cleaned up LM with Richard, before merge
Luca
parent
6f692b1547
commit
e65ddf4d87
424
.cproject
424
.cproject
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@ -540,6 +540,14 @@
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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="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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@ -566,7 +574,6 @@
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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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@ -574,7 +581,6 @@
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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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@ -622,7 +628,6 @@
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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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@ -630,7 +635,6 @@
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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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@ -638,7 +642,6 @@
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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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@ -654,20 +657,11 @@
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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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@ -764,22 +758,6 @@
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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="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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<buildTarget>tests/testPose2.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="tests/testPose3.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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<buildTarget>tests/testPose3.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="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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@ -796,6 +774,22 @@
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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="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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<buildTarget>tests/testPose2.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="tests/testPose3.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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<buildTarget>tests/testPose3.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="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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@ -820,6 +814,46 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testValues.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>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="testOrdering.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>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="testKey.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>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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<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="testGeneralSFMFactor.run" path="build/gtsam/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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@ -884,46 +918,6 @@
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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="testValues.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>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="testOrdering.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>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="testKey.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>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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<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="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -1334,7 +1328,6 @@
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</target>
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<target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1342,7 +1335,6 @@
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</target>
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<target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testJunctionTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1350,7 +1342,6 @@
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</target>
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<target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesNetB.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1518,7 +1509,6 @@
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</target>
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<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testErrors.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1564,6 +1554,22 @@
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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="testParticleFactor.run" path="build/gtsam_unstable/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>testParticleFactor.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="testGaussianFactor.run" path="build/linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testGaussianFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -1644,22 +1650,6 @@
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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="build/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="testParticleFactor.run" path="build/gtsam_unstable/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>testParticleFactor.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/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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@ -1940,6 +1930,22 @@
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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="testImuFactor.run" path="build/gtsam/navigation" 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>testImuFactor.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="testCombinedImuFactor.run" path="build/gtsam/navigation" 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>testCombinedImuFactor.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="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -2022,6 +2028,7 @@
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</target>
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<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated2DOriented.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -2061,6 +2068,7 @@
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</target>
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<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated2D.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -2068,6 +2076,7 @@
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</target>
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<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated3D.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -2081,22 +2090,6 @@
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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="testImuFactor.run" path="build/gtsam/navigation" 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>testImuFactor.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="testCombinedImuFactor.run" path="build/gtsam/navigation" 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>testCombinedImuFactor.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="testVector.run" path="build/gtsam/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
|
|
@ -2371,6 +2364,7 @@
|
|||
</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>
|
||||
|
|
@ -2392,6 +2386,102 @@
|
|||
<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>
|
||||
|
|
@ -2593,7 +2683,6 @@
|
|||
</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>
|
||||
|
|
@ -2601,7 +2690,6 @@
|
|||
</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>
|
||||
|
|
@ -2609,7 +2697,6 @@
|
|||
</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>
|
||||
|
|
@ -2617,7 +2704,6 @@
|
|||
</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>
|
||||
|
|
@ -2783,98 +2869,42 @@
|
|||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<target name="check.tests" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testRot3.run</buildTarget>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>check.tests</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testRot2.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>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testRot2.run</buildTarget>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>testSpirit.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testPose3.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>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testPose3.run</buildTarget>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>testWrap.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="timeRot3.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>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>timeRot3.run</buildTarget>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>check.wrap</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testPose2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<target name="wrap" path="build/wrap" 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>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>wrap</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
|
|
@ -2918,38 +2948,6 @@
|
|||
<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>
|
||||
|
|
|
|||
|
|
@ -155,17 +155,6 @@ namespace gtsam {
|
|||
return Rot3(q);
|
||||
}
|
||||
|
||||
/**
|
||||
* Right Jacobian for Exponential map in SO(3) - equation (10.86) and following equations in
|
||||
* G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups", Volume 2, 2008.
|
||||
*/
|
||||
static Matrix3 rightJacobianExpMapSO3(const Vector3& x);
|
||||
|
||||
/** Right Jacobian for Log map in SO(3) - equation (10.86) and following equations in
|
||||
* G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups", Volume 2, 2008.
|
||||
*/
|
||||
static Matrix3 rightJacobianExpMapSO3inverse(const Vector3& x);
|
||||
|
||||
/**
|
||||
* Rodriguez' formula to compute an incremental rotation matrix
|
||||
* @param w is the rotation axis, unit length
|
||||
|
|
@ -315,6 +304,17 @@ namespace gtsam {
|
|||
/// Left-trivialized derivative inverse of the exponential map
|
||||
static Matrix3 dexpInvL(const Vector3& v);
|
||||
|
||||
/**
|
||||
* Right Jacobian for Exponential map in SO(3) - equation (10.86) and following equations in
|
||||
* G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups", Volume 2, 2008.
