diff --git a/.cproject b/.cproject index 7cf644612..9e4d462a1 100644 --- a/.cproject +++ b/.cproject @@ -307,6 +307,14 @@ true true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j2 @@ -333,7 +341,6 @@ make - tests/testBayesTree.run true false @@ -341,7 +348,6 @@ make - testBinaryBayesNet.run true false @@ -389,7 +395,6 @@ make - testSymbolicBayesNet.run true false @@ -397,7 +402,6 @@ make - tests/testSymbolicFactor.run true false @@ -405,7 +409,6 @@ make - testSymbolicFactorGraph.run true false @@ -421,20 +424,11 @@ make - tests/testBayesTree true false true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j5 @@ -523,22 +517,6 @@ false true - - make - -j2 - tests/testPose2.run - true - true - true - - - make - -j2 - tests/testPose3.run - true - true - true - make -j2 @@ -555,6 +533,22 @@ true true + + make + -j2 + tests/testPose2.run + true + true + true + + + make + -j2 + tests/testPose3.run + true + true + true + make -j2 @@ -579,26 +573,26 @@ true true - + make - -j2 - all + -j5 + testValues.run true true true - + make - -j2 - check + -j5 + testOrdering.run true true true - + make - -j2 - clean + -j5 + testKey.run true true true @@ -683,26 +677,26 @@ true true - + make - -j5 - testValues.run + -j2 + all true true true - + make - -j5 - testOrdering.run + -j2 + check true true true - + make - -j5 - testKey.run + -j2 + clean true true true @@ -957,7 +951,6 @@ make - testGraph.run true false @@ -965,7 +958,6 @@ make - testJunctionTree.run true false @@ -973,7 +965,6 @@ make - testSymbolicBayesNetB.run true false @@ -1101,7 +1092,6 @@ make - testErrors.run true false @@ -1557,6 +1547,7 @@ make + testSimulated2DOriented.run true false @@ -1596,6 +1587,7 @@ make + testSimulated2D.run true false @@ -1603,6 +1595,7 @@ make + testSimulated3D.run true false @@ -1818,6 +1811,7 @@ make + tests/testGaussianISAM2 true false @@ -1839,6 +1833,102 @@ true true + + make + -j2 + testRot3.run + true + true + true + + + make + -j2 + testRot2.run + true + true + true + + + make + -j2 + testPose3.run + true + true + true + + + make + -j2 + timeRot3.run + true + true + true + + + make + -j2 + testPose2.run + true + true + true + + + make + -j2 + testCal3_S2.run + true + true + true + + + make + -j2 + testSimpleCamera.run + true + true + true + + + make + -j2 + testHomography2.run + true + true + true + + + make + -j2 + testCalibratedCamera.run + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + testPoint2.run + true + true + true + make -j2 @@ -1857,10 +1947,10 @@ make - -j5 + -j2 check true - true + false true @@ -2040,7 +2130,6 @@ cpack - -G DEB true false @@ -2048,7 +2137,6 @@ cpack - -G RPM true false @@ -2056,7 +2144,6 @@ cpack - -G TGZ true false @@ -2064,7 +2151,6 @@ cpack - --config CPackSourceConfig.cmake true false @@ -2158,98 +2244,50 @@ true true - + make - -j2 - testRot3.run - true - true - true - - - make - -j2 - testRot2.run - true - true - true - - - make - -j2 - testPose3.run - true - true - true - - - make - -j2 - timeRot3.run - true - true - true - - - make - -j2 - testPose2.run - true - true - true - - - make - -j2 - testCal3_S2.run - true - true - true - - - make - -j2 - testSimpleCamera.run - true - true - true - - - make - -j2 - testHomography2.run - true - true - true - - - make - -j2 - testCalibratedCamera.run - true - true - true - - - make - -j2 + -j5 check true true true - + make - -j2 - clean + -j5 + testSpirit.run true true true - + make - -j2 - testPoint2.run + -j5 + testWrap.run + true + true + true + + + make + -j5 + check.wrap + true + true + true + + + make + -j5 + wrap_gtsam + true + true + true + + + make + -j5 + wrap true true true @@ -2293,46 +2331,6 @@ false true - - make - -j5 - testSpirit.run - true - true - true - - - make - -j5 - testWrap.run - true - true - true - - - make - -j5 - check.wrap - true - true - true - - - make - -j5 - wrap_gtsam - true - true - true - - - make - -j5 - wrap - true - true - true - diff --git a/gtsam/base/cholesky.cpp b/gtsam/base/cholesky.cpp index 2f93fc0fa..86114f4d8 100644 --- a/gtsam/base/cholesky.cpp +++ b/gtsam/base/cholesky.cpp @@ -32,7 +32,6 @@ namespace gtsam { static const double negativePivotThreshold = -1e-1; static const double zeroPivotThreshold = 1e-6; static const double underconstrainedPrior = 1e-5; - static const bool dampUnderconstrained = false; /* ************************************************************************* */ static inline bool choleskyStep(Matrix& ATA, size_t k, size_t order) { diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index 417548ed5..f2cea028e 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -95,7 +95,7 @@ namespace gtsam { const Vector& b, const SharedDiagonal& model) : GaussianFactor(i1), model_(model), firstNonzeroBlocks_(b.size(), 0), Ab_(matrix_) { - if(model->dim() != b.size()) + if(model->dim() != (size_t) b.size()) throw InvalidNoiseModel(b.size(), model->dim()); size_t dims[] = { A1.cols(), 1}; @@ -110,7 +110,7 @@ namespace gtsam { const Vector& b, const SharedDiagonal& model) : GaussianFactor(i1,i2), model_(model), firstNonzeroBlocks_(b.size(), 0), Ab_(matrix_) { - if(model->dim() != b.size()) + if(model->dim() != (size_t) b.size()) throw InvalidNoiseModel(b.size(), model->dim()); size_t dims[] = { A1.cols(), A2.cols(), 1}; @@ -126,7 +126,7 @@ namespace gtsam { Index i3, const Matrix& A3, const Vector& b, const SharedDiagonal& model) : GaussianFactor(i1,i2,i3), model_(model), firstNonzeroBlocks_(b.size(), 0), Ab_(matrix_) { - if(model->dim() != b.size()) + if(model->dim() != (size_t) b.size()) throw InvalidNoiseModel(b.size(), model->dim()); size_t dims[] = { A1.cols(), A2.cols(), A3.cols(), 1}; @@ -145,7 +145,7 @@ namespace gtsam { model_(model), firstNonzeroBlocks_(b.size(), 0), Ab_(matrix_) { - if(model->dim() != b.size()) + if(model->dim() != (size_t) b.size()) throw InvalidNoiseModel(b.size(), model->dim()); size_t* dims = (size_t*)alloca(sizeof(size_t)*(terms.size()+1)); // FIXME: alloca is bad, just ask Google. @@ -166,7 +166,7 @@ namespace gtsam { model_(model), firstNonzeroBlocks_(b.size(), 0), Ab_(matrix_) { - if(model->dim() != b.size()) + if(model->dim() != (size_t) b.size()) throw InvalidNoiseModel(b.size(), model->dim()); size_t* dims=(size_t*)alloca(sizeof(size_t)*(terms.size()+1)); // FIXME: alloca is bad, just ask Google. @@ -563,7 +563,7 @@ namespace gtsam { /* ************************************************************************* */ void JacobianFactor::setModel(bool anyConstrained, const Vector& sigmas) { - if(sigmas.size() != this->rows()) + if((size_t) sigmas.size() != this->rows()) throw InvalidNoiseModel(this->rows(), sigmas.size()); if (anyConstrained) model_ = noiseModel::Constrained::MixedSigmas(sigmas); diff --git a/gtsam/linear/tests/testJacobianFactor.cpp b/gtsam/linear/tests/testJacobianFactor.cpp index af1d02d1f..9b6071935 100644 --- a/gtsam/linear/tests/testJacobianFactor.cpp +++ b/gtsam/linear/tests/testJacobianFactor.cpp @@ -26,11 +26,9 @@ using namespace std; using namespace gtsam; -static const Index _x0_=0, _x1_=1, _x2_=2, _x3_=3, _x4_=4, _x_=5, _y_=6, _l1_=7, _l11_=8; +static const Index _x0_=0, _x1_=1, _x2_=2, _x_=5, _y_=6, _l11_=8; -static SharedDiagonal - sigma0_1 = noiseModel::Isotropic::Sigma(2,0.1), sigma_02 = noiseModel::Isotropic::Sigma(2,0.2), - constraintModel = noiseModel::Constrained::All(2); +static SharedDiagonal constraintModel = noiseModel::Constrained::All(2); /* ************************************************************************* */ TEST(JacobianFactor, constructor) @@ -140,6 +138,8 @@ TEST(JacobianFactor, error) { #ifdef BROKEN TEST(JacobianFactor, operators ) { + SharedDiagonal sigma0_1 = noiseModel::Isotropic::Sigma(2,0.1); + Matrix I = eye(2); Vector b = Vector_(2,0.2,-0.1); JacobianFactor lf(_x1_, -I, _x2_, I, b, sigma0_1); diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index f4615c334..9d04a2c96 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -97,8 +97,8 @@ namespace gtsam { if (H2) *H2 = zeros(2, point.dim()); // cout << e.what() << ": Landmark "<< this->key2_.index() // << " behind Camera " << this->key1_.index() << endl; - return zero(2); } + return zero(2); } /** return the measured */ diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h index 1b1aeb57b..e607809b0 100644 --- a/gtsam/slam/ProjectionFactor.h +++ b/gtsam/slam/ProjectionFactor.h @@ -101,8 +101,8 @@ namespace gtsam { if (H2) *H2 = zeros(2,3); std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->key2()) << " moved behind camera " << DefaultKeyFormatter(this->key1()) << std::endl; - return ones(2) * 2.0 * K_->fx(); } + return ones(2) * 2.0 * K_->fx(); } /** return the measurement */