1;
|
||||
if (H2)
|
||||
*H2 = D_e_pose_g * D_pose_g_pose;
|
||||
if (H3)
|
||||
*H3 = D_e_point_g * D_point_g_base2;
|
||||
if (H4)
|
||||
*H4 = D_e_point_g * D_point_g_point;
|
||||
return measured_.localCoordinates(d);
|
||||
} else {
|
||||
Pose2 pose_g = base1.compose(pose);
|
||||
Point2 point_g = base2.transform_from(point);
|
||||
Point2 d = pose_g.transform_to(point_g);
|
||||
return measured_.localCoordinates(d);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
/**
|
||||
* OdometryFactorBase: Pose2 odometry, with Basenodes
|
||||
*/
|
||||
class OdometryFactorBase: public NoiseModelFactor4<Pose2, Pose2, Pose2, Pose2> {
|
||||
|
||||
public:
|
||||
typedef OdometryFactorBase This;
|
||||
typedef NoiseModelFactor4<Pose2, Pose2, Pose2, Pose2> Base;
|
||||
typedef boost::shared_ptr<This> shared_ptr;
|
||||
|
||||
private:
|
||||
Pose2 measured_; ///< the measurement
|
||||
|
||||
public:
|
||||
|
||||
/// Constructor
|
||||
OdometryFactorBase(Key b1, Key i, Key b2, Key j, const Pose2& measured,
|
||||
const SharedNoiseModel& model) :
|
||||
Base(model, b1, i, b2, j), measured_(measured) {
|
||||
}
|
||||
|
||||
/// Evaluate measurement error h(x)-z
|
||||
Vector evaluateError(const Pose2& base1, const Pose2& pose1,
|
||||
const Pose2& base2, const Pose2& pose2, //
|
||||
boost::optional<Matrix&> H1 = boost::none, //
|
||||
boost::optional<Matrix&> H2 = boost::none, //
|
||||
boost::optional<Matrix&> H3 = boost::none, //
|
||||
boost::optional<Matrix&> H4 = boost::none) const {
|
||||
if (H1 || H2 || H3 || H4) {
|
||||
// TODO use fixed-size matrices
|
||||
Matrix D_pose1_g_base1, D_pose1_g_pose1;
|
||||
Pose2 pose1_g = base1.compose(pose1, D_pose1_g_base1, D_pose1_g_pose1);
|
||||
Matrix D_pose2_g_base2, D_pose2_g_pose2;
|
||||
Pose2 pose2_g = base2.compose(pose2, D_pose2_g_base2, D_pose2_g_pose2);
|
||||
Matrix D_e_pose1_g, D_e_pose2_g;
|
||||
Pose2 d = pose1_g.between(pose2_g, D_e_pose1_g, D_e_pose2_g);
|
||||
if (H1)
|
||||
*H1 = D_e_pose1_g * D_pose1_g_base1;
|
||||
if (H2)
|
||||
*H2 = D_e_pose1_g * D_pose1_g_pose1;
|
||||
if (H3)
|
||||
*H3 = D_e_pose2_g * D_pose2_g_base2;
|
||||
if (H4)
|
||||
*H4 = D_e_pose2_g * D_pose2_g_pose2;
|
||||
return measured_.localCoordinates(d);
|
||||
} else {
|
||||
Pose2 pose1_g = base1.compose(pose1);
|
||||
Pose2 pose2_g = base2.compose(pose2);
|
||||
Pose2 d = pose1_g.between(pose2_g);
|
||||
return measured_.localCoordinates(d);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,149 @@
|
|||
/* ----------------------------------------------------------------------------
|
||||
|
||||
* 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 testTSAMFactors.cpp
|
||||
* @brief Unit tests for TSAM 1 Factors
|
||||
* @author Frank Dellaert
|
||||
* @date May 2014
|
||||
*/
|
||||
|
||||
#include <gtsam_unstable/slam/TSAMFactors.h>
|
||||
#include <gtsam/base/numericalDerivative.h>
|
||||
#include <CppUnitLite/TestHarness.h>
|
||||
|
||||
using namespace std;
|
||||
using namespace gtsam;
|
||||
|
||||
Key i(1), j(2); // Key for pose and point
|
||||