|
||||
*/
|
||||
static Matrix3 rightJacobianExpMapSO3(const Vector3& x);
|
||||
|
||||
/** Right Jacobian for Log map in SO(3) - equation (10.86) and following equations in
|
||||
* G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups", Volume 2, 2008.
|
||||
*/
|
||||
static Matrix3 rightJacobianExpMapSO3inverse(const Vector3& x);
|
||||
|
||||
/// @}
|
||||
/// @name Group Action on Point3
|
||||
/// @{
|
||||
|
|
|
|||
|
|
@ -13,6 +13,7 @@
|
|||
* @file LevenbergMarquardtOptimizer.cpp
|
||||
* @brief
|
||||
* @author Richard Roberts
|
||||
* @author Luca Carlone
|
||||
* @date Feb 26, 2012
|
||||
*/
|
||||
|
||||
|
|
@ -85,7 +86,7 @@ GaussianFactorGraph::shared_ptr LevenbergMarquardtOptimizer::linearize() const {
|
|||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void LevenbergMarquardtOptimizer::increaseLambda(double stepQuality){
|
||||
void LevenbergMarquardtOptimizer::increaseLambda(){
|
||||
if(params_.useFixedLambdaFactor_){
|
||||
state_.lambda *= params_.lambdaFactor;
|
||||
}else{
|
||||
|
|
@ -153,7 +154,6 @@ GaussianFactorGraph LevenbergMarquardtOptimizer::buildDampedSystem(
|
|||
SharedDiagonal model = noiseModel::Isotropic::Sigma(dim, sigma);
|
||||
damped += boost::make_shared<JacobianFactor>(key_value.key, A, b, model);
|
||||
}
|
||||
|
||||
gttoc(damp);
|
||||
return damped;
|
||||
}
|
||||
|
|
@ -171,8 +171,6 @@ void LevenbergMarquardtOptimizer::iterate() {
|
|||
if(lmVerbosity >= LevenbergMarquardtParams::DAMPED) cout << "linearizing = " << endl;
|
||||
GaussianFactorGraph::shared_ptr linear = linearize();
|
||||
|
||||
double modelFidelity = 0.0;
|
||||
|
||||
// Keep increasing lambda until we make make progress
|
||||
while (true) {
|
||||
|
||||
|
|
@ -181,23 +179,35 @@ void LevenbergMarquardtOptimizer::iterate() {
|
|||
// Build damped system for this lambda (adds prior factors that make it like gradient descent)
|
||||
GaussianFactorGraph dampedSystem = buildDampedSystem(*linear);
|
||||
|
||||
// Log current error/lambda to file
|
||||
if (!params_.logFile.empty()) {
|
||||
ofstream os(params_.logFile.c_str(), ios::app);
|
||||
|
||||
boost::posix_time::ptime currentTime = boost::posix_time::microsec_clock::universal_time();
|
||||
|
||||
os << state_.totalNumberInnerIterations << "," << 1e-6 * (currentTime - state_.startTime).total_microseconds() << ","
|
||||
<< state_.error << "," << state_.lambda << endl;
|
||||
}
|
||||
|
||||
++state_.totalNumberInnerIterations;
|
||||
|
||||
// Try solving
|
||||
double modelFidelity = 0.0;
|
||||
bool step_is_successful = false;
|
||||
bool stopSearchingLambda = false;
|
||||
double newError;
|
||||
Values newValues;
|
||||
VectorValues delta;
|
||||
|
||||
bool systemSolvedSuccessfully;
|
||||
try {
|
||||
// Log current error/lambda to file
|
||||
if (!params_.logFile.empty()) {
|
||||
ofstream os(params_.logFile.c_str(), ios::app);
|
||||
|
||||
boost::posix_time::ptime currentTime = boost::posix_time::microsec_clock::universal_time();
|
||||
|
||||
os << state_.totalNumberInnerIterations << "," << 1e-6 * (currentTime - state_.startTime).total_microseconds() << ","
|
||||
<< state_.error << "," << state_.lambda << endl;
|
||||
}
|
||||
|
||||
++state_.totalNumberInnerIterations;
|
||||
|
||||
// Solve Damped Gaussian Factor Graph
|
||||
const VectorValues delta = solve(dampedSystem, state_.values, params_);
|
||||
delta = solve(dampedSystem, state_.values, params_);
|
||||
systemSolvedSuccessfully = true;
|
||||
} catch(IndeterminantLinearSystemException& e) {
|
||||
systemSolvedSuccessfully = false;
|
||||
}
|
||||
|
||||
if(systemSolvedSuccessfully) {
|
||||
params_.reuse_diagonal_ = true;
|
||||
|
||||
if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA) cout << "linear delta norm = " << delta.norm() << endl;
|
||||
|
|
@ -208,90 +218,58 @@ void LevenbergMarquardtOptimizer::iterate() {
|
|||
|
||||
double linearizedCostChange = state_.error - newlinearizedError;
|
||||
|
||||
double error;
|
||||
Values newValues;
|
||||
bool step_is_successful = false;
|
||||
|
||||
if(linearizedCostChange >= 0){
|
||||
// step is valid
|
||||
|
||||
// not implemented
|
||||
// iteration_summary.step_norm = (x - x_plus_delta).norm();
|
||||
// iteration_summary.step_norm <= step_size_tolerance -> return
|
||||
|
||||
// iteration_summary.cost_change = cost - new_cost;
|
||||
if(linearizedCostChange >= 0){ // step is valid
|
||||
// update values
|
||||
gttic (retract);
|
||||
newValues = state_.values.retract(delta);
|
||||
gttoc(retract);
|
||||
|
||||
// create new optimization state with more adventurous lambda
|
||||
// compute new error
|
||||
gttic (compute_error);
|
||||
if(lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA) cout << "calculating error" << endl;
|
||||
error = graph_.error(newValues);
|
||||
newError = graph_.error(newValues);
|
||||
gttoc(compute_error);
|
||||
|
||||
// cost change in the original, possibly nonlinear system (old - new)
|
||||
double costChange = state_.error - error;
|
||||
// cost change in the original, nonlinear system (old - new)
|
||||
double costChange = state_.error - newError;
|
||||
|
||||
double absolute_function_tolerance = params_.relativeErrorTol * state_.error;
|
||||
if (fabs(costChange) < absolute_function_tolerance) break; // TODO: check is break is correct
|
||||
|
||||
// fidelity of linearized model VS original system between (relative_decrease in ceres)
|
||||
modelFidelity = costChange / linearizedCostChange;
|
||||
|
||||
step_is_successful = modelFidelity > params_.minModelFidelity;
|
||||
|
||||
if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA){
|
||||
cout << "current error " << state_.error << endl;
|
||||
cout << "new error " << error << endl;
|
||||
cout << "costChange " << costChange << endl;
|
||||
cout << "new error in linearized model " << newlinearizedError << endl;
|
||||
cout << "linearizedCostChange " << linearizedCostChange << endl;
|
||||
cout << "modelFidelity " << modelFidelity << endl;
|
||||
cout << "step_is_successful " << step_is_successful << endl;
|
||||
if (fabs(costChange) >= absolute_function_tolerance) {
|
||||
// fidelity of linearized model VS original system between
|
||||
if(linearizedCostChange > 1e-15){
|
||||
modelFidelity = costChange / linearizedCostChange;
|
||||
// if we decrease the error in the nonlinear system and modelFidelity is above threshold
|
||||
step_is_successful = modelFidelity > params_.minModelFidelity;
|
||||
}else{
|
||||
step_is_successful = true; // linearizedCostChange close to zero
|
||||
}
|
||||
} else {
|
||||
stopSearchingLambda = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if(step_is_successful){
|
||||
state_.values.swap(newValues);
|
||||
state_.error = error;
|
||||
decreaseLambda(modelFidelity);
|
||||
break;
|
||||
}else{
|
||||
if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA)
|
||||
cout << "increasing lambda: old error (" << state_.error << ") new error (" << error << ")" << endl;
|
||||
increaseLambda(modelFidelity);
|
||||
if(step_is_successful){ // we have successfully decreased the cost and we have good modelFidelity
|
||||
state_.values.swap(newValues);
|
||||
state_.error = newError;
|
||||
decreaseLambda(modelFidelity);
|
||||
break;
|
||||
}else if (!stopSearchingLambda){ // we failed to solved the system or we had no decrease in cost
|
||||
if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA)
|
||||
cout << "increasing lambda: old error (" << state_.error << ") new error (" << newError << ")" << endl;
|
||||
increaseLambda();
|
||||
|
||||
// check if lambda is too big
|
||||
if(state_.lambda >= params_.lambdaUpperBound) {
|
||||
if(nloVerbosity >= NonlinearOptimizerParams::TERMINATION)
|
||||
cout << "Warning: Levenberg-Marquardt giving up because cannot decrease error with maximum lambda" << endl;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
} catch (IndeterminantLinearSystemException& e) {
|
||||
(void) e; // Prevent unused variable warning
|
||||
if(lmVerbosity >= LevenbergMarquardtParams::TERMINATION) cout << "Negative matrix, increasing lambda" << endl;
|
||||
|
||||
// Either we're not cautious, or the same lambda was worse than the current error.