|
||||
//*************************************************************************
|
||||
TEST( DeltaFactor, all ) {
|
||||
// Create a factor
|
||||
Point2 measurement(1, 1);
|
||||
static SharedNoiseModel model(noiseModel::Unit::Create(2));
|
||||
DeltaFactor factor(i, j, measurement, model);
|
||||
|
||||
// Set the linearization point
|
||||
Pose2 pose(1, 2, 0);
|
||||
Point2 point(4, 11);
|
||||
Vector2 expected(4 - 1 - 1, 11 - 2 - 1);
|
||||
|
||||
// Use the factor to calculate the Jacobians
|
||||
Matrix H1Actual, H2Actual;
|
||||
Vector actual = factor.evaluateError(pose, point, H1Actual, H2Actual);
|
||||
EXPECT(assert_equal(expected, actual, 1e-9));
|
||||
|
||||
// Use numerical derivatives to calculate the Jacobians
|
||||
Matrix H1Expected, H2Expected;
|
||||
H1Expected = numericalDerivative11<LieVector, Pose2>(
|
||||
boost::bind(&DeltaFactor::evaluateError, &factor, _1, point, boost::none,
|
||||
boost::none), pose);
|
||||
H2Expected = numericalDerivative11<LieVector, Point2>(
|
||||
boost::bind(&DeltaFactor::evaluateError, &factor, pose, _1, boost::none,
|
||||
boost::none), point);
|
||||
|
||||
// Verify the Jacobians are correct
|
||||
EXPECT(assert_equal(H1Expected, H1Actual, 1e-9));
|
||||
EXPECT(assert_equal(H2Expected, H2Actual, 1e-9));
|
||||
}
|
||||
|
||||
//*************************************************************************
|
||||
TEST( DeltaFactorBase, all ) {
|
||||
// Create a factor
|
||||
Key b1(10), b2(20);
|
||||
Point2 measurement(1, 1);
|
||||
static SharedNoiseModel model(noiseModel::Unit::Create(2));
|
||||
DeltaFactorBase factor(b1, i, b2, j, measurement, model);
|
||||
|
||||
// Set the linearization point
|
||||
Pose2 base1, base2(1, 0, 0);
|
||||
Pose2 pose(1, 2, 0);
|
||||
Point2 point(4, 11);
|
||||
Vector2 expected(4 + 1 - 1 - 1, 11 - 2 - 1);
|
||||
|
||||
// Use the factor to calculate the Jacobians
|
||||
Matrix H1Actual, H2Actual, H3Actual, H4Actual;
|
||||
Vector actual = factor.evaluateError(base1, pose, base2, point, H1Actual,
|
||||
H2Actual, H3Actual, H4Actual);
|
||||
EXPECT(assert_equal(expected, actual, 1e-9));
|
||||
|
||||
// Use numerical derivatives to calculate the Jacobians
|
||||
Matrix H1Expected, H2Expected, H3Expected, H4Expected;
|
||||
H1Expected = numericalDerivative11<LieVector, Pose2>(
|
||||
boost::bind(&DeltaFactorBase::evaluateError, &factor, _1, pose, base2,
|
||||
point, boost::none, boost::none, boost::none, boost::none), base1);
|
||||
H2Expected = numericalDerivative11<LieVector, Pose2>(
|
||||
boost::bind(&DeltaFactorBase::evaluateError, &factor, base1, _1, base2,
|
||||
point, boost::none, boost::none, boost::none, boost::none), pose);
|
||||
H3Expected = numericalDerivative11<LieVector, Pose2>(
|
||||
boost::bind(&DeltaFactorBase::evaluateError, &factor, base1, pose, _1,
|
||||
point, boost::none, boost::none, boost::none, boost::none), base2);
|
||||
H4Expected = numericalDerivative11<LieVector, Point2>(
|
||||
boost::bind(&DeltaFactorBase::evaluateError, &factor, base1, pose, base2,
|
||||
_1, boost::none, boost::none, boost::none, boost::none), point);
|
||||
|
||||
// Verify the Jacobians are correct
|
||||
EXPECT(assert_equal(H1Expected, H1Actual, 1e-9));
|
||||
EXPECT(assert_equal(H2Expected, H2Actual, 1e-9));
|
||||
EXPECT(assert_equal(H3Expected, H3Actual, 1e-9));
|
||||
EXPECT(assert_equal(H4Expected, H4Actual, 1e-9));
|
||||
}
|
||||
|
||||
//*************************************************************************
|
||||
TEST( OdometryFactorBase, all ) {
|
||||
// Create a factor
|
||||
Key b1(10), b2(20);
|
||||
Pose2 measurement(1, 1, 0);
|
||||
static SharedNoiseModel model(noiseModel::Unit::Create(2));
|
||||
OdometryFactorBase factor(b1, i, b2, j, measurement, model);
|
||||
|
||||
// Set the linearization pose2
|
||||
Pose2 base1, base2(1, 0, 0);
|
||||
Pose2 pose1(1, 2, 0), pose2(4, 11, 0);
|
||||
Vector3 expected(4 + 1 - 1 - 1, 11 - 2 - 1, 0);
|
||||
|
||||
// Use the factor to calculate the Jacobians
|
||||
Matrix H1Actual, H2Actual, H3Actual, H4Actual;
|
||||
Vector actual = factor.evaluateError(base1, pose1, base2, pose2, H1Actual,
|
||||
H2Actual, H3Actual, H4Actual);
|
||||
EXPECT(assert_equal(expected, actual, 1e-9));
|
||||
|
||||
// Use numerical derivatives to calculate the Jacobians
|
||||
Matrix H1Expected, H2Expected, H3Expected, H4Expected;
|
||||
H1Expected = numericalDerivative11<LieVector, Pose2>(
|
||||
boost::bind(&OdometryFactorBase::evaluateError, &factor, _1, pose1, base2,
|
||||
pose2, boost::none, boost::none, boost::none, boost::none), base1);
|
||||
H2Expected = numericalDerivative11<LieVector, Pose2>(
|
||||
boost::bind(&OdometryFactorBase::evaluateError, &factor, base1, _1, base2,
|
||||
pose2, boost::none, boost::none, boost::none, boost::none), pose1);
|
||||
H3Expected = numericalDerivative11<LieVector, Pose2>(
|
||||
boost::bind(&OdometryFactorBase::evaluateError, &factor, base1, pose1, _1,
|
||||
pose2, boost::none, boost::none, boost::none, boost::none), base2);
|
||||
H4Expected = numericalDerivative11<LieVector, Pose2>(
|
||||
boost::bind(&OdometryFactorBase::evaluateError, &factor, base1, pose1,
|
||||
base2, _1, boost::none, boost::none, boost::none, boost::none),
|
||||
pose2);
|
||||
|
||||
// Verify the Jacobians are correct
|
||||
EXPECT(assert_equal(H1Expected, H1Actual, 1e-9));
|
||||
EXPECT(assert_equal(H2Expected, H2Actual, 1e-9));
|
||||
EXPECT(assert_equal(H3Expected, H3Actual, 1e-9));
|
||||
EXPECT(assert_equal(H4Expected, H4Actual, 1e-9));
|
||||
}
|
||||
|
||||
//*************************************************************************
|
||||
int main() {
|
||||
TestResult tr;
|
||||
return TestRegistry::runAllTests(tr);
|
||||
}
|
||||
//*************************************************************************
|
||||
|
||||
20
matlab.h
20
matlab.h
|
|
@ -84,7 +84,7 @@ namespace gtsam {
|
|||
return result;
|
||||
}
|
||||
|
||||
/// perturb all Point2 using normally distributed noise
|
||||
/// Perturb all Point2 values using normally distributed noise
|
||||
void perturbPoint2(Values& values, double sigma, int32_t seed = 42u) {
|
||||
noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(2,sigma);
|
||||
Sampler sampler(model, seed);
|
||||
|
|
@ -93,7 +93,17 @@ namespace gtsam {
|
|||
}
|
||||
}
|
||||
|
||||
/// perturb all Point3 using normally distributed noise
|
||||
/// Perturb all Pose2 values using normally distributed noise
|
||||
void perturbPose2(Values& values, double sigmaT, double sigmaR, int32_t seed = 42u) {
|
||||
noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(
|
||||
Vector3(sigmaT, sigmaT, sigmaR));
|
||||
Sampler sampler(model, seed);
|
||||
BOOST_FOREACH(const Values::ConstFiltered<Pose2>::KeyValuePair& key_value, values.filter<Pose2>()) {
|
||||
values.update(key_value.key, key_value.value.retract(sampler.sample()));
|
||||
}
|
||||
}
|
||||
|
||||
/// Perturb all Point3 values using normally distributed noise
|
||||
void perturbPoint3(Values& values, double sigma, int32_t seed = 42u) {
|
||||
noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(3,sigma);
|
||||
Sampler sampler(model, seed);
|
||||
|
|
@ -102,7 +112,7 @@ namespace gtsam {
|
|||
}
|
||||
}
|
||||
|
||||
/// insert a number of initial point values by backprojecting
|
||||
/// Insert a number of initial point values by backprojecting
|
||||
void insertBackprojections(Values& values, const SimpleCamera& camera, const Vector& J, const Matrix& Z, double depth) {
|
||||
if (Z.rows() != 2) throw std::invalid_argument("insertBackProjections: Z must be 2*K");
|
||||
if (Z.cols() != J.size()) throw std::invalid_argument("insertBackProjections: J and Z must have same number of entries");
|
||||
|
|
@ -113,7 +123,7 @@ namespace gtsam {
|
|||
}
|
||||
}
|
||||
|
||||
/// insert multiple projection factors for a single pose key
|
||||
/// Insert multiple projection factors for a single pose key
|
||||
void insertProjectionFactors(NonlinearFactorGraph& graph, Key i, const Vector& J, const Matrix& Z,
|
||||
const SharedNoiseModel& model, const Cal3_S2::shared_ptr K, const Pose3& body_P_sensor = Pose3()) {
|
||||
if (Z.rows() != 2) throw std::invalid_argument("addMeasurements: Z must be 2*K");
|
||||
|
|
@ -126,7 +136,7 @@ namespace gtsam {
|
|||
}
|
||||
}
|
||||
|
||||
/// calculate the errors of all projection factors in a graph
|
||||
/// Calculate the errors of all projection factors in a graph
|
||||
Matrix reprojectionErrors(const NonlinearFactorGraph& graph, const Values& values) {
|
||||
// first count
|
||||
size_t K = 0, k=0;
|
||||
|
|
|
|||
|
|
@ -173,3 +173,16 @@
|
|||
% symbol - create a Symbol key
|
||||
% symbolChr - get character from a symbol key
|
||||
% symbolIndex - get index from a symbol key
|
||||
%
|
||||
%% Wrapped C++ Convenience Functions for use within MATLAB
|
||||
% utilities.extractPoint2 - Extract all Point2 values into a single matrix [x y]
|
||||
% utilities.extractPoint3 - Extract all Point3 values into a single matrix [x y z]
|
||||
% utilities.extractPose2 - Extract all Pose2 values into a single matrix [x y theta]
|
||||
% utilities.allPose3s - Extract all Pose3 values
|
||||
% utilities.extractPose3 - Extract all Pose3 values into a single matrix [r11 r12 r13 r21 r22 r23 r31 r32 r33 x y z]
|
||||
% utilities.perturbPoint2 - Perturb all Point2 values using normally distributed noise
|
||||
% utilities.perturbPose2 - Perturb all Pose2 values using normally distributed noise
|
||||
% utilities.perturbPoint3 - Perturb all Point3 values using normally distributed noise
|
||||
% utilities.insertBackprojections - Insert a number of initial point values by backprojecting
|
||||
% utilities.insertProjectionFactors - Insert multiple projection factors for a single pose key
|
||||
% utilities.reprojectionErrors - Calculate the errors of all projection factors in a graph
|
||||
|
|
|
|||
|
|
@ -0,0 +1 @@
|
|||
*.m~
|
||||
|
|
@ -0,0 +1,62 @@
|
|||
% TSAMFactorsExample
|
||||
% Frank Dellaert, May 2014
|
||||
|
||||
import gtsam.*;
|
||||
|
||||
% noise models
|
||||
noisePrior = noiseModel.Diagonal.Sigmas([100; 100; 100]);
|
||||
noiseDelta = noiseModel.Isotropic.Sigma(2, 0.1);
|
||||
noiseOdom = noiseModel.Diagonal.Sigmas([0.1; 0.1; 0.05]);
|
||||
|
||||
% Example is 2 landmarks 1 and 2, 2 poses 10 and 20, 2 base nodes 100 and 200
|
||||
% l1 l2
|
||||
% + +
|
||||
% - b - p - p - b
|
||||
% +---+---+---+
|
||||
|
||||
% True values
|
||||
b1 = Pose2(0,0,0);
|
||||
b2 = Pose2(2,0,0);
|
||||
l1 = Point2(0,1);
|
||||
l2 = Point2(2,1);
|
||||
|
||||
% Create a graph
|
||||
graph = NonlinearFactorGraph;
|
||||
origin = Pose2;
|
||||
graph.add(gtsam.PriorFactorPose2(10, origin, noisePrior))
|
||||
graph.add(gtsam.PriorFactorPose2(20, origin, noisePrior))
|
||||
graph.add(gtsam.PriorFactorPose2(100, origin, noisePrior))
|
||||
graph.add(DeltaFactor(10, 1, b1.transform_to(l1), noiseDelta))
|
||||
graph.add(DeltaFactor(20, 1, b2.transform_to(l2), noiseDelta))
|
||||
graph.add(DeltaFactorBase(100,10, 200,2, b1.transform_to(l2), noiseDelta))
|
||||
graph.add(DeltaFactorBase(200,20, 100,1, b2.transform_to(l1), noiseDelta))
|
||||
graph.add(OdometryFactorBase(100,10,200,20, Pose2(2,0,0), noiseOdom))
|
||||
|
||||
% Initial values
|
||||
initial = Values;
|
||||
initial.insert(100,origin);
|
||||
initial.insert(10,origin);
|
||||
initial.insert(1,l1);
|
||||
initial.insert(2,l2);
|
||||
initial.insert(20,origin);
|
||||
initial.insert(200,origin);
|
||||
|
||||
% optimize
|
||||
params = LevenbergMarquardtParams;
|
||||
% params.setVerbosity('ERROR');
|
||||
optimizer = LevenbergMarquardtOptimizer(graph, initial, params);
|
||||
result = optimizer.optimize();
|
||||
|
||||
% Check result
|
||||
CHECK('error',result.at(100).equals(b1,1e-5))
|
||||
CHECK('error',result.at(10).equals(origin,1e-5))
|
||||
CHECK('error',result.at(1).equals(Point2(0,1),1e-5))
|
||||
CHECK('error',result.at(2).equals(Point2(0,1),1e-5))
|
||||
CHECK('error',result.at(20).equals(origin,1e-5))
|
||||
CHECK('error',result.at(200).equals(b2,1e-5))
|
||||
|
||||
% Check error
|
||||
CHECK('error',abs(graph.error(result))<1e-9)
|
||||
for i=0:7
|
||||
CHECK('error',abs(graph.at(i).error(result))<1e-9)
|
||||
end
|
||||
Loading…
Reference in New Issue