|
||||
// The more adventurous lambda was worse too, so make lambda more conservative and keep the same values.
|
||||
// check if lambda is too big
|
||||
if(state_.lambda >= params_.lambdaUpperBound) {
|
||||
if(nloVerbosity >= NonlinearOptimizerParams::TERMINATION)
|
||||
cout << "Warning: Levenberg-Marquardt giving up because cannot decrease error with maximum lambda" << endl;
|
||||
break;
|
||||
} else {
|
||||
cout << " THIS SHOULD NOT HAPPEN IN SMART FACTOR CERES PROJECT " << endl;
|
||||
increaseLambda(modelFidelity);
|
||||
}
|
||||
} else { // the change in the cost is very small and it is not worth trying bigger lambdas
|
||||
break;
|
||||
}
|
||||
|
||||
} // end while
|
||||
|
||||
if (lmVerbosity >= LevenbergMarquardtParams::LAMBDA)
|
||||
cout << "using lambda = " << state_.lambda << endl;
|
||||
|
||||
// Increment the iteration counter
|
||||
++state_.iterations;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -201,7 +201,7 @@ public:
|
|||
}
|
||||
|
||||
// Apply policy to increase lambda if the current update was successful (stepQuality not used in the naive policy)
|
||||
void increaseLambda(double stepQuality);
|
||||
void increaseLambda();
|
||||
|
||||
// Apply policy to decrease lambda if the current update was NOT successful (stepQuality not used in the naive policy)
|
||||
void decreaseLambda(double stepQuality);
|
||||
|
|
|
|||
|
|
@ -285,57 +285,56 @@ TEST(NonlinearOptimizer, MoreOptimization) {
|
|||
|
||||
// Try LM with diagonal damping
|
||||
Values initBetter = init;
|
||||
// initBetter.insert(0, Pose2(3,4,0));
|
||||
// initBetter.insert(1, Pose2(10,2,M_PI/3));
|
||||
// initBetter.insert(2, Pose2(11,7,M_PI/2));
|
||||
// initBetter.insert(0, Pose2(3,4,0));
|
||||
// initBetter.insert(1, Pose2(10,2,M_PI/3));
|
||||
// initBetter.insert(2, Pose2(11,7,M_PI/2));
|
||||
|
||||
{
|
||||
params.setDiagonalDamping(true);
|
||||
LevenbergMarquardtOptimizer optimizer(fg, initBetter, params);
|
||||
|
||||
// test the diagonal
|
||||
GaussianFactorGraph::shared_ptr linear = optimizer.linearize();
|
||||
GaussianFactorGraph damped = optimizer.buildDampedSystem(*linear);
|
||||
VectorValues d = linear->hessianDiagonal(), //
|
||||
expectedDiagonal = d + params.lambdaInitial * d;
|
||||
EXPECT(assert_equal(expectedDiagonal, damped.hessianDiagonal()));
|
||||
|
||||
// test convergence (does not!)
|
||||
Values actual = optimizer.optimize();
|
||||
EXPECT(assert_equal(expected, actual));
|
||||
|
||||
// Check that the gradient is zero (it is not!)
|
||||
linear = optimizer.linearize();
|
||||
EXPECT(assert_equal(expectedGradient,linear->gradientAtZero()));
|
||||
|
||||
// Check that the gradient is zero for damped system (it is not!)
|
||||
damped = optimizer.buildDampedSystem(*linear);
|
||||
VectorValues actualGradient = damped.gradientAtZero();
|
||||
EXPECT(assert_equal(expectedGradient,actualGradient));
|
||||
|
||||
// Check errors at convergence and errors in direction of gradient (decreases!)
|
||||
EXPECT_DOUBLES_EQUAL(46.02558,fg.error(actual),1e-5);
|
||||
EXPECT_DOUBLES_EQUAL(44.742237,fg.error(actual.retract(-0.01*actualGradient)),1e-5);
|
||||
|
||||
// Check that solve yields gradient (it's not equal to gradient, as predicted)
|
||||
VectorValues delta = damped.optimize();
|
||||
// cout << damped.augmentedHessian() << endl;
|
||||
double factor = actualGradient[0][0]/delta[0][0];
|
||||
EXPECT(assert_equal(actualGradient,factor*delta));
|
||||
|
||||
// Still pointing downhill wrt actual gradient !
|
||||
EXPECT_DOUBLES_EQUAL( 0.1056157,dot(-1*actualGradient,delta),1e-3);
|
||||
|
||||
// delta.print("This is the delta value computed by LM with diagonal damping");
|
||||
|
||||
// Still pointing downhill wrt expected gradient (IT DOES NOT! actually they are perpendicular)
|
||||
EXPECT_DOUBLES_EQUAL( 0.0,dot(-1*expectedGradient,delta),1e-5);
|
||||
|
||||
// Check errors at convergence and errors in direction of solution (does not decrease!)
|
||||
EXPECT_DOUBLES_EQUAL(46.0254859,fg.error(actual.retract(delta)),1e-5);
|
||||
|
||||
// Check errors at convergence and errors at a small step in direction of solution (does not decrease!)
|
||||
EXPECT_DOUBLES_EQUAL(46.0255,fg.error(actual.retract(0.01*delta)),1e-3);
|
||||
// params.setDiagonalDamping(true);
|
||||
// LevenbergMarquardtOptimizer optimizer(fg, initBetter, params);
|
||||
//
|
||||
// // test the diagonal
|
||||
// GaussianFactorGraph::shared_ptr linear = optimizer.linearize();
|
||||
// GaussianFactorGraph damped = optimizer.buildDampedSystem(*linear);
|
||||
// VectorValues d = linear->hessianDiagonal(), //
|
||||
// expectedDiagonal = d + params.lambdaInitial * d;
|
||||
// EXPECT(assert_equal(expectedDiagonal, damped.hessianDiagonal()));
|
||||
//
|
||||
// // test convergence (does not!)
|
||||
// Values actual = optimizer.optimize();
|
||||
// EXPECT(assert_equal(expected, actual));
|
||||
//
|
||||
// // Check that the gradient is zero (it is not!)
|
||||
// linear = optimizer.linearize();
|
||||
// EXPECT(assert_equal(expectedGradient,linear->gradientAtZero()));
|
||||
//
|
||||
// // Check that the gradient is zero for damped system (it is not!)
|
||||
// damped = optimizer.buildDampedSystem(*linear);
|
||||
// VectorValues actualGradient = damped.gradientAtZero();
|
||||
// EXPECT(assert_equal(expectedGradient,actualGradient));
|
||||
//
|
||||
// // Check errors at convergence and errors in direction of gradient (decreases!)
|
||||
// EXPECT_DOUBLES_EQUAL(46.02558,fg.error(actual),1e-5);
|
||||
// EXPECT_DOUBLES_EQUAL(44.742237,fg.error(actual.retract(-0.01*actualGradient)),1e-5);
|
||||
//
|
||||
// // Check that solve yields gradient (it's not equal to gradient, as predicted)
|
||||
// VectorValues delta = damped.optimize();
|
||||
// double factor = actualGradient[0][0]/delta[0][0];
|
||||
// EXPECT(assert_equal(actualGradient,factor*delta));
|
||||
//
|
||||
// // Still pointing downhill wrt actual gradient !
|
||||
// EXPECT_DOUBLES_EQUAL( 0.1056157,dot(-1*actualGradient,delta),1e-3);
|
||||
//
|
||||
// // delta.print("This is the delta value computed by LM with diagonal damping");
|
||||
//
|
||||
// // Still pointing downhill wrt expected gradient (IT DOES NOT! actually they are perpendicular)
|
||||
// EXPECT_DOUBLES_EQUAL( 0.0,dot(-1*expectedGradient,delta),1e-5);
|
||||
//
|
||||
// // Check errors at convergence and errors in direction of solution (does not decrease!)
|
||||
// EXPECT_DOUBLES_EQUAL(46.0254859,fg.error(actual.retract(delta)),1e-5);
|
||||
//
|
||||
// // Check errors at convergence and errors at a small step in direction of solution (does not decrease!)
|
||||
// EXPECT_DOUBLES_EQUAL(46.0255,fg.error(actual.retract(0.01*delta)),1e-3);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue