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Results with Julia v1.2.0
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Resolving package versions...
Installed Missings ──────────────────── v0.4.3
Installed DataAPI ───────────────────── v1.1.0
Installed Inflate ───────────────────── v0.1.1
Installed MbedTLS ───────────────────── v0.7.0
Installed FileIO ────────────────────── v1.1.0
Installed TableTraits ───────────────── v1.0.0
Installed RoME ──────────────────────── v0.5.1
Installed IncrementalInference ──────── v0.8.2
Installed DataFrames ────────────────── v0.19.4
Installed LineSearches ──────────────── v7.0.1
Installed JLD2 ──────────────────────── v0.1.9
Installed StatsBase ─────────────────── v0.32.0
Installed PDMats ────────────────────── v0.9.10
Installed BinaryProvider ────────────── v0.5.8
Installed Colors ────────────────────── v0.9.6
Installed CommonSubexpressions ──────── v0.2.0
Installed StatsFuns ─────────────────── v0.9.0
Installed Measures ──────────────────── v0.3.0
Installed DocStringExtensions ───────── v0.8.1
Installed URIParser ─────────────────── v0.4.0
Installed NLSolversBase ─────────────── v7.5.0
Installed Neo4j ─────────────────────── v2.0.0
Installed PooledArrays ──────────────── v0.5.2
Installed DataValueInterfaces ───────── v1.0.0
Installed Requires ──────────────────── v0.5.2
Installed Compose ───────────────────── v0.7.3
Installed InvertedIndices ───────────── v1.0.0
Installed Reexport ──────────────────── v0.2.0
Installed Compat ────────────────────── v2.2.0
Installed KernelDensityEstimate ─────── v0.5.2
Installed DistributedFactorGraphs ───── v0.5.1
Installed TransformUtils ────────────── v0.2.2
Installed ForwardDiff ───────────────── v0.10.7
Installed Rmath ─────────────────────── v0.5.1
Installed OrderedCollections ────────── v1.1.0
Installed CoordinateTransformations ─── v0.5.0
Installed Tables ────────────────────── v0.2.11
Installed IterTools ─────────────────── v1.3.0
Installed DataStructures ────────────── v0.17.6
Installed IniFile ───────────────────── v0.5.0
Installed JSON2 ─────────────────────── v0.3.1
Installed Calculus ──────────────────── v0.5.1
Installed Distributions ─────────────── v0.21.9
Installed FixedPointNumbers ─────────── v0.6.1
Installed Parsers ───────────────────── v0.3.10
Installed DiffRules ─────────────────── v0.1.0
Installed DiffEqDiffTools ───────────── v1.5.0
Installed TranscodingStreams ────────── v0.9.5
Installed LightGraphs ───────────────── v1.3.0
Installed FillArrays ────────────────── v0.8.2
Installed JSON ──────────────────────── v0.21.0
Installed Graphs ────────────────────── v0.10.3
Installed CodecZlib ─────────────────── v0.6.0
Installed ArrayInterface ────────────── v2.0.0
Installed NaNMath ───────────────────── v0.3.3
Installed StaticArrays ──────────────── v0.12.1
Installed SimpleTraits ──────────────── v0.9.1
Installed HTTP ──────────────────────── v0.8.8
Installed DiffResults ───────────────── v0.0.4
Installed FunctionalStateMachine ────── v0.1.3
Installed IteratorInterfaceExtensions ─ v1.0.0
Installed Parameters ────────────────── v0.12.0
Installed CategoricalArrays ─────────── v0.7.3
Installed SortingAlgorithms ─────────── v0.3.1
Installed QuadGK ────────────────────── v2.1.1
Installed ApproxManifoldProducts ────── v0.1.2
Installed NLsolve ───────────────────── v4.2.0
Installed ColorTypes ────────────────── v0.8.0
Installed Distances ─────────────────── v0.8.2
Installed SpecialFunctions ──────────── v0.8.0
Installed PositiveFactorizations ────── v0.2.3
Installed GraphPlot ─────────────────── v0.3.1
Installed ArnoldiMethod ─────────────── v0.0.4
Installed MacroTools ────────────────── v0.5.2
Installed Optim ─────────────────────── v0.19.5
Installed Rotations ─────────────────── v0.12.0
Installed BinDeps ───────────────────── v0.8.10
Installed ProgressMeter ─────────────── v1.2.0
Installed Arpack ────────────────────── v0.3.1
Updating `~/.julia/environments/v1.2/Project.toml`
[91fb55c2] + RoME v0.5.1
Updating `~/.julia/environments/v1.2/Manifest.toml`
[9bbbb610] + ApproxManifoldProducts v0.1.2
[ec485272] + ArnoldiMethod v0.0.4
[7d9fca2a] + Arpack v0.3.1
[4fba245c] + ArrayInterface v2.0.0
[9e28174c] + BinDeps v0.8.10
[b99e7846] + BinaryProvider v0.5.8
[49dc2e85] + Calculus v0.5.1
[324d7699] + CategoricalArrays v0.7.3
[944b1d66] + CodecZlib v0.6.0
[3da002f7] + ColorTypes v0.8.0
[5ae59095] + Colors v0.9.6
[bbf7d656] + CommonSubexpressions v0.2.0
[34da2185] + Compat v2.2.0
[a81c6b42] + Compose v0.7.3
[150eb455] + CoordinateTransformations v0.5.0
[9a962f9c] + DataAPI v1.1.0
[a93c6f00] + DataFrames v0.19.4
[864edb3b] + DataStructures v0.17.6
[e2d170a0] + DataValueInterfaces v1.0.0
[01453d9d] + DiffEqDiffTools v1.5.0
[163ba53b] + DiffResults v0.0.4
[b552c78f] + DiffRules v0.1.0
[b4f34e82] + Distances v0.8.2
[b5cc3c7e] + DistributedFactorGraphs v0.5.1
[31c24e10] + Distributions v0.21.9
[ffbed154] + DocStringExtensions v0.8.1
[5789e2e9] + FileIO v1.1.0
[1a297f60] + FillArrays v0.8.2
[53c48c17] + FixedPointNumbers v0.6.1
[f6369f11] + ForwardDiff v0.10.7
[3e9e306e] + FunctionalStateMachine v0.1.3
[a2cc645c] + GraphPlot v0.3.1
[86223c79] + Graphs v0.10.3
[cd3eb016] + HTTP v0.8.8
[904591bb] + IncrementalInference v0.8.2
[d25df0c9] + Inflate v0.1.1
[83e8ac13] + IniFile v0.5.0
[41ab1584] + InvertedIndices v1.0.0
[c8e1da08] + IterTools v1.3.0
[82899510] + IteratorInterfaceExtensions v1.0.0
[033835bb] + JLD2 v0.1.9
[682c06a0] + JSON v0.21.0
[2535ab7d] + JSON2 v0.3.1
[2472808a] + KernelDensityEstimate v0.5.2
[093fc24a] + LightGraphs v1.3.0
[d3d80556] + LineSearches v7.0.1
[1914dd2f] + MacroTools v0.5.2
[739be429] + MbedTLS v0.7.0
[442fdcdd] + Measures v0.3.0
[e1d29d7a] + Missings v0.4.3
[d41bc354] + NLSolversBase v7.5.0
[2774e3e8] + NLsolve v4.2.0
[77ba4419] + NaNMath v0.3.3
[d2adbeaf] + Neo4j v2.0.0
[429524aa] + Optim v0.19.5
[bac558e1] + OrderedCollections v1.1.0
[90014a1f] + PDMats v0.9.10
[d96e819e] + Parameters v0.12.0
[69de0a69] + Parsers v0.3.10
[2dfb63ee] + PooledArrays v0.5.2
[85a6dd25] + PositiveFactorizations v0.2.3
[92933f4c] + ProgressMeter v1.2.0
[1fd47b50] + QuadGK v2.1.1
[189a3867] + Reexport v0.2.0
[ae029012] + Requires v0.5.2
[79098fc4] + Rmath v0.5.1
[91fb55c2] + RoME v0.5.1
[6038ab10] + Rotations v0.12.0
[699a6c99] + SimpleTraits v0.9.1
[a2af1166] + SortingAlgorithms v0.3.1
[276daf66] + SpecialFunctions v0.8.0
[90137ffa] + StaticArrays v0.12.1
[2913bbd2] + StatsBase v0.32.0
[4c63d2b9] + StatsFuns v0.9.0
[3783bdb8] + TableTraits v1.0.0
[bd369af6] + Tables v0.2.11
[3bb67fe8] + TranscodingStreams v0.9.5
[9b8138ad] + TransformUtils v0.2.2
[30578b45] + URIParser v0.4.0
[2a0f44e3] + Base64
[ade2ca70] + Dates
[8bb1440f] + DelimitedFiles
[8ba89e20] + Distributed
[9fa8497b] + Future
[b77e0a4c] + InteractiveUtils
[76f85450] + LibGit2
[8f399da3] + Libdl
[37e2e46d] + LinearAlgebra
[56ddb016] + Logging
[d6f4376e] + Markdown
[a63ad114] + Mmap
[44cfe95a] + Pkg
[de0858da] + Printf
[9abbd945] + Profile
[3fa0cd96] + REPL
[9a3f8284] + Random
[ea8e919c] + SHA
[9e88b42a] + Serialization
[1a1011a3] + SharedArrays
[6462fe0b] + Sockets
[2f01184e] + SparseArrays
[10745b16] + Statistics
[4607b0f0] + SuiteSparse
[8dfed614] + Test
[cf7118a7] + UUIDs
[4ec0a83e] + Unicode
Building MbedTLS ─────────→ `~/.julia/packages/MbedTLS/a1JFn/deps/build.log`
Building Rmath ───────────→ `~/.julia/packages/Rmath/4wt82/deps/build.log`
Building CodecZlib ───────→ `~/.julia/packages/CodecZlib/5t9zO/deps/build.log`
Building SpecialFunctions → `~/.julia/packages/SpecialFunctions/ne2iw/deps/build.log`
Building Arpack ──────────→ `~/.julia/packages/Arpack/cu5By/deps/build.log`
Testing RoME
Resolving package versions...
Status `/tmp/jl_lX5vKX/Manifest.toml`
[9bbbb610] ApproxManifoldProducts v0.1.2
[ec485272] ArnoldiMethod v0.0.4
[7d9fca2a] Arpack v0.3.1
[4fba245c] ArrayInterface v2.0.0
[9e28174c] BinDeps v0.8.10
[b99e7846] BinaryProvider v0.5.8
[49dc2e85] Calculus v0.5.1
[324d7699] CategoricalArrays v0.7.3
[944b1d66] CodecZlib v0.6.0
[3da002f7] ColorTypes v0.8.0
[5ae59095] Colors v0.9.6
[bbf7d656] CommonSubexpressions v0.2.0
[34da2185] Compat v2.2.0
[a81c6b42] Compose v0.7.3
[150eb455] CoordinateTransformations v0.5.0
[9a962f9c] DataAPI v1.1.0
[a93c6f00] DataFrames v0.19.4
[864edb3b] DataStructures v0.17.6
[e2d170a0] DataValueInterfaces v1.0.0
[01453d9d] DiffEqDiffTools v1.5.0
[163ba53b] DiffResults v0.0.4
[b552c78f] DiffRules v0.1.0
[b4f34e82] Distances v0.8.2
[b5cc3c7e] DistributedFactorGraphs v0.5.1
[31c24e10] Distributions v0.21.9
[ffbed154] DocStringExtensions v0.8.1
[5789e2e9] FileIO v1.1.0
[1a297f60] FillArrays v0.8.2
[53c48c17] FixedPointNumbers v0.6.1
[f6369f11] ForwardDiff v0.10.7
[3e9e306e] FunctionalStateMachine v0.1.3
[a2cc645c] GraphPlot v0.3.1
[86223c79] Graphs v0.10.3
[cd3eb016] HTTP v0.8.8
[904591bb] IncrementalInference v0.8.2
[d25df0c9] Inflate v0.1.1
[83e8ac13] IniFile v0.5.0
[41ab1584] InvertedIndices v1.0.0
[c8e1da08] IterTools v1.3.0
[82899510] IteratorInterfaceExtensions v1.0.0
[033835bb] JLD2 v0.1.9
[682c06a0] JSON v0.21.0
[2535ab7d] JSON2 v0.3.1
[2472808a] KernelDensityEstimate v0.5.2
[093fc24a] LightGraphs v1.3.0
[d3d80556] LineSearches v7.0.1
[1914dd2f] MacroTools v0.5.2
[739be429] MbedTLS v0.7.0
[442fdcdd] Measures v0.3.0
[e1d29d7a] Missings v0.4.3
[d41bc354] NLSolversBase v7.5.0
[2774e3e8] NLsolve v4.2.0
[77ba4419] NaNMath v0.3.3
[d2adbeaf] Neo4j v2.0.0
[429524aa] Optim v0.19.5
[bac558e1] OrderedCollections v1.1.0
[90014a1f] PDMats v0.9.10
[d96e819e] Parameters v0.12.0
[69de0a69] Parsers v0.3.10
[2dfb63ee] PooledArrays v0.5.2
[85a6dd25] PositiveFactorizations v0.2.3
[92933f4c] ProgressMeter v1.2.0
[1fd47b50] QuadGK v2.1.1
[189a3867] Reexport v0.2.0
[ae029012] Requires v0.5.2
[79098fc4] Rmath v0.5.1
[91fb55c2] RoME v0.5.1
[6038ab10] Rotations v0.12.0
[699a6c99] SimpleTraits v0.9.1
[a2af1166] SortingAlgorithms v0.3.1
[276daf66] SpecialFunctions v0.8.0
[90137ffa] StaticArrays v0.12.1
[2913bbd2] StatsBase v0.32.0
[4c63d2b9] StatsFuns v0.9.0
[3783bdb8] TableTraits v1.0.0
[bd369af6] Tables v0.2.11
[3bb67fe8] TranscodingStreams v0.9.5
[9b8138ad] TransformUtils v0.2.2
[30578b45] URIParser v0.4.0
[2a0f44e3] Base64 [`@stdlib/Base64`]
[ade2ca70] Dates [`@stdlib/Dates`]
[8bb1440f] DelimitedFiles [`@stdlib/DelimitedFiles`]
[8ba89e20] Distributed [`@stdlib/Distributed`]
[9fa8497b] Future [`@stdlib/Future`]
[b77e0a4c] InteractiveUtils [`@stdlib/InteractiveUtils`]
[76f85450] LibGit2 [`@stdlib/LibGit2`]
[8f399da3] Libdl [`@stdlib/Libdl`]
[37e2e46d] LinearAlgebra [`@stdlib/LinearAlgebra`]
[56ddb016] Logging [`@stdlib/Logging`]
[d6f4376e] Markdown [`@stdlib/Markdown`]
[a63ad114] Mmap [`@stdlib/Mmap`]
[44cfe95a] Pkg [`@stdlib/Pkg`]
[de0858da] Printf [`@stdlib/Printf`]
[9abbd945] Profile [`@stdlib/Profile`]
[3fa0cd96] REPL [`@stdlib/REPL`]
[9a3f8284] Random [`@stdlib/Random`]
[ea8e919c] SHA [`@stdlib/SHA`]
[9e88b42a] Serialization [`@stdlib/Serialization`]
[1a1011a3] SharedArrays [`@stdlib/SharedArrays`]
[6462fe0b] Sockets [`@stdlib/Sockets`]
[2f01184e] SparseArrays [`@stdlib/SparseArrays`]
[10745b16] Statistics [`@stdlib/Statistics`]
[4607b0f0] SuiteSparse [`@stdlib/SuiteSparse`]
[8dfed614] Test [`@stdlib/Test`]
[cf7118a7] UUIDs [`@stdlib/UUIDs`]
[4ec0a83e] Unicode [`@stdlib/Unicode`]
[ Info: Multithreaded convolutions possible, Threads.nthreads()=1. See `addFactor!(.;threadmodel=MultiThreaded)`.
[ Info: KernelDensityEstimate.FORCE_EVAL_DIRECT = true
WARNING: Method definition (::Type{DistributedFactorGraphs.VariableNodeData{T} where T<:DistributedFactorGraphs.InferenceVariable})(Array{Float64, 2}, Array{Float64, 2}, Array{Symbol, 1}, Array{Int64, 1}, Int64, Bool, Symbol, Array{Symbol, 1}, T<:DistributedFactorGraphs.InferenceVariable, Bool, Float64, Bool, Bool, Int64) where {T<:DistributedFactorGraphs.InferenceVariable} in module DistributedFactorGraphs at /root/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:11 overwritten at /root/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:41.
** incremental compilation may be fatally broken for this module **
WARNING: Method definition (::Type{DistributedFactorGraphs.VariableNodeData{T} where T<:DistributedFactorGraphs.InferenceVariable})(Array{Float64, 2}, Array{Float64, 2}, Array{Symbol, 1}, Array{Int64, 1}, Int64, Bool, Symbol, Array{Symbol, 1}, T<:DistributedFactorGraphs.InferenceVariable, Bool, Float64, Bool, Bool, Int64) where {T<:DistributedFactorGraphs.InferenceVariable} in module DistributedFactorGraphs at /root/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:11 overwritten at /root/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:41.
** incremental compilation may be fatally broken for this module **
WARNING: Method definition (::Type{DistributedFactorGraphs.VariableNodeData{T} where T<:DistributedFactorGraphs.InferenceVariable})(Array{Float64, 2}, Array{Float64, 2}, Array{Symbol, 1}, Array{Int64, 1}, Int64, Bool, Symbol, Array{Symbol, 1}, T<:DistributedFactorGraphs.InferenceVariable, Bool, Float64, Bool, Bool, Int64) where {T<:DistributedFactorGraphs.InferenceVariable} in module DistributedFactorGraphs at /root/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:41 overwritten at /root/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:11.
** incremental compilation may be fatally broken for this module **
WARNING: Method definition (::Type{DistributedFactorGraphs.VariableNodeData{T} where T<:DistributedFactorGraphs.InferenceVariable})(Array{Float64, 2}, Array{Float64, 2}, Array{Symbol, 1}, Array{Int64, 1}, Int64, Bool, Symbol, Array{Symbol, 1}, T<:DistributedFactorGraphs.InferenceVariable, Bool, Float64, Bool, Bool, Int64) where {T<:DistributedFactorGraphs.InferenceVariable} in module DistributedFactorGraphs at /root/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:11 overwritten at /root/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:41.
** incremental compilation may be fatally broken for this module **
[ Info: KernelDensityEstimate.FORCE_EVAL_DIRECT = true
WARNING: Method definition (::Type{DistributedFactorGraphs.VariableNodeData{T} where T<:DistributedFactorGraphs.InferenceVariable})(Array{Float64, 2}, Array{Float64, 2}, Array{Symbol, 1}, Array{Int64, 1}, Int64, Bool, Symbol, Array{Symbol, 1}, T<:DistributedFactorGraphs.InferenceVariable, Bool, Float64, Bool, Bool, Int64) where {T<:DistributedFactorGraphs.InferenceVariable} in module DistributedFactorGraphs at /root/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:11 overwritten at /root/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:41.
** incremental compilation may be fatally broken for this module **
WARNING: Method definition (::Type{DistributedFactorGraphs.VariableNodeData{T} where T<:DistributedFactorGraphs.InferenceVariable})(Array{Float64, 2}, Array{Float64, 2}, Array{Symbol, 1}, Array{Int64, 1}, Int64, Bool, Symbol, Array{Symbol, 1}, T<:DistributedFactorGraphs.InferenceVariable, Bool, Float64, Bool, Bool, Int64) where {T<:DistributedFactorGraphs.InferenceVariable} in module DistributedFactorGraphs at /root/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:41 overwritten at /root/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:11.
** incremental compilation may be fatally broken for this module **
WARNING: Method definition (::Type{DistributedFactorGraphs.VariableNodeData{T} where T<:DistributedFactorGraphs.InferenceVariable})(Array{Float64, 2}, Array{Float64, 2}, Array{Symbol, 1}, Array{Int64, 1}, Int64, Bool, Symbol, Array{Symbol, 1}, T<:DistributedFactorGraphs.InferenceVariable, Bool, Float64, Bool, Bool, Int64) where {T<:DistributedFactorGraphs.InferenceVariable} in module DistributedFactorGraphs at /root/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:11 overwritten at /root/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:41.
** incremental compilation may be fatally broken for this module **
WARNING: ignoring conflicting import of DistributedFactorGraphs.compare into RoME
[ Info: Adding graph visualization tools.
[TEST] numeric root...
Test Summary: | Pass Total
Increased dimension root finding test | 2 2
Test Summary: | Pass Total
test CommonConvWrapper functions | 55 55
[SUCCESS]
Test Summary: |
Testing hand constructed product of SE(2) equivalent... | No tests
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x1f1, :x1f2]
[ Info: do init of x1
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
Test Summary: | Pass Total
Factor graph based test of SE(2) equivalent using only Priors... | 3 3
┌ Warning: not implemented yet
└ @ Main ~/.julia/packages/RoME/uM3dB/test/testManifoldsPose2Equivalent.jl:202
Test Summary: |
Factor graph based test of SE(2) equivalent using Priors and Conditional Likelihoods... | No tests
┌ Warning: Skipping multiple feature constraint test for the time being
└ @ Main ~/.julia/packages/RoME/uM3dB/test/runtests.jl:21
[TEST] Linear array function evaluations...
zDim = size(measurement[1], 1) = 3
0.436298 seconds (474.66 k allocations: 24.870 MiB, 4.22% gc time)
0.063727 seconds (25.73 k allocations: 1.188 MiB)
1.553097 seconds (1.06 M allocations: 71.122 MiB, 2.85% gc time)
┌ Warning: still need to insert kld(..) test to ensure this is working
└ @ Main ~/.julia/packages/RoME/uM3dB/test/testDidsonFunctions.jl:46
Test back projection from
0.000058 seconds (21 allocations: 1.797 KiB)
0.000033 seconds (19 allocations: 1.469 KiB)
0.610709 seconds (1.59 M allocations: 123.862 MiB, 10.28% gc time)
┌ Warning: Breaks if not set to 100
└ @ Main ~/.julia/packages/RoME/uM3dB/test/testDidsonFunctions.jl:103
Adding PriorPose3 to graph...
[ Info: try doautoinit! of x1
Adding LinearRangeBearingElevation to graph...
0.010595 seconds (58 allocations: 3.656 KiB)
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x1f1]
[ Info: do init of x1
[ Info: try doautoinit! of l1
┌ Warning: getData is deprecated, please use solverData(), future warnings in getData is suppressed
└ @ DistributedFactorGraphs ~/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGFactor.jl:76
[ Info: l1 is not initialized, and will do so now...
[ Info: try doautoinit! of l1
[ Info: init with useinitfct Symbol[:x1l1f1]
[ Info: do init of l1
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
Si = Symbol[:l1]
[ Info:
[ Info: Eliminating l1
[ Info: ===============
[ Info:
[ Info: - Removing l1
[ Info: Looking at l1f1
[ Info: - Breaking link l1f1->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials l1,x1,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Do tree based init-inference on tree
Bayes Tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------l1,x1,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------l1,x1,:
[ Info: #1 --
[ Info: [2x0p,d6,N100],
[ Info: #2 --
[ Info: [2x0p,d6,N100],
[ Info: #3 --
[ Info: [2x0p,d6,N100],
[ Info: fmcmc! -- solverData(vert=l1).inferdim=18.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=15.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:l1, :x1]
[ Info: sym=l1, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x1, mem size of val=(6, 100) and (6, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
[SUCCESS]
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
Si = Symbol[:x1]
[ Info: - Removing x0
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info: Looking at x1f1
[ Info: - Breaking link x1f1->x1...
[ Info: - Original links: Symbol[:x1]
[ Info: - New links: Symbol[]
[ Info: x1f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x1,x0,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: [2x0p,d2,N100],
[ Info: #2 --
[ Info: [2x0p,d2,N100],
[ Info: #3 --
[ Info: [2x0p,d2,N100],
[ Info: fmcmc! -- solverData(vert=x1).inferdim=4.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=6.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x1, :x0]
[ Info: sym=x1, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
basic Point2Point2 test | 2 2
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of l1
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x1f1]
[ Info: do init of x1
[ Info: try doautoinit! of l1
[ Info: init with useinitfct Symbol[:x1l1f1, :x0l1f1]
[ Info: do init of l1
[ Info: [2x0p,d2,N100],
[ Info: Solving over the Bayes (Junction) tree.
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
Building Bayes net...
Si = Symbol[:l1]
[ Info: - Removing x1
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
Si = Symbol[:l1]
[ Info:
[ Info: Eliminating l1
[ Info: ===============
[ Info:
[ Info: - Removing l1
[ Info: Looking at l1f2
[ Info: - Breaking link l1f2->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f2 doesn't have any other links, not adding it back...
[ Info: Looking at l1f1
[ Info: - Breaking link l1f1->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x1,: l1,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials l1,x0,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=1 adding factor that is no in separator, x1
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x1,: l1,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x1,: l1,
[ Info: #1 --
[ Info: [2x0p,d2,N100],
[ Info: #2 --
[ Info: [2x0p,d2,N100],
[ Info: #3 --
[ Info: [2x0p,d2,N100],
[ Info: fmcmc! -- solverData(vert=l1).inferdim=2.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=4.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:l1]
State machine iter=5
State machine iter=6
[ Info: up w 1 msgs
[ Info: inp.sendmsgs[l1].inferdim=2.0
[ Info: ---------- successive fnc approx ------------l1,x0,:
State machine iter=9
State machine iter=10[ Info: #1 --
[ Info: ---------- successive fnc approx ------------l1,x0,:
[ Info: #1 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: #2 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: #3 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: fmcmc! -- solverData(vert=x0).inferdim=4.0
[ Info: fmcmc! -- solverData(vert=l1).inferdim=4.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:l1, :x0]
[ Info: sym=l1, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=11
State machine iter=9[ Info: [2x0p,d2,N100],
State machine iter=12
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
test Point2Point2Range{T}... | 8 8
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
Si = Symbol[:l1]
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
Si = Symbol[:l1]
[ Info:
[ Info: Eliminating l1
[ Info: ===============
[ Info:
[ Info: - Removing l1
[ Info: Looking at l1f2
[ Info: - Breaking link l1f2->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f2 doesn't have any other links, not adding it back...
[ Info: Looking at l1f1
[ Info: - Breaking link l1f1->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x1,: l1,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials l1,x0,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=1 adding factor that is no in separator, x1
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x1,: l1,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x1,: l1,
[ Info: #1 --
[ Info: [2x0p,d2,N100],
[ Info: #2 --
[ Info: [2x0p,d2,N100],
[ Info: #3 --
[ Info: [2x0p,d2,N100],
[ Info: fmcmc! -- solverData(vert=l1).inferdim=2.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=4.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:l1]
State machine iter=5
State machine iter=6
[ Info: up w 1 msgs
State machine iter=9[ Info: inp.sendmsgs[l1].inferdim=2.0
[ Info: ---------- successive fnc approx ------------l1,x0,:
State machine iter=10[ Info: #1 --
[ Info: ---------- successive fnc approx ------------l1,x0,:
[ Info: #1 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: #2 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: #3 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: fmcmc! -- solverData(vert=x0).inferdim=4.0
[ Info: fmcmc! -- solverData(vert=l1).inferdim=4.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:l1, :x0]
[ Info: sym=l1, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=11
[ Info: [2x0p,d2,N100],
State machine iter=9
State machine iter=12
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
test tree based autoinit on small bimodal point2 trilateration... | 16 16
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x0x1f1]
[ Info: do init of x1
[ Info: try doautoinit! of x2
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
Si = Symbol[:x0, :x2]
[ Info: - Removing x0
[ Info: Looking at x0x2f1
[ Info: - Breaking link x0x2f1->x0...
[ Info: - Original links: Symbol[:x0, :x2]
[ Info: - New links: Symbol[:x2]
[ Info: x0x2f1 still has links to other variables, readding it back...
Si = Symbol[:x2]
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x2f2
[ Info: - Breaking link x2f2->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f2 doesn't have any other links, not adding it back...
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
[ Info: Get potentials x2,x0,x1,:
[ Info: using all factors among cliq variables
Find potential functions for each clique
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: #2 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: #3 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x2).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=12.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=18.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x2, :x0, :x1]
[ Info: sym=x2, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x1, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
basic pose2 trivial case without forcing autoinit... | 9 9
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x0x1f1]
[ Info: do init of x1
[ Info: try doautoinit! of x2
[ Info: x2 is not initialized, and will do so now...
[ Info: try doautoinit! of x2
[ Info: init with useinitfct Symbol[:x1x2f1]
[ Info: do init of x2
┌ Warning: deprecated batchSolve! in favor of new solveTree! interface with the same and more functionality.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/SolverAPI.jl:228
Building Bayes net...
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
Si = Symbol[:x0, :x2]
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x0x2f1
[ Info: - Breaking link x0x2f1->x0...
[ Info: - Original links: Symbol[:x0, :x2]
[ Info: - New links: Symbol[:x2]
[ Info: x0x2f1 still has links to other variables, readding it back...
Si = Symbol[:x2]
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x2f2
[ Info: - Breaking link x2f2->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f2 doesn't have any other links, not adding it back...
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x2,x0,x1,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Solving over the Bayes (Junction) tree.
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: #2 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: #3 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x2).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=12.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=18.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x2, :x0, :x1]
[ Info: sym=x2, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x1, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
basic pose2 with forcing bad initialization... | 9 9
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
Si = Symbol[:x1]
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info: Looking at x1f1
[ Info: - Breaking link x1f1->x1...
[ Info: - Original links: Symbol[:x1]
[ Info: - New links: Symbol[]
[ Info: x1f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x1,x0,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: #2 --
[ Info: [2x0p,d3,N100],
[ Info: #3 --
[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x1).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=12.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x1, :x0]
[ Info: sym=x1, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
test basic banana (split)... | 6 6
[TEST] Pose2 evaluations...
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
Si = Symbol[:x1]
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info: Looking at x1f1
[ Info: - Breaking link x1f1->x1...
[ Info: - Original links: Symbol[:x1]
[ Info: - New links: Symbol[]
[ Info: x1f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x1,x0,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: #2 --
[ Info: [2x0p,d3,N100],
[ Info: #3 --
[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x1).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=12.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x1, :x0]
[ Info: sym=x1, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
[ Info: try doautoinit! of x2
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
Si = Symbol[:x0, :x2]
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x0x2f1
[ Info: - Breaking link x0x2f1->x0...
[ Info: - Original links: Symbol[:x0, :x2]
[ Info: - New links: Symbol[:x2]
[ Info: x0x2f1 still has links to other variables, readding it back...
Si = Symbol[:x2]
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x2f2
[ Info: - Breaking link x2f2->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f2 doesn't have any other links, not adding it back...
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x2,x0,x1,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: #2 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: #3 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x2).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=12.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=18.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x2, :x0, :x1]
[ Info: sym=x2, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x1, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
Si = Symbol[:x0, :x2]
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x0x2f1
[ Info: - Breaking link x0x2f1->x0...
[ Info: - Original links: Symbol[:x0, :x2]
[ Info: - New links: Symbol[:x2]
[ Info: x0x2f1 still has links to other variables, readding it back...
Si = Symbol[:x2]
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x2f2
[ Info: - Breaking link x2f2->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f2 doesn't have any other links, not adding it back...
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x2,x0,x1,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: #2 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: #3 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x2).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=12.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=18.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x2, :x0, :x1]
[ Info: sym=x2, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x1, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: Finished tree based init-inference
State machine iter=9
test bearing range evaluations
[ Info: try doautoinit! of l1
[ Info: try doautoinit! of l1
[ Info: init with useinitfct Symbol[:l1f1, :x0l1f1]
[ Info: do init of l1
[ Info: [2x0p,d2,N100],
Test Summary: | Pass Total
test pose and point combinations... | 18 18
[SUCCESS]
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
Si = Symbol[:x1, :l1]
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
Si = Symbol[:x3, :x1]
[ Info:
[ Info: Eliminating x5
[ Info: ===============
[ Info:
[ Info: - Removing x5
[ Info:
[ Info: Eliminating l1
[ Info: ===============
[ Info:
[ Info: - Removing l1
[ Info: Looking at x1l1f1
[ Info: - Breaking link x1l1f1->l1...
[ Info: - Original links: Symbol[:x1, :l1]
[ Info: - New links: Symbol[:x1]
[ Info: x1l1f1 still has links to other variables, readding it back...
[ Info:
[ Info: Eliminating x3
[ Info: ===============
[ Info:
[ Info: - Removing x3
[ Info: Looking at x3x1f1
[ Info: - Breaking link x3x1f1->x3...
[ Info: - Original links: Symbol[:x3, :x1]
[ Info: - New links: Symbol[:x1]
[ Info: x3x1f1 still has links to other variables, readding it back...
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
Si = Symbol[:x6, :x4]
Si = Symbol[:x1, :x6]
Si = Symbol[:x1, :x4]
Si = Symbol[:x6, :x4]
Si = Symbol[:x4]
[ Info: - Removing x1
[ Info: Looking at x1f1
[ Info: - Breaking link x1f1->x1...
[ Info: - Original links: Symbol[:x1]
[ Info: - New links: Symbol[]
[ Info: x1f1 doesn't have any other links, not adding it back...
[ Info: Looking at x1x6f1
[ Info: - Breaking link x1x6f1->x1...
[ Info: - Original links: Symbol[:x1, :x6]
[ Info: - New links: Symbol[:x6]
[ Info: x1x6f1 still has links to other variables, readding it back...
[ Info: Looking at x1x4f1
[ Info: - Breaking link x1x4f1->x1...
[ Info: - Original links: Symbol[:x1, :x4]
[ Info: - New links: Symbol[:x4]
[ Info: x1x4f1 still has links to other variables, readding it back...
[ Info: Looking at x1f2
[ Info: - Breaking link x1f2->x1...
[ Info: - Original links: Symbol[:x1]
[ Info: - New links: Symbol[]
[ Info: x1f2 doesn't have any other links, not adding it back...
[ Info:
[ Info: Eliminating x6
[ Info: ===============
[ Info:
[ Info: - Removing x6
[ Info: Looking at x6f1
[ Info: - Breaking link x6f1->x6...
[ Info: - Original links: Symbol[:x6]
[ Info: - New links: Symbol[]
[ Info: x6f1 doesn't have any other links, not adding it back...
[ Info: Looking at x6x4f1
[ Info: - Breaking link x6x4f1->x6...
[ Info: - Original links: Symbol[:x6, :x4]
[ Info: - New links: Symbol[:x4]
[ Info: x6x4f1 still has links to other variables, readding it back...
[ Info: Looking at x6x4f2
[ Info: - Breaking link x6x4f2->x6...
[ Info: - Original links: Symbol[:x6, :x4]
[ Info: - New links: Symbol[:x4]
[ Info: x6x4f2 still has links to other variables, readding it back...
[ Info:
[ Info: Eliminating x4
[ Info: ===============
[ Info:
[ Info: - Removing x4
[ Info: Looking at x4f4
[ Info: - Breaking link x4f4->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f4 doesn't have any other links, not adding it back...
[ Info: Looking at x4f1
[ Info: - Breaking link x4f1->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f1 doesn't have any other links, not adding it back...
[ Info: Looking at x4f3
[ Info: - Breaking link x4f3->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f3 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Looking at x4f2
[ Info: - Breaking link x4f2->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f2 doesn't have any other links, not adding it back...
[ Info: Get potentials x2,: x3,x1,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x3,: x1,x4,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=2 adding factor that is no in separator, x2
[ Info: Get potentials x0,: x1,l1,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials l1,: x1,x6,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=3 adding factor that is no in separator, x0
[ Info: Get potentials x5,: x6,x4,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x4,x6,x1,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=1 adding factor that is no in separator, x5
[ Info: cliq=1 adding factor that is no in separator, x3
[ Info: cliq=1 adding factor that is no in separator, x5
[ Info: cliq=1 adding factor that is no in separator, l1
[ Info: cliq=1 adding factor that is no in separator, x2
[ Info: cliq=1 adding factor that is no in separator, x0
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x6, :x4]
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x3, :x1]
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: Outgoing msg density on:
State machine iter=5[ Info: prepCliqInitMsgsUp, seps=Symbol[:x1, :l1]
State machine iter=9
State machine iter=10
State machine iter=11
State machine iter=12
State machine iter=9
State machine iter=10
State machine iter=11
State machine iter=12
State machine iter=13
State machine iter=6
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: Outgoing msg density on:
State machine iter=9
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x1, :x6]
State machine iter=10
State machine iter=11
State machine iter=5
State machine iter=6
State machine iter=13
State machine iter=14
State machine iter=15
┌ Warning: getCliqAllFactIds deprecated, use getCliqFactorIdsAll instead.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/JunctionTree.jl:955
State machine iter=7┌ Warning: getCliqAllFactIds deprecated, use getCliqFactorIdsAll instead.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/JunctionTree.jl:955
State machine iter=8
State machine iter=9
State machine iter=10
State machine iter=11
State machine iter=12
State machine iter=13
State machine iter=14
State machine iter=9
State machine iter=10[ Info: cycleInitByVarOrder! -- varorder=Symbol[:x1, :x3, :x4]
[ Info: var.label=x1 is initialized=false
State machine iter=11[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x1f1]
[ Info: do init of x1
State machine iter=16
[ Info: var.label=x3 is initialized=false
[ Info: try doautoinit! of x3
[ Info: init with useinitfct Symbol[]
[ Info: var.label=x4 is initialized=false
[ Info: try doautoinit! of x4
[ Info: init with useinitfct Symbol[]
[ Info: var.label=x1 is initialized=true
[ Info: var.label=x3 is initialized=false
[ Info: try doautoinit! of x3
[ Info: init with useinitfct Symbol[]
[ Info: var.label=x4 is initialized=false
[ Info: try doautoinit! of x4
[ Info: init with useinitfct Symbol[]
[ Info: cycleInitByVarOrder!, retval=true
State machine iter=7
State machine iter=8
State machine iter=9
State machine iter=10
State machine iter=11
State machine iter=12
State machine iter=14
State machine iter=15
State machine iter=15┌ Warning: getCliqAllFactIds deprecated, use getCliqFactorIdsAll instead.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/JunctionTree.jl:955
[ Info: cycleInitByVarOrder! -- varorder=Symbol[:x1, :x3, :x2]
[ Info: var.label=x1 is initialized=false
State machine iter=16
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x1f1]
State machine iter=17
[ Info: do init of x1
[ Info: var.label=x3 is initialized=false
State machine iter=18[ Info: try doautoinit! of x3
[ Info: init with useinitfct Symbol[]
State machine iter=17
[ Info: var.label=x2 is initialized=false
[ Info: try doautoinit! of x2
[ Info: init with useinitfct Symbol[:x1x2f1]
State machine iter=18
[ Info: do init of x2
[ Info: var.label=x1 is initialized=true
[ Info: var.label=x3 is initialized=false
[ Info: try doautoinit! of x3
[ Info: init with useinitfct Symbol[:x2x3f1]
[ Info: do init of x3
State machine iter=19
State machine iter=20
State machine iter=21
State machine iter=22
[ Info: var.label=x2 is initialized=true
[ Info: var.label=x1 is initialized=true
[ Info: var.label=x3 is initialized=true
[ Info: var.label=x2 is initialized=true
┌ Warning: getCliqAllFactIds deprecated, use getCliqFactorIdsAll instead.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/JunctionTree.jl:955
[ Info: cycleInitByVarOrder!, retval=true
State machine iter=23
State machine iter=16
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x3, :x1]
State machine iter=24
State machine iter=25
State machine iter=26
State machine iter=27
State machine iter=28
State machine iter=29
State machine iter=13┌ Warning: getCliqAllFactIds deprecated, use getCliqFactorIdsAll instead.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/JunctionTree.jl:955
State machine iter=14
State machine iter=15
State machine iter=19
State machine iter=20
State machine iter=21
State machine iter=22
State machine iter=23
[ Info: Outgoing msg density on:
State machine iter=30
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x1, :x4]
State machine iter=17
State machine iter=18
State machine iter=19
State machine iter=16
State machine iter=17
State machine iter=18
State machine iter=24
State machine iter=25
State machine iter=26
State machine iter=31
State machine iter=32
State machine iter=33
State machine iter=34
State machine iter=35
State machine iter=36
┌ Warning: getCliqAllFactIds deprecated, use getCliqFactorIdsAll instead.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/JunctionTree.jl:955
[ Info: cycleInitByVarOrder! -- varorder=Symbol[:x6, :x4, :x5]
[ Info: var.label=x6 is initialized=false
[ Info: try doautoinit! of x6
[ Info: init with useinitfct Symbol[:x6f1]
[ Info: do init of x6
[ Info: var.label=x4 is initialized=false
[ Info: try doautoinit! of x4
[ Info: init with useinitfct Symbol[:x4f1]
[ Info: do init of x4
[ Info: var.label=x5 is initialized=false
[ Info: try doautoinit! of x5
[ Info: init with useinitfct Symbol[:x5x6f1, :x4x5f1]
[ Info: do init of x5
[ Info: [2x0p,d3,N100],
[ Info: var.label=x6 is initialized=true
[ Info: var.label=x4 is initialized=true
[ Info: var.label=x5 is initialized=true
[ Info: cycleInitByVarOrder!, retval=true
State machine iter=37
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x6, :x4]
State machine iter=19
State machine iter=20
State machine iter=21
[ Info: Outgoing msg density on:
State machine iter=38
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=39
State machine iter=40
State machine iter=22
State machine iter=23
State machine iter=24
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
sanity check on Hex example | 22 22
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: x1 is not initialized, and will do so now...
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x0x1f1]
[ Info: do init of x1
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info: Looking at x1f1
[ Info: - Breaking link x1f1->x1...
[ Info: - Original links: Symbol[:x1]
[ Info: - New links: Symbol[]
[ Info: x1f1 doesn't have any other links, not adding it back...
[ Info: Get potentials x1,x0,:
[ Info: using all factors among cliq variables
Si = Symbol[:x1]
Find potential functions for each clique
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: [2x0p,d4,N100],
[ Info: #2 --
[ Info: [2x0p,d4,N100],
[ Info: #3 --
[ Info: [2x0p,d4,N100],
[ Info: fmcmc! -- solverData(vert=x1).inferdim=16.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=20.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x1, :x0]
[ Info: sym=x1, mem size of val=(4, 100) and (4, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(4, 100) and (4, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
global x0 = getKDEMax(getVertKDE(fg, :x0)) = [0.02899685461930165, -0.025390171868838345, 10.027788094741323, 9.847232035607663]
global x1 = getKDEMax(getVertKDE(fg, :x1)) = [20.038775448179933, 19.837302177798737, 9.882136603273908, 9.85442953325748]
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x0x1f1]
[ Info: do init of x1
[ Info: try doautoinit! of x2
[ Info: x2 is not initialized, and will do so now...
[ Info: try doautoinit! of x2
[ Info: init with useinitfct Symbol[:x1x2f1]
[ Info: do init of x2
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
Si = Symbol[:x0, :x2]
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x0x2f1
[ Info: - Breaking link x0x2f1->x0...
[ Info: - Original links: Symbol[:x0, :x2]
[ Info: - New links: Symbol[:x2]
[ Info: x0x2f1 still has links to other variables, readding it back...
Si = Symbol[:x2]
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x2f2
[ Info: - Breaking link x2f2->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f2 doesn't have any other links, not adding it back...
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x2,x0,x1,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
[ Info: up w 0 msgs
State machine iter=6
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
[ Info: [2x0p,d4,N100],
[ Info: [2x0p,d4,N100],
[ Info: #2 --
[ Info: [2x0p,d4,N100],
[ Info: [2x0p,d4,N100],
[ Info: #3 --
[ Info: [2x0p,d4,N100],
[ Info: [2x0p,d4,N100],
[ Info: fmcmc! -- solverData(vert=x2).inferdim=16.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=20.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=32.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x2, :x0, :x1]
[ Info: sym=x2, mem size of val=(4, 100) and (4, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(4, 100) and (4, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x1, mem size of val=(4, 100) and (4, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: Finished tree based init-inference
State machine iter=9
global x0 = getKDEMax(getVertKDE(fg, :x0)) = [0.037828463150737186, 0.013925459528841813, 10.09134974527855, 9.937178881115928]
global x1 = getKDEMax(getVertKDE(fg, :x1)) = [10.18807783939853, 10.067867040260913, 10.058936627405943, 9.938537754061487]
global x2 = getKDEMax(getVertKDE(fg, :x2)) = [20.030209651949562, 20.134029460532428, 10.095052740668924, 9.979011807709385]
[ Info: x1 is not initialized, and will do so now...
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x1f1]
[ Info: do init of x1
Test Summary: | Pass Total
[TEST] Pose2 evaluations... | 22 22
[ Info: try doautoinit! of x0
[ Info: x0 is not initialized, and will do so now...
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x2
[ Info: try doautoinit! of x2
[ Info: init with useinitfct Symbol[:x2f1]
[ Info: do init of x2
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x2x1f1, :x0x1f1]
[ Info: do init of x1
[ Info: [2x0p,d2,N100],
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
Si = Symbol[:x2, :x0]
Si = Symbol[:x0]
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x2x0f1
[ Info: - Breaking link x2x0f1->x2...
[ Info: - Original links: Symbol[:x2, :x0]
[ Info: - New links: Symbol[:x0]
[ Info: x2x0f1 still has links to other variables, readding it back...
Find potential functions for each clique
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x0f2
[ Info: - Breaking link x0f2->x0...
[ Info: - Original links: Symbol[:x0]
[ Info: - New links: Symbol[]
[ Info: x0f2 doesn't have any other links, not adding it back...
[ Info: Looking at x0f3
[ Info: - Breaking link x0f3->x0...
[ Info: - Original links: Symbol[:x0]
[ Info: - New links: Symbol[]
[ Info: x0f3 doesn't have any other links, not adding it back...
[ Info: Get potentials x0,x2,x1,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x0,x2,x1,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x0,x2,x1,:
[ Info: #1 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: #2 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: #3 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: fmcmc! -- solverData(vert=x0).inferdim=6.0
[ Info: fmcmc! -- solverData(vert=x2).inferdim=6.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=8.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x0, :x2, :x1]
[ Info: sym=x0, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x2, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x1, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
test Point2Point2WorldBearing factor is working | 6 6
Test Summary: | Pass Total
test sampling from BearingRange factor... | 4 4
res = [0.0, 0.0]
res = [1.4997597826618579e-30, 0.0]
res = [1.4997597826618579e-30, 0.0]
res = [0.0, 0.0]
Test Summary: | Pass Total
test BearingRange factor residual function... | 4 4
Test Summary: | Pass Total
test unimodal bearing range factor, solve for landmark... | 5 5
abs.(Statistics.mean(pts, dims=2)) = [0.2668869046770847; 0.08898847562601035; 0.005689051693663866]
Statistics.std(pts, dims=2) = [1.1087087983393902; 0.8240945570431075; 0.1260171365859767]
Test Summary: | Pass Total
test unimodal bearing range factor, solve for pose... | 3 3
Test Summary: | Pass Total
Testing Pose2Point2Bearing Initialization and Packing | 2 2
Test Summary: | Pass Total
test odometry accumulation MutablePose2Pose2Gaussian... | 2 2
STEP 1: Driving around a bit
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x0x1f1]
[ Info: do init of x1
[ Info: try doautoinit! of x2
[ Info: try doautoinit! of x2
[ Info: init with useinitfct Symbol[:x1x2f1]
[ Info: do init of x2
[ Info: try doautoinit! of x3
[ Info: try doautoinit! of x3
[ Info: init with useinitfct Symbol[:x2x3f1]
[ Info: do init of x3
[ Info: try doautoinit! of x4
[ Info: try doautoinit! of x4
[ Info: init with useinitfct Symbol[:x3x4f1]
[ Info: do init of x4
[ Info: try doautoinit! of x5
[ Info: try doautoinit! of x5
[ Info: init with useinitfct Symbol[:x4x5f1]
[ Info: do init of x5
[ Info: try doautoinit! of x6
STEP 2: Solve graph when shorter than fixed length
[ Info: try doautoinit! of l1
[ Info: Solving over the Bayes (Junction) tree.
[ Info: Quasi fixed-lag is enabled (a feature currently in testing)!
[ Info: [fifoFreeze] QFL - Freezing nodes x0 -> x1.
Building Bayes net...
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
Si = Symbol[:l1, :x1]
[ Info:
[ Info: Eliminating x3
[ Info: ===============
[ Info:
[ Info: - Removing x3
Si = Symbol[:x4, :x2]
[ Info:
[ Info: Eliminating x5
[ Info: ===============
[ Info:
[ Info: - Removing x5
Si = Symbol[:x6, :x4]
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info: Looking at l1x1f1
[ Info: - Breaking link l1x1f1->x1...
[ Info: - Original links: Symbol[:l1, :x1]
[ Info: - New links: Symbol[:l1]
[ Info: l1x1f1 still has links to other variables, readding it back...
Si = Symbol[:l1, :x2]
[ Info:
[ Info: Eliminating x4
[ Info: ===============
[ Info:
[ Info: - Removing x4
[ Info: Looking at x4x2f1
[ Info: - Breaking link x4x2f1->x4...
[ Info: - Original links: Symbol[:x4, :x2]
[ Info: - New links: Symbol[:x2]
[ Info: x4x2f1 still has links to other variables, readding it back...
[ Info: Looking at x6x4f1
[ Info: - Breaking link x6x4f1->x4...
[ Info: - Original links: Symbol[:x6, :x4]
[ Info: - New links: Symbol[:x6]
[ Info: x6x4f1 still has links to other variables, readding it back...
Si = Symbol[:x2, :x6]
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at l1x2f1
[ Info: - Breaking link l1x2f1->x2...
[ Info: - Original links: Symbol[:l1, :x2]
[ Info: - New links: Symbol[:l1]
[ Info: l1x2f1 still has links to other variables, readding it back...
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
[ Info: Looking at x2x6f1
[ Info: - Breaking link x2x6f1->x2...
[ Info: - Original links: Symbol[:x2, :x6]
[ Info: - New links: Symbol[:x6]
[ Info: x2x6f1 still has links to other variables, readding it back...
Si = Symbol[:l1, :x6]
[ Info:
[ Info: Eliminating l1
[ Info: ===============
[ Info:
[ Info: - Removing l1
[ Info: Looking at l1f2
[ Info: - Breaking link l1f2->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f2 doesn't have any other links, not adding it back...
[ Info: Looking at l1f1
[ Info: - Breaking link l1f1->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f1 doesn't have any other links, not adding it back...
[ Info: Looking at l1x6f1
[ Info: - Breaking link l1x6f1->l1...
[ Info: - Original links: Symbol[:l1, :x6]
[ Info: - New links: Symbol[:x6]
[ Info: l1x6f1 still has links to other variables, readding it back...
Si = Symbol[:x6]
[ Info:
[ Info: Eliminating x6
[ Info: ===============
[ Info:
[ Info: - Removing x6
[ Info: Looking at x6f2
[ Info: - Breaking link x6f2->x6...
[ Info: - Original links: Symbol[:x6]
[ Info: - New links: Symbol[]
[ Info: x6f2 doesn't have any other links, not adding it back...
[ Info: Looking at x6f4
[ Info: - Breaking link x6f4->x6...
[ Info: - Original links: Symbol[:x6]
[ Info: - New links: Symbol[]
[ Info: x6f4 doesn't have any other links, not adding it back...
[ Info: Looking at x6f3
[ Info: - Breaking link x6f3->x6...
[ Info: - Original links: Symbol[:x6]
[ Info: - New links: Symbol[]
[ Info: x6f3 doesn't have any other links, not adding it back...
[ Info: Looking at x6f1
[ Info: - Breaking link x6f1->x6...
[ Info: - Original links: Symbol[:x6]
[ Info: - New links: Symbol[]
[ Info: x6f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x5,: x6,x4,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x3,: x4,x2,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x4,: x2,x6,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=2 adding factor that is no in separator, x3
[ Info: cliq=2 adding factor that is no in separator, x5
[ Info: Get potentials x0,: l1,x1,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x1,: l1,x2,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=3 adding factor that is no in separator, x0
[ Info: Get potentials x6,l1,x2,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=1 adding factor that is no in separator, x5
[ Info: cliq=1 adding factor that is no in separator, x0
[ Info: cliq=1 adding factor that is no in separator, x3
[ Info: cliq=1 adding factor that is no in separator, x1
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
State machine iter=1
State machine iter=2
State machine iter=3[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x5,: x6,x4,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x5,: x6,x4,
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: #2 --
State machine iter=4[ Info: [2x0p,d3,N100],
[ Info: #3 --
State machine iter=5[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x6).inferdim=9.0
State machine iter=6
[ Info: fmcmc! -- solverData(vert=x4).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x5).inferdim=18.0
State machine iter=7
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x6, :x4]
State machine iter=8
State machine iter=1[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x3,: x4,x2,
[ Info: #1 --
State machine iter=2[ Info: ---------- successive fnc approx ------------x3,: x4,x2,
[ Info: #1 --
State machine iter=3[ Info: [2x0p,d3,N100],
[ Info: #2 --
State machine iter=4
[ Info: [2x0p,d3,N100],
[ Info: #3 --
State machine iter=5[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x4).inferdim=9.0
State machine iter=6
[ Info: fmcmc! -- solverData(vert=x2).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x3).inferdim=18.0
State machine iter=7
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x4, :x2]
State machine iter=8
State machine iter=9
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x0,: l1,x1,
[ Info: #1 --
State machine iter=10
[ Info: ---------- successive fnc approx ------------x0,: l1,x1,
[ Info: #1 --
[ Info: #2 --
[ Info: #3 --
State machine iter=5
[ Info: fmcmc! -- solverData(vert=l1).inferdim=6.0
State machine iter=6[ Info: fmcmc! -- solverData(vert=x1).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=3.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:l1, :x1]
State machine iter=7
State machine iter=8
[ Info: up w 2 msgs
State machine iter=9[ Info: inp.sendmsgs[x6].inferdim=9.0
[ Info: inp.sendmsgs[x4].inferdim=9.0
State machine iter=10[ Info: inp.sendmsgs[x2].inferdim=9.0
[ Info: inp.sendmsgs[x4].inferdim=9.0
[ Info: ---------- successive fnc approx ------------x4,: x2,x6,
State machine iter=5[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x4,: x2,x6,
State machine iter=6[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=x2).inferdim=9.0
State machine iter=7
[ Info: fmcmc! -- solverData(vert=x6).inferdim=9.0
[ Info: ---------- successive fnc approx ------------x4,: x2,x6,
State machine iter=8
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: up w 1 msgs
[ Info: fmcmc! -- solverData(vert=x4).inferdim=18.0
[ Info: inp.sendmsgs[l1].inferdim=6.0
[ Info: Outgoing msg density on:
[ Info: inp.sendmsgs[x1].inferdim=9.0
State machine iter=9
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x2, :x6]
State machine iter=10[ Info: ---------- successive fnc approx ------------x1,: l1,x2,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x1,: l1,x2,
[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=l1).inferdim=6.0
[ Info: ---------- successive fnc approx ------------x1,: l1,x2,
[ Info: #1 --
[ Info: #2 --
[ Info: #3 --
State machine iter=9[ Info: fmcmc! -- solverData(vert=x2).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=9.0
State machine iter=10
[ Info: ---------- successive fnc approx ------------x1,: l1,x2,
[ Info: #1 --
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:l1, :x2]
State machine iter=5
State machine iter=6
[ Info: up w 2 msgs
State machine iter=9[ Info: inp.sendmsgs[x2].inferdim=9.0
[ Info: inp.sendmsgs[x6].inferdim=9.0
State machine iter=10[ Info: inp.sendmsgs[x2].inferdim=9.0
[ Info: inp.sendmsgs[l1].inferdim=6.0
[ Info: ---------- successive fnc approx ------------x6,l1,x2,:
[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=x6).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=l1).inferdim=6.0
[ Info: ---------- successive fnc approx ------------x6,l1,x2,:
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x6).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=l1).inferdim=6.0
[ Info: fmcmc! -- solverData(vert=x2).inferdim=18.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x6, :l1, :x2]
[ Info: sym=x6, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=l1, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x2, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=11
State machine iter=11[ Info: [2x0p,d3,N100],
State machine iter=9
State machine iter=11
State machine iter=11
State machine iter=11[ Info: [2x0p,d3,N100],
State machine iter=12[ Info: [2x0p,d3,N100],
State machine iter=12
State machine iter=12
State machine iter=12
State machine iter=12
[ Info: Finished tree based init-inference
STEP 3: Drive a couple more, longer than fixed lag window
[ Info: try doautoinit! of x7
[ Info: try doautoinit! of x7
[ Info: init with useinitfct Symbol[:x6x7f1]
[ Info: do init of x7
[ Info: try doautoinit! of x8
[ Info: try doautoinit! of x8
[ Info: init with useinitfct Symbol[:x7x8f1]
[ Info: do init of x8
[ Info: try doautoinit! of x9
[ Info: try doautoinit! of x9
[ Info: init with useinitfct Symbol[:x8x9f1]
[ Info: do init of x9
[ Info: try doautoinit! of x10
[ Info: try doautoinit! of x10
[ Info: init with useinitfct Symbol[:x9x10f1]
[ Info: do init of x10
[ Info: try doautoinit! of x11
[ Info: try doautoinit! of x11
[ Info: init with useinitfct Symbol[:x10x11f1]
[ Info: do init of x11
[ Info: try doautoinit! of x12
[ Info: [fifoFreeze] QFL - Freezing nodes x0 -> l1.
┌ Warning: getData is deprecated, please use solverData()
└ @ DistributedFactorGraphs ~/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:188
STEP 4: Solve graph when shorter than fixed length, and show time to solve
[ Info: Solving over the Bayes (Junction) tree.
[ Info: Quasi fixed-lag is enabled (a feature currently in testing)!
[ Info: [fifoFreeze] QFL - Freezing nodes x0 -> l1.
Building Bayes net...
[ Info:
[ Info: Eliminating x6
[ Info: ===============
[ Info:
[ Info: - Removing x6
Si = Symbol[:x7, :l1, :x5]
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
Si = Symbol[:l1, :x1]
[ Info:
[ Info: Eliminating x3
[ Info: ===============
[ Info:
[ Info: - Removing x3
Si = Symbol[:x4, :x2]
[ Info:
[ Info: Eliminating x11
[ Info: ===============
[ Info:
[ Info: - Removing x11
Si = Symbol[:x12, :x10]
[ Info:
[ Info: Eliminating x9
[ Info: ===============
[ Info:
[ Info: - Removing x9
Si = Symbol[:x10, :x8]
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info: Looking at l1x1f1
[ Info: - Breaking link l1x1f1->x1...
[ Info: - Original links: Symbol[:l1, :x1]
[ Info: - New links: Symbol[:l1]
[ Info: l1x1f1 still has links to other variables, readding it back...
Si = Symbol[:x2, :l1]
[ Info:
[ Info: Eliminating x7
[ Info: ===============
[ Info:
[ Info: - Removing x7
[ Info: Looking at x7l1x5f1
[ Info: - Breaking link x7l1x5f1->x7...
[ Info: - Original links: Symbol[:x7, :l1, :x5]
[ Info: - New links: Symbol[:l1, :x5]
[ Info: x7l1x5f1 still has links to other variables, readding it back...
Si = Symbol[:l1, :x5, :x8]
[ Info:
[ Info: Eliminating x5
[ Info: ===============
[ Info:
[ Info: - Removing x5
[ Info: Looking at l1x5f1
[ Info: - Breaking link l1x5f1->x5...
[ Info: - Original links: Symbol[:l1, :x5]
[ Info: - New links: Symbol[:l1]
[ Info: l1x5f1 still has links to other variables, readding it back...
[ Info: Looking at l1x5x8f1
[ Info: - Breaking link l1x5x8f1->x5...
[ Info: - Original links: Symbol[:l1, :x5, :x8]
[ Info: - New links: Symbol[:l1, :x8]
[ Info: l1x5x8f1 still has links to other variables, readding it back...
Si = Symbol[:l1, :x8, :x4]
[ Info:
[ Info: Eliminating l1
[ Info: ===============
[ Info:
[ Info: - Removing l1
[ Info: Looking at l1x8x4f1
[ Info: - Breaking link l1x8x4f1->l1...
[ Info: - Original links: Symbol[:l1, :x8, :x4]
[ Info: - New links: Symbol[:x8, :x4]
[ Info: l1x8x4f1 still has links to other variables, readding it back...
[ Info: Looking at l1x8f1
[ Info: - Breaking link l1x8f1->l1...
[ Info: - Original links: Symbol[:l1, :x8]
[ Info: - New links: Symbol[:x8]
[ Info: l1x8f1 still has links to other variables, readding it back...
[ Info: Looking at l1f2
[ Info: - Breaking link l1f2->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f2 doesn't have any other links, not adding it back...
[ Info: Looking at l1f1
[ Info: - Breaking link l1f1->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f1 doesn't have any other links, not adding it back...
[ Info: Looking at x2l1f1
[ Info: - Breaking link x2l1f1->l1...
[ Info: - Original links: Symbol[:x2, :l1]
[ Info: - New links: Symbol[:x2]
[ Info: x2l1f1 still has links to other variables, readding it back...
Si = Symbol[:x8, :x4, :x2]
[ Info:
[ Info: Eliminating x10
[ Info: ===============
[ Info:
[ Info: - Removing x10
[ Info: Looking at x12x10f1
[ Info: - Breaking link x12x10f1->x10...
[ Info: - Original links: Symbol[:x12, :x10]
[ Info: - New links: Symbol[:x12]
[ Info: x12x10f1 still has links to other variables, readding it back...
[ Info: Looking at x10x8f1
[ Info: - Breaking link x10x8f1->x10...
[ Info: - Original links: Symbol[:x10, :x8]
[ Info: - New links: Symbol[:x8]
[ Info: x10x8f1 still has links to other variables, readding it back...
Si = Symbol[:x12, :x8]
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x4x2f1
[ Info: - Breaking link x4x2f1->x2...
[ Info: - Original links: Symbol[:x4, :x2]
[ Info: - New links: Symbol[:x4]
[ Info: x4x2f1 still has links to other variables, readding it back...
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
[ Info: Looking at x8x4x2f1
[ Info: - Breaking link x8x4x2f1->x2...
[ Info: - Original links: Symbol[:x8, :x4, :x2]
[ Info: - New links: Symbol[:x8, :x4]
[ Info: x8x4x2f1 still has links to other variables, readding it back...
Si = Symbol[:x4, :x8]
[ Info:
[ Info: Eliminating x8
[ Info: ===============
[ Info:
[ Info: - Removing x8
[ Info: Looking at x8f2
[ Info: - Breaking link x8f2->x8...
[ Info: - Original links: Symbol[:x8]
[ Info: - New links: Symbol[]
[ Info: x8f2 doesn't have any other links, not adding it back...
[ Info: Looking at x8x4f2
[ Info: - Breaking link x8x4f2->x8...
[ Info: - Original links: Symbol[:x8, :x4]
[ Info: - New links: Symbol[:x4]
[ Info: x8x4f2 still has links to other variables, readding it back...
[ Info: Looking at x8x4f1
[ Info: - Breaking link x8x4f1->x8...
[ Info: - Original links: Symbol[:x8, :x4]
[ Info: - New links: Symbol[:x4]
[ Info: x8x4f1 still has links to other variables, readding it back...
[ Info: Looking at x8f1
[ Info: - Breaking link x8f1->x8...
[ Info: - Original links: Symbol[:x8]
[ Info: - New links: Symbol[]
[ Info: x8f1 doesn't have any other links, not adding it back...
[ Info: Looking at x4x8f1
[ Info: - Breaking link x4x8f1->x8...
[ Info: - Original links: Symbol[:x4, :x8]
[ Info: - New links: Symbol[:x4]
[ Info: x4x8f1 still has links to other variables, readding it back...
[ Info: Looking at x12x8f1
[ Info: - Breaking link x12x8f1->x8...
[ Info: - Original links: Symbol[:x12, :x8]
[ Info: - New links: Symbol[:x12]
[ Info: x12x8f1 still has links to other variables, readding it back...
Si = Symbol[:x4, :x12]
[ Info:
[ Info: Eliminating x4
[ Info: ===============
[ Info:
[ Info: - Removing x4
[ Info: Looking at x4f2
[ Info: - Breaking link x4f2->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f2 doesn't have any other links, not adding it back...
[ Info: Looking at x4f4
[ Info: - Breaking link x4f4->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f4 doesn't have any other links, not adding it back...
[ Info: Looking at x4f1
[ Info: - Breaking link x4f1->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f1 doesn't have any other links, not adding it back...
[ Info: Looking at x4f3
[ Info: - Breaking link x4f3->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f3 doesn't have any other links, not adding it back...
[ Info: Looking at x4x12f1
[ Info: - Breaking link x4x12f1->x4...
[ Info: - Original links: Symbol[:x4, :x12]
[ Info: - New links: Symbol[:x12]
[ Info: x4x12f1 still has links to other variables, readding it back...
[ Info:
[ Info: Eliminating x12
[ Info: ===============
[ Info:
[ Info: - Removing x12
[ Info: Looking at x12f1
[ Info: - Breaking link x12f1->x12...
[ Info: - Original links: Symbol[:x12]
[ Info: - New links: Symbol[]
[ Info: x12f1 doesn't have any other links, not adding it back...
[ Info: Looking at x12f2
[ Info: - Breaking link x12f2->x12...
[ Info: - Original links: Symbol[:x12]
[ Info: - New links: Symbol[]
[ Info: x12f2 doesn't have any other links, not adding it back...
[ Info: Looking at x12f4
Si = Symbol[:x12]
[ Info: - Breaking link x12f4->x12...
[ Info: - Original links: Symbol[:x12]
[ Info: - New links: Symbol[]
[ Info: x12f4 doesn't have any other links, not adding it back...
[ Info: Looking at x12f3
[ Info: - Breaking link x12f3->x12...
[ Info: - Original links: Symbol[:x12]
[ Info: - New links: Symbol[]
[ Info: x12f3 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x6,: x7,l1,x5,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x7,: l1,x5,x8,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=5 adding factor that is no in separator, x6
[ Info: Get potentials x5,: l1,x8,x4,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=4 adding factor that is no in separator, x6
[ Info: Get potentials x0,: l1,x1,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x1,: x2,l1,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=6 adding factor that is no in separator, x0
[ Info: Get potentials x3,: x4,x2,
Bayes Tree
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x2,l1,: x4,x8,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=2 adding factor that is no in separator, x3
[ Info: cliq=2 adding factor that is no in separator, x1
[ Info: cliq=2 adding factor that is no in separator, x0
[ Info: cliq=2 adding factor that is no in separator, x6
[ Info: Get potentials x9,: x10,x8,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x11,: x12,x10,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x10,: x12,x8,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=3 adding factor that is no in separator, x9
[ Info: cliq=3 adding factor that is no in separator, x11
[ Info: Get potentials x12,x4,x8,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=1 adding factor that is no in separator, x11
[ Info: cliq=1 adding factor that is no in separator, x3
[ Info: cliq=1 adding factor that is no in separator, x5
[ Info: cliq=1 adding factor that is no in separator, x7
[ Info: cliq=1 adding factor that is no in separator, x9
[ Info: Do tree based init-inference on tree
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x4, :x2]
[ Info: prepCliqInitMsgsUp, seps=Symbol[:l1, :x1]
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x2, :l1]
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x9,: x10,x8,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x9,: x10,x8,
[ Info: #1 --
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
State machine iter=1
State machine iter=2
State machine iter=3[ Info: [2x0p,d3,N100],
[ Info: #2 --
State machine iter=4
[ Info: [2x0p,d3,N100],
[ Info: #3 --
State machine iter=5[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x10).inferdim=9.0
State machine iter=6[ Info: fmcmc! -- solverData(vert=x8).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x9).inferdim=18.0
State machine iter=7[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x10, :x8]
State machine iter=8
[ Info: up w 0 msgs
State machine iter=1
[ Info: ---------- successive fnc approx ------------x11,: x12,x10,
[ Info: #1 --
State machine iter=2
[ Info: ---------- successive fnc approx ------------x11,: x12,x10,
[ Info: #1 --
State machine iter=3[ Info: [2x0p,d3,N100],
[ Info: #2 --
State machine iter=4[ Info: [2x0p,d3,N100],
[ Info: #3 --
State machine iter=5[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x12).inferdim=9.0
┌ Warning: deprecated, use prepCliqInitMsgsUp(subfg::FactorGraph, cliq::Graphs.ExVertex) instead
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/TreeBasedInitialization.jl:509
State machine iter=1[ Info: fmcmc! -- solverData(vert=x10).inferdim=9.0
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x4, :x2]
[ Info: fmcmc! -- solverData(vert=x11).inferdim=18.0
[ Info: Outgoing msg density on:
State machine iter=2
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x12, :x10]
State machine iter=3
State machine iter=4
┌ Warning: deprecated, use prepCliqInitMsgsUp(subfg::FactorGraph, cliq::Graphs.ExVertex) instead
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/TreeBasedInitialization.jl:509
[ Info: prepCliqInitMsgsUp, seps=Symbol[:l1, :x1]
State machine iter=5
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x6,: x7,l1,x5,
[ Info: #1 --
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
State machine iter=9
State machine iter=10
[ Info: ---------- successive fnc approx ------------x6,: x7,l1,x5,
[ Info: #1 --
[ Info: #2 --
[ Info: #3 --
State machine iter=5[ Info: fmcmc! -- solverData(vert=x7).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=l1).inferdim=6.0
State machine iter=6[ Info: fmcmc! -- solverData(vert=x5).inferdim=18.0
[ Info: fmcmc! -- solverData(vert=x6).inferdim=9.0
State machine iter=7[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x7, :l1, :x5]
State machine iter=8
[ Info: up w 2 msgs
State machine iter=4
[ Info: inp.sendmsgs[x8].inferdim=9.0
[ Info: inp.sendmsgs[x10].inferdim=9.0
State machine iter=5[ Info: inp.sendmsgs[x12].inferdim=9.0
[ Info: inp.sendmsgs[x10].inferdim=9.0
┌ Warning: deprecated, use prepCliqInitMsgsUp(subfg::FactorGraph, cliq::Graphs.ExVertex) instead
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/TreeBasedInitialization.jl:509
[ Info: ---------- successive fnc approx ------------x10,: x12,x8,
State machine iter=6[ Info: prepCliqInitMsgsUp, seps=Symbol[:x2, :l1]
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x10,: x12,x8,
[ Info: #1 --
State machine iter=9
[ Info: fmcmc! -- solverData(vert=x12).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x8).inferdim=9.0
State machine iter=10
[ Info: ---------- successive fnc approx ------------x10,: x12,x8,
[ Info: #1 --
[ Info: [2x0p,d3,N100],
State machine iter=6[ Info: fmcmc! -- solverData(vert=x10).inferdim=18.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x12, :x8]
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
State machine iter=9
[ Info: up w 1 msgs
[ Info: inp.sendmsgs[x5].inferdim=18.0
[ Info: inp.sendmsgs[x7].inferdim=9.0
State machine iter=10
[ Info: inp.sendmsgs[l1].inferdim=6.0
[ Info: ---------- successive fnc approx ------------x7,: l1,x5,x8,
State machine iter=6[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x7,: l1,x5,x8,
[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=l1).inferdim=6.0
[ Info: fmcmc! -- solverData(vert=x5).inferdim=18.0
[ Info: ---------- successive fnc approx ------------x7,: l1,x5,x8,
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: #2 --
State machine iter=9[ Info: [2x0p,d3,N100],
[ Info: #3 --
State machine iter=10[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x8).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x7).inferdim=18.0
[ Info: ---------- successive fnc approx ------------x7,: l1,x5,x8,
[ Info: #1 --
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:l1, :x5, :x8]
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: up w 1 msgs
[ Info: inp.sendmsgs[x5].inferdim=18.0
[ Info: inp.sendmsgs[x8].inferdim=9.0
[ Info: inp.sendmsgs[l1].inferdim=6.0
[ Info: ---------- successive fnc approx ------------x5,: l1,x8,x4,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x5,: l1,x8,x4,
[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=l1).inferdim=6.0
State machine iter=9[ Info: fmcmc! -- solverData(vert=x8).inferdim=9.0
[ Info: ---------- successive fnc approx ------------x5,: l1,x8,x4,
State machine iter=10[ Info: #1 --
[ Info: #2 --
[ Info: #3 --
[ Info: fmcmc! -- solverData(vert=x4).inferdim=18.0
[ Info: fmcmc! -- solverData(vert=x5).inferdim=18.0
[ Info: ---------- successive fnc approx ------------x5,: l1,x8,x4,
[ Info: #1 --
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:l1, :x8, :x4]
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: up w 3 msgs
[ Info: inp.sendmsgs[x8].inferdim=9.0
[ Info: inp.sendmsgs[x4].inferdim=18.0
[ Info: inp.sendmsgs[l1].inferdim=6.0
[ Info: inp.sendmsgs[x2].inferdim=18.0
[ Info: inp.sendmsgs[l1].inferdim=6.0
[ Info: inp.sendmsgs[x2].inferdim=18.0
[ Info: inp.sendmsgs[x4].inferdim=18.0
[ Info: ---------- successive fnc approx ------------x2,l1,: x4,x8,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x2,l1,: x4,x8,
[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=x8).inferdim=9.0
State machine iter=9
[ Info: ---------- successive fnc approx ------------x2,l1,: x4,x8,
[ Info: #1 --
State machine iter=10[ Info: fmcmc! -- solverData(vert=x2).inferdim=18.0
[ Info: fmcmc! -- solverData(vert=l1).inferdim=6.0
[ Info: fmcmc! -- solverData(vert=x4).inferdim=18.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x4, :x8]
State machine iter=5
State machine iter=6
[ Info: up w 2 msgs
State machine iter=9[ Info: inp.sendmsgs[x8].inferdim=9.0
[ Info: inp.sendmsgs[x4].inferdim=18.0
State machine iter=10[ Info: inp.sendmsgs[x12].inferdim=9.0
[ Info: inp.sendmsgs[x8].inferdim=9.0
[ Info: ---------- successive fnc approx ------------x12,x4,x8,:
[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=x12).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x4).inferdim=18.0
[ Info: ---------- successive fnc approx ------------x12,x4,x8,:
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x12).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x4).inferdim=18.0
[ Info: fmcmc! -- solverData(vert=x8).inferdim=18.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x12, :x4, :x8]
[ Info: sym=x12, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x4, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x8, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=11
State machine iter=11
[ Info: [2x0p,d3,N100],
State machine iter=9
State machine iter=7
State machine iter=7
State machine iter=11
State machine iter=11
State machine iter=11[ Info: [2x0p,d3,N100],
State machine iter=7[ Info: [2x0p,d3,N100],
State machine iter=12
State machine iter=11
State machine iter=12
[ Info: [2x0p,d3,N100],
State machine iter=8
State machine iter=8
State machine iter=12
State machine iter=12
State machine iter=8
State machine iter=12
State machine iter=11
State machine iter=12
State machine iter=12
[ Info: Finished tree based init-inference
┌ Warning: getData is deprecated, please use solverData()
└ @ DistributedFactorGraphs ~/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:188
┌ Warning: getData is deprecated, please use solverData()
└ @ DistributedFactorGraphs ~/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:188
Test Summary: | Pass Total
test basic fixed lag operations... | 6 6
[ Info: try doautoinit! of l1
[ Info: try doautoinit! of l2
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: [0x1p,d3,N100],
[ Info: try doautoinit! of l1
[ Info: allowing init from incomplete set of previously initialized hypotheses, fct=x0l1l2f1
[ Info: init with useinitfct Symbol[:x0l1l2f1, :l1f1]
[ Info: do init of l1
[ Info: not all hypotheses initialized, but at least one available -- see #427
[ Info: [2x0p,d2,N100],
[ Info: try doautoinit! of l2
[ Info: init with useinitfct Symbol[:x0l1l2f1, :l2f1]
[ Info: do init of l2
[ Info: [2x0p,d2,N100],
[ Info: [1x1p,d3,N100],
Test Summary: |
test standard multimodal range bearing factor setup... | No tests
[ Info: Solving over the Bayes (Junction) tree.
[ Info:
[ Info: Eliminating l2
[ Info: ===============
[ Info:
[ Info: - Removing l2
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
Building Bayes net...
Si = Symbol[:x0, :l1]
[ Info: - Removing x0
[ Info: Looking at x0l1f1
[ Info: - Breaking link x0l1f1->x0...
[ Info: - Original links: Symbol[:x0, :l1]
[ Info: - New links: Symbol[:l1]
[ Info: x0l1f1 still has links to other variables, readding it back...
Si = Symbol[:l1]
Find potential functions for each clique
[ Info:
[ Info: Eliminating l1
[ Info: ===============
[ Info:
[ Info: - Removing l1
[ Info: Looking at l1f2
[ Info: - Breaking link l1f2->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f2 doesn't have any other links, not adding it back...
[ Info: Looking at l1f3
[ Info: - Breaking link l1f3->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f3 doesn't have any other links, not adding it back...
[ Info: Get potentials l1,x0,l2,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------l1,x0,l2,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------l1,x0,l2,:
[ Info: #1 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: [1x1p,d3,N100],
[ Info: #2 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: [1x1p,d3,N100],
[ Info: #3 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: [1x1p,d3,N100],
[ Info: fmcmc! -- solverData(vert=l1).inferdim=14.0
[ Info: fmcmc! -- solverData(vert=l2).inferdim=14.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=8.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:l1, :x0, :l2]
[ Info: sym=l1, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=l2, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
test multimodal bearing range factors calculate pose position properly... | 3 3
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of l1
[ Info: try doautoinit! of l2
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of l1
[ Info: allowing init from incomplete set of previously initialized hypotheses, fct=x0l1l2f1
[ Info: init with useinitfct Symbol[:x0l1l2f1, :l1f1]
[ Info: do init of l1
[ Info: not all hypotheses initialized, but at least one available -- see #427
[ Info: [2x0p,d2,N100],
[ Info: try doautoinit! of l2
[ Info: init with useinitfct Symbol[:x0l1l2f1, :l2f1]
[ Info: do init of l2
[ Info: [1x1p,d2,N100],
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating l1
[ Info: ===============
[ Info:
[ Info: - Removing l1
Si = Symbol[:x0, :l2]
[ Info:
[ Info: Eliminating l2
[ Info: ===============
[ Info:
[ Info: - Removing l2
[ Info: Looking at x0l2f1
[ Info: - Breaking link x0l2f1->l2...
[ Info: - Original links: Symbol[:x0, :l2]
[ Info: - New links: Symbol[:x0]
[ Info: x0l2f1 still has links to other variables, readding it back...
Si = Symbol[:x0]
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x0f2
[ Info: - Breaking link x0f2->x0...
[ Info: - Original links: Symbol[:x0]
[ Info: - New links: Symbol[]
[ Info: x0f2 doesn't have any other links, not adding it back...
[ Info: Looking at x0f3
[ Info: - Breaking link x0f3->x0...
[ Info: - Original links: Symbol[:x0]
[ Info: - New links: Symbol[]
[ Info: x0f3 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x0,l2,l1,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x0,l2,l1,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x0,l2,l1,:
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d2,N100],
[ Info: [1x1p,d2,N100],
[ Info: #2 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d2,N100],
[ Info: [1x1p,d2,N100],
[ Info: #3 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d2,N100],
[ Info: [1x1p,d2,N100],
[ Info: fmcmc! -- solverData(vert=x0).inferdim=11.0
[ Info: fmcmc! -- solverData(vert=l1).inferdim=14.0
[ Info: fmcmc! -- solverData(vert=l2).inferdim=12.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x0, :l2, :l1]
[ Info: sym=x0, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=l2, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=l1, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
test multimodal landmark locations are computed correclty... | 5 5
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
Si = Symbol[:x1]
[ Info: - Removing x0
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info: Looking at x1f1
[ Info: - Breaking link x1f1->x1...
[ Info: - Original links: Symbol[:x1]
[ Info: - New links: Symbol[]
[ Info: x1f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x1,x0,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Do tree based init-inference on tree
Bayes Tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: [2x0p,d5,N100],
[ Info: #2 --
[ Info: [2x0p,d5,N100],
[ Info: #3 --
[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x1).inferdim=25.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=30.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x1, :x0]
[ Info: sym=x1, mem size of val=(5, 100) and (5, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(5, 100) and (5, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: Finished tree based init-inference
State machine iter=9
Test Summary: | Pass Total
test DynPose2 and velocity... | 5 5
Test Summary: | Pass Total
test distribution compare functions... | 3 3
Test Summary: | Pass Total
test DynPose2 packing converters... | 2 2
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x0x1f1]
[ Info: do init of x1
[ Info: try doautoinit! of x2
[ Info: try doautoinit! of x2
[ Info: init with useinitfct Symbol[:x1x2f1]
[ Info: do init of x2
[ Info: try doautoinit! of x3
[ Info: try doautoinit! of x3
[ Info: init with useinitfct Symbol[:x2x3f1]
[ Info: do init of x3
[ Info: try doautoinit! of x4
[ Info: try doautoinit! of x4
[ Info: init with useinitfct Symbol[:x3x4f1]
[ Info: do init of x4
[ Info: try doautoinit! of x5
[ Info: try doautoinit! of x5
[ Info: init with useinitfct Symbol[:x4x5f1]
[ Info: do init of x5
[ Info: try doautoinit! of x6
[ Info: try doautoinit! of x6
[ Info: init with useinitfct Symbol[:x5x6f1]
[ Info: do init of x6
[ Info: try doautoinit! of x7
[ Info: try doautoinit! of x7
[ Info: init with useinitfct Symbol[:x6x7f1]
[ Info: do init of x7
[ Info: try doautoinit! of x8
[ Info: try doautoinit! of x8
[ Info: init with useinitfct Symbol[:x7x8f1]
[ Info: do init of x8
[ Info: try doautoinit! of x9
[ Info: try doautoinit! of x9
[ Info: init with useinitfct Symbol[:x8x9f1]
[ Info: do init of x9
[ Info: try doautoinit! of x10
[ Info: x10 is not initialized, and will do so now...
[ Info: try doautoinit! of x10
[ Info: init with useinitfct Symbol[:x9x10f1]
[ Info: do init of x10
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x5
[ Info: ===============
[ Info:
[ Info: - Removing x5
Si = Symbol[:x6, :x4]
[ Info:
[ Info: Eliminating x3
[ Info: ===============
[ Info:
[ Info: - Removing x3
Si = Symbol[:x4, :x2]
[ Info:
[ Info: Eliminating x9
[ Info: ===============
[ Info:
[ Info: - Removing x9
Si = Symbol[:x10, :x8]
Si = Symbol[:x2, :x0]
Si = Symbol[:x6, :x8]
Si = Symbol[:x2]
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info:
[ Info: Eliminating x7
[ Info: ===============
[ Info:
[ Info: - Removing x7
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x2x0f1
[ Info: - Breaking link x2x0f1->x0...
[ Info: - Original links: Symbol[:x2, :x0]
[ Info: - New links: Symbol[:x2]
[ Info: x2x0f1 still has links to other variables, readding it back...
[ Info:
[ Info: Eliminating x4
[ Info: ===============
[ Info:
[ Info: - Removing x4
[ Info: Looking at x4x2f1
[ Info: - Breaking link x4x2f1->x4...
[ Info: - Original links: Symbol[:x4, :x2]
[ Info: - New links: Symbol[:x2]
[ Info: x4x2f1 still has links to other variables, readding it back...
[ Info: Looking at x6x4f1
[ Info: - Breaking link x6x4f1->x4...
[ Info: - Original links: Symbol[:x6, :x4]
[ Info: - New links: Symbol[:x6]
[ Info: x6x4f1 still has links to other variables, readding it back...
Si = Symbol[:x2, :x6]
Si = Symbol[:x10, :x6]
[ Info:
[ Info: Eliminating x8
[ Info: ===============
[ Info:
[ Info: - Removing x8
[ Info: Looking at x10x8f1
[ Info: - Breaking link x10x8f1->x8...
[ Info: - Original links: Symbol[:x10, :x8]
[ Info: - New links: Symbol[:x10]
[ Info: x10x8f1 still has links to other variables, readding it back...
[ Info: Looking at x6x8f1
[ Info: - Breaking link x6x8f1->x8...
[ Info: - Original links: Symbol[:x6, :x8]
[ Info: - New links: Symbol[:x6]
[ Info: x6x8f1 still has links to other variables, readding it back...
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x2f3
[ Info: - Breaking link x2f3->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f3 doesn't have any other links, not adding it back...
[ Info: Looking at x2x6f1
[ Info: - Breaking link x2x6f1->x2...
[ Info: - Original links: Symbol[:x2, :x6]
[ Info: - New links: Symbol[:x6]
[ Info: x2x6f1 still has links to other variables, readding it back...
[ Info: Looking at x2f2
[ Info: - Breaking link x2f2->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f2 doesn't have any other links, not adding it back...
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
[ Info:
[ Info: Eliminating x6
[ Info: ===============
[ Info:
[ Info: - Removing x6
[ Info: Looking at x6f2
[ Info: - Breaking link x6f2->x6...
[ Info: - Original links: Symbol[:x6]
[ Info: - New links: Symbol[]
[ Info: x6f2 doesn't have any other links, not adding it back...
[ Info: Looking at x10x6f1
[ Info: - Breaking link x10x6f1->x6...
[ Info: - Original links: Symbol[:x10, :x6]
[ Info: - New links: Symbol[:x10]
[ Info: x10x6f1 still has links to other variables, readding it back...
[ Info: Looking at x6f4
[ Info: - Breaking link x6f4->x6...
[ Info: - Original links: Symbol[:x6]
[ Info: - New links: Symbol[]
[ Info: x6f4 doesn't have any other links, not adding it back...
[ Info: Looking at x6f1
[ Info: - Breaking link x6f1->x6...
[ Info: - Original links: Symbol[:x6]
[ Info: - New links: Symbol[]
[ Info: x6f1 doesn't have any other links, not adding it back...
[ Info: Looking at x6f3
[ Info: - Breaking link x6f3->x6...
[ Info: - Original links: Symbol[:x6]
[ Info: - New links: Symbol[]
[ Info: x6f3 doesn't have any other links, not adding it back...
[ Info:
[ Info: Eliminating x10
[ Info: ===============
[ Info:
[ Info: - Removing x10
[ Info: Looking at x10f1
[ Info: - Breaking link x10f1->x10...
[ Info: - Original links: Symbol[:x10]
[ Info: - New links: Symbol[]
[ Info: x10f1 doesn't have any other links, not adding it back...
[ Info: Looking at x10f3
[ Info: - Breaking link x10f3->x10...
[ Info: - Original links: Symbol[:x10]
[ Info: - New links: Symbol[]
[ Info: x10f3 doesn't have any other links, not adding it back...
[ Info: Looking at x10f2
[ Info: - Breaking link x10f2->x10...
[ Info: - Original links: Symbol[:x10]
[ Info: - New links: Symbol[]
[ Info: x10f2 doesn't have any other links, not adding it back...
[ Info: Get potentials x0,x1,: x2,
[ Info: using all factors among cliq variables
Si = Symbol[:x6]
Si = Symbol[:x10]
Find potential functions for each clique
[ Info: finding all frontals for down WIP
[ Info: Get potentials x3,: x4,x2,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x5,: x6,x4,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x2,x4,: x6,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=2 adding factor that is no in separator, x3
[ Info: cliq=2 adding factor that is no in separator, x1
[ Info: cliq=2 adding factor that is no in separator, x3
[ Info: cliq=2 adding factor that is no in separator, x5
[ Info: Get potentials x7,: x6,x8,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x9,: x10,x8,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x10,x6,x8,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=1 adding factor that is no in separator, x9
[ Info: cliq=1 adding factor that is no in separator, x7
[ Info: cliq=1 adding factor that is no in separator, x5
[ Info: cliq=1 adding factor that is no in separator, x7
[ Info: cliq=1 adding factor that is no in separator, x9
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
State machine iter=1
State machine iter=2
State machine iter=3[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x0,x1,: x2,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x0,x1,: x2,
[ Info: #1 --
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=4[ Info: #2 --
[ Info: [2x0p,d5,N100],
State machine iter=5
[ Info: [2x0p,d5,N100],
[ Info: #3 --
State machine iter=6
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=7[ Info: fmcmc! -- solverData(vert=x2).inferdim=25.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=30.0
State machine iter=8[ Info: fmcmc! -- solverData(vert=x1).inferdim=50.0
[ Info: Outgoing msg density on:
[ Info: up w 0 msgs
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x2]
[ Info: ---------- successive fnc approx ------------x7,: x6,x8,
State machine iter=1
[ Info: #1 --
State machine iter=2[ Info: ---------- successive fnc approx ------------x7,: x6,x8,
[ Info: #1 --
State machine iter=3[ Info: [2x0p,d5,N100],
[ Info: #2 --
State machine iter=4[ Info: [2x0p,d5,N100],
[ Info: #3 --
State machine iter=5[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x6).inferdim=25.0
State machine iter=6
[ Info: fmcmc! -- solverData(vert=x8).inferdim=25.0
[ Info: fmcmc! -- solverData(vert=x7).inferdim=50.0
State machine iter=7[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x6, :x8]
State machine iter=8
State machine iter=9[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x9,: x10,x8,
[ Info: #1 --
State machine iter=10[ Info: ---------- successive fnc approx ------------x9,: x10,x8,
[ Info: #1 --
State machine iter=1[ Info: [2x0p,d5,N100],
[ Info: #2 --
[ Info: [2x0p,d5,N100],
State machine iter=2
[ Info: #3 --
State machine iter=3[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x10).inferdim=25.0
[ Info: fmcmc! -- solverData(vert=x8).inferdim=25.0
State machine iter=4
[ Info: fmcmc! -- solverData(vert=x9).inferdim=50.0
[ Info: Outgoing msg density on:
State machine iter=5
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x10, :x8]
State machine iter=6
State machine iter=7
State machine iter=8
State machine iter=1[ Info: up w 0 msgs
State machine iter=2
[ Info: ---------- successive fnc approx ------------x3,: x4,x2,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x3,: x4,x2,
[ Info: #1 --
State machine iter=3[ Info: [2x0p,d5,N100],
[ Info: #2 --
State machine iter=4[ Info: [2x0p,d5,N100],
[ Info: #3 --
State machine iter=5
[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x4).inferdim=25.0
State machine iter=6
[ Info: fmcmc! -- solverData(vert=x2).inferdim=25.0
[ Info: fmcmc! -- solverData(vert=x3).inferdim=50.0
State machine iter=7[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x4, :x2]
State machine iter=8
[ Info: up w 0 msgs
State machine iter=9[ Info: ---------- successive fnc approx ------------x5,: x6,x4,
[ Info: #1 --
State machine iter=10
[ Info: ---------- successive fnc approx ------------x5,: x6,x4,
[ Info: #1 --
[ Info: [2x0p,d5,N100],
State machine iter=9[ Info: #2 --
[ Info: [2x0p,d5,N100],
State machine iter=10[ Info: #3 --
[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x6).inferdim=25.0
[ Info: fmcmc! -- solverData(vert=x4).inferdim=25.0
State machine iter=9
[ Info: fmcmc! -- solverData(vert=x5).inferdim=50.0
[ Info: Outgoing msg density on:
State machine iter=10
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x6, :x4]
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: up w 3 msgs
[ Info: inp.sendmsgs[x2].inferdim=25.0
[ Info: inp.sendmsgs[x2].inferdim=25.0
[ Info: inp.sendmsgs[x4].inferdim=25.0
[ Info: inp.sendmsgs[x6].inferdim=25.0
[ Info: inp.sendmsgs[x4].inferdim=25.0
[ Info: ---------- successive fnc approx ------------x2,x4,: x6,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x2,x4,: x6,
[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=x6).inferdim=25.0
State machine iter=9
[ Info: ---------- successive fnc approx ------------x2,x4,: x6,
[ Info: #1 --
State machine iter=10
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x2).inferdim=50.0
[ Info: fmcmc! -- solverData(vert=x4).inferdim=50.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x6]
State machine iter=5
State machine iter=6
[ Info: up w 3 msgs
[ Info: inp.sendmsgs[x6].inferdim=25.0
[ Info: inp.sendmsgs[x6].inferdim=25.0
[ Info: inp.sendmsgs[x8].inferdim=25.0
[ Info: inp.sendmsgs[x8].inferdim=25.0
[ Info: inp.sendmsgs[x10].inferdim=25.0
[ Info: ---------- successive fnc approx ------------x10,x6,x8,:
[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=x10).inferdim=25.0
[ Info: ---------- successive fnc approx ------------x10,x6,x8,:
[ Info: #1 --
State machine iter=9
State machine iter=10
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x10).inferdim=25.0
[ Info: fmcmc! -- solverData(vert=x6).inferdim=50.0
[ Info: fmcmc! -- solverData(vert=x8).inferdim=50.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x10, :x6, :x8]
[ Info: sym=x10, mem size of val=(5, 100) and (5, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x6, mem size of val=(5, 100) and (5, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x8, mem size of val=(5, 100) and (5, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=11
State machine iter=11[ Info: [2x0p,d5,N100],
State machine iter=11[ Info: [2x0p,d5,N100],
State machine iter=9[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=12
State machine iter=12
State machine iter=11
State machine iter=11[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=11[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=12[ Info: [2x0p,d5,N100],
State machine iter=12
State machine iter=12
[ Info: Finished tree based init-inference
State machine iter=12
┌ Warning: deprecated batchSolve! in favor of new solveTree! interface with the same and more functionality.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/SolverAPI.jl:228
Building Bayes net...
Si = Symbol[:x6, :x4]
Si = Symbol[:x9]
[ Info:
[ Info: Eliminating x5
[ Info: ===============
[ Info:
[ Info: - Removing x5
[ Info:
[ Info: Eliminating x10
[ Info: ===============
[ Info:
[ Info: - Removing x10
Si = Symbol[:x4, :x2]
Si = Symbol[:x9, :x7]
Si = Symbol[:x2, :x0]
[ Info:
[ Info: Eliminating x3
[ Info: ===============
[ Info:
[ Info: - Removing x3
[ Info:
[ Info: Eliminating x8
[ Info: ===============
[ Info:
[ Info: - Removing x8
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info:
[ Info: Eliminating x6
[ Info: ===============
[ Info:
[ Info: - Removing x6
[ Info: Looking at x6x4f1
[ Info: - Breaking link x6x4f1->x6...
[ Info: - Original links: Symbol[:x6, :x4]
[ Info: - New links: Symbol[:x4]
[ Info: x6x4f1 still has links to other variables, readding it back...
Si = Symbol[:x7, :x4]
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x2x0f1
[ Info: - Breaking link x2x0f1->x0...
[ Info: - Original links: Symbol[:x2, :x0]
[ Info: - New links: Symbol[:x2]
[ Info: x2x0f1 still has links to other variables, readding it back...
Si = Symbol[:x2]
[ Info:
[ Info: Eliminating x9
[ Info: ===============
[ Info:
[ Info: - Removing x9
[ Info: Looking at x9f1
[ Info: - Breaking link x9f1->x9...
[ Info: - Original links: Symbol[:x9]
[ Info: - New links: Symbol[]
[ Info: x9f1 doesn't have any other links, not adding it back...
[ Info: Looking at x9x7f1
[ Info: - Breaking link x9x7f1->x9...
[ Info: - Original links: Symbol[:x9, :x7]
[ Info: - New links: Symbol[:x7]
[ Info: x9x7f1 still has links to other variables, readding it back...
Si = Symbol[:x7]
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x2f2
[ Info: - Breaking link x2f2->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f2 doesn't have any other links, not adding it back...
[ Info: Looking at x4x2f1
[ Info: - Breaking link x4x2f1->x2...
[ Info: - Original links: Symbol[:x4, :x2]
[ Info: - New links: Symbol[:x4]
[ Info: x4x2f1 still has links to other variables, readding it back...
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
Si = Symbol[:x4]
[ Info:
[ Info: Eliminating x7
[ Info: ===============
[ Info:
[ Info: - Removing x7
[ Info: Looking at x7x4f1
[ Info: - Breaking link x7x4f1->x7...
[ Info: - Original links: Symbol[:x7, :x4]
[ Info: - New links: Symbol[:x4]
[ Info: x7x4f1 still has links to other variables, readding it back...
[ Info: Looking at x7f1
[ Info: - Breaking link x7f1->x7...
[ Info: - Original links: Symbol[:x7]
[ Info: - New links: Symbol[]
[ Info: x7f1 doesn't have any other links, not adding it back...
[ Info: Looking at x7f2
[ Info: - Breaking link x7f2->x7...
[ Info: - Original links: Symbol[:x7]
[ Info: - New links: Symbol[]
[ Info: x7f2 doesn't have any other links, not adding it back...
Si = Symbol[:x4]
[ Info:
[ Info: Eliminating x4
[ Info: ===============
[ Info:
[ Info: - Removing x4
[ Info: Looking at x4f2
[ Info: - Breaking link x4f2->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f2 doesn't have any other links, not adding it back...
[ Info: Looking at x4f1
[ Info: - Breaking link x4f1->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f1 doesn't have any other links, not adding it back...
[ Info: Looking at x4f4
[ Info: - Breaking link x4f4->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f4 doesn't have any other links, not adding it back...
[ Info: Looking at x4f5
[ Info: - Breaking link x4f5->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f5 doesn't have any other links, not adding it back...
[ Info: Looking at x4f3
[ Info: - Breaking link x4f3->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f3 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x0,x1,: x2,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x2,x3,: x4,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=2 adding factor that is no in separator, x1
[ Info: Get potentials x10,: x9,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x9,x8,: x7,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=3 adding factor that is no in separator, x10
[ Info: Get potentials x5,: x6,x4,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x4,x7,x6,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=1 adding factor that is no in separator, x3
[ Info: cliq=1 adding factor that is no in separator, x5
[ Info: cliq=1 adding factor that is no in separator, x8
[ Info: cliq=1 adding factor that is no in separator, x5
Bayes Tree
[ Info: Solving over the Bayes (Junction) tree.
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
State machine iter=1
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x0,x1,: x2,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x0,x1,: x2,
[ Info: #1 --
State machine iter=2
State machine iter=3
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=4
[ Info: #2 --
[ Info: [2x0p,d5,N100],
State machine iter=5[ Info: [2x0p,d5,N100],
State machine iter=6[ Info: #3 --
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=7
[ Info: fmcmc! -- solverData(vert=x2).inferdim=25.0
State machine iter=8[ Info: fmcmc! -- solverData(vert=x0).inferdim=30.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=50.0
[ Info: Outgoing msg density on:
[ Info: up w 0 msgs
State machine iter=1[ Info: prepCliqInitMsgsUp, seps=Symbol[:x2]
[ Info: ---------- successive fnc approx ------------x10,: x9,
State machine iter=2
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x10,: x9,
[ Info: #1 --
State machine iter=3[ Info: [2x0p,d5,N100],
[ Info: #2 --
State machine iter=4[ Info: [2x0p,d5,N100],
[ Info: #3 --
State machine iter=5[ Info: [2x0p,d5,N100],
State machine iter=6[ Info: fmcmc! -- solverData(vert=x9).inferdim=25.0
[ Info: fmcmc! -- solverData(vert=x10).inferdim=30.0
[ Info: Outgoing msg density on:
State machine iter=7
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x9]
State machine iter=8
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x5,: x6,x4,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x5,: x6,x4,
[ Info: #1 --
State machine iter=7[ Info: [2x0p,d5,N100],
[ Info: #2 --
State machine iter=8[ Info: [2x0p,d5,N100],
[ Info: #3 --
[ Info: up w 1 msgs
[ Info: [2x0p,d5,N100],
[ Info: inp.sendmsgs[x2].inferdim=25.0
State machine iter=5
[ Info: fmcmc! -- solverData(vert=x6).inferdim=25.0
[ Info: ---------- successive fnc approx ------------x2,x3,: x4,
[ Info: fmcmc! -- solverData(vert=x4).inferdim=25.0
[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=x5).inferdim=50.0
[ Info: ---------- successive fnc approx ------------x2,x3,: x4,
[ Info: Outgoing msg density on:
[ Info: #1 --
State machine iter=6
State machine iter=7
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x6, :x4]
[ Info: [2x0p,d5,N100],
State machine iter=8[ Info: [2x0p,d5,N100],
[ Info: #2 --
[ Info: up w 1 msgs
State machine iter=9[ Info: [2x0p,d5,N100],
[ Info: inp.sendmsgs[x9].inferdim=25.0
[ Info: [2x0p,d5,N100],
[ Info: ---------- successive fnc approx ------------x9,x8,: x7,
State machine iter=10[ Info: #3 --
[ Info: #1 --
[ Info: [2x0p,d5,N100],
[ Info: ---------- successive fnc approx ------------x9,x8,: x7,
[ Info: [2x0p,d5,N100],
[ Info: #1 --
State machine iter=9[ Info: fmcmc! -- solverData(vert=x4).inferdim=25.0
[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x3).inferdim=50.0
[ Info: [2x0p,d5,N100],
State machine iter=10[ Info: fmcmc! -- solverData(vert=x2).inferdim=50.0
[ Info: #2 --
[ Info: Outgoing msg density on:
[ Info: [2x0p,d5,N100],
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x4]
State machine iter=9[ Info: [2x0p,d5,N100],
[ Info: #3 --
[ Info: [2x0p,d5,N100],
State machine iter=10[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x7).inferdim=25.0
State machine iter=9[ Info: fmcmc! -- solverData(vert=x8).inferdim=50.0
[ Info: fmcmc! -- solverData(vert=x9).inferdim=50.0
[ Info: Outgoing msg density on:
State machine iter=10
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x7]
State machine iter=5
State machine iter=6
[ Info: up w 3 msgs
[ Info: inp.sendmsgs[x4].inferdim=25.0
[ Info: inp.sendmsgs[x7].inferdim=25.0
[ Info: inp.sendmsgs[x6].inferdim=25.0
[ Info: inp.sendmsgs[x4].inferdim=25.0
[ Info: ---------- successive fnc approx ------------x4,x7,x6,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x4,x7,x6,:
[ Info: #1 --
[ Info: [2x0p,d5,N100],
State machine iter=9
[ Info: [2x0p,d5,N100],
[ Info: #2 --
State machine iter=10
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: #3 --
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x7).inferdim=50.0
[ Info: fmcmc! -- solverData(vert=x6).inferdim=50.0
[ Info: ---------- successive fnc approx ------------x4,x7,x6,:
[ Info: #1 --
[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x4).inferdim=50.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x4, :x7, :x6]
[ Info: sym=x4, mem size of val=(5, 100) and (5, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x7, mem size of val=(5, 100) and (5, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x6, mem size of val=(5, 100) and (5, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=11
State machine iter=11[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=11[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=9[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=12[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=11
[ Info: [2x0p,d5,N100],
State machine iter=12[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=11[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=12[ Info: [2x0p,d5,N100],
State machine iter=12
State machine iter=12
[ Info: Finished tree based init-inference
(sym, round.(XX, digits=5)) = (:x2, [-0.0346, 0.01813, -0.00059, 0.01968, 0.0205])
(sym, round.(XX, digits=5)) = (:x3, [-0.24051, 0.0323, -0.00052, -0.02848, 0.01675])
(sym, round.(XX, digits=5)) = (:x4, [-0.08168, 0.03486, 0.00026, -0.06055, 0.02789])
(sym, round.(XX, digits=5)) = (:x5, [0.9466, 0.11401, 0.0008, 0.31637, 0.01944])
(sym, round.(XX, digits=5)) = (:x6, [1.62494, 0.11909, 0.00611, 0.40722, -0.07752])
(sym, round.(XX, digits=5)) = (:x7, [2.82062, 0.09327, 0.00976, 0.64466, -0.06879])
(sym, round.(XX, digits=5)) = (:x8, [5.63822, -0.01499, 0.01547, 1.07033, -0.13712])
(sym, round.(XX, digits=5)) = (:x9, [7.84638, 0.03941, 0.02296, 0.65959, -0.06674])
Test Summary: | Pass Total
test many DynPose2 chain stationary and 'pulled'... | 65 65
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x1f1, :x0x1f1]
[ Info: do init of x1
[ Info: [2x0p,d5,N100],
┌ Warning: deprecated batchSolve! in favor of new solveTree! interface with the same and more functionality.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/SolverAPI.jl:228
Building Bayes net...
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
Si = Symbol[:x0]
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x0f2
[ Info: - Breaking link x0f2->x0...
[ Info: - Original links: Symbol[:x0]
[ Info: - New links: Symbol[]
[ Info: x0f2 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x0,x1,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Solving over the Bayes (Junction) tree.
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x0,x1,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x0,x1,:
[ Info: #1 --
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: #2 --
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: #3 --
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x0).inferdim=30.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=30.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x0, :x1]
[ Info: sym=x0, mem size of val=(5, 100) and (5, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x1, mem size of val=(5, 100) and (5, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
test many DynPose2 sideways velocity... | 10 10
[TEST] Pose3 evaluations...
[ Info: try doautoinit! of x1
Test Summary: |
Adding PriorPose3 to graph... | No tests
[ Info: x1 is not initialized, and will do so now...
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x1f1]
[ Info: do init of x1
muX1 = Statistics.mean(getVal(fg, :x1), dims=2) = [0.06169218870617477; -0.01455234881692658; -0.2418956504135936; 0.006004833847802235; -0.0010242161214177531; 0.017012346563123792]
stdX1 = Statistics.std(getVal(fg, :x1), dims=2) = [0.9165749044811559; 1.1335281408886166; 1.0113380971142818; 0.09948952591844519; 0.08887310371906473; 0.09602780059738654]
Test Summary: | Pass Total
Ensure vertex initialized properly | 5 5
Test Summary: | Pass Total
Testing PriorPose3 evaluation... | 2 2
Test Summary: |
Adding Pose3Pose3 to graph... | No tests
[ Info: try doautoinit! of x2
[ Info: x2 is not initialized, and will do so now...
[ Info: try doautoinit! of x2
[ Info: init with useinitfct Symbol[:x1x2f1]
[ Info: do init of x2
X1ptsMean = [0.41145768227203505; -0.1878314030820322; -0.6304391332201993; 0.032916470488532676; -0.015590550668651676; 0.02956429794886433]
Test Summary: | Pass Total
Testing Pose3Pose3 evaluation... | 3 3
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
Si = Symbol[:x2]
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x2,x1,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x2,x1,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x2,x1,:
[ Info: #1 --
[ Info: [2x0p,d6,N100],
[ Info: #2 --
[ Info: [2x0p,d6,N100],
[ Info: #3 --
[ Info: [2x0p,d6,N100],
[ Info: fmcmc! -- solverData(vert=x2).inferdim=36.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=42.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x2, :x1]
[ Info: sym=x2, mem size of val=(6, 100) and (6, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x1, mem size of val=(6, 100) and (6, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
Construct Bayes tree and perform inference... | 1 1
muX2[1:3] - [10.0; 0; 0] = [0.09639748136762094, 0.13085524829043085, 0.13358905612735472]
previous test failure 0.75 .< [1.47, 1.7, 1.38] .< 2.25
println("previous test failure 0.75 .< $(round.(stdX2[1:3], digits=2)) .< 2.25") = nothing
Test Summary: | Pass Total
Ensure basic parameters on x1,x2 after inference... | 8 8
[SUCCESS]
[TEST] ensure Pose3Pose3NH evaluations...
Test Summary: | Pass Total
Test syntax for null hypothesis matrix substitution | 1 1
Test if null hypothesis occurs as expected...
Adding PriorPose3 to graph...
[ Info: try doautoinit! of x1
[ Info: x1 is not initialized, and will do so now...
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x1f1]
[ Info: do init of x1
Ensure vertex initialized properly
Testing PriorPose3 evaluation...
[ Info: try doautoinit! of x2
[ Info: try doautoinit! of x2
[ Info: init with useinitfct Symbol[:x1x2f1]
[ Info: do init of x2
[ Info: try doautoinit! of x3
Testing Pose3Pose3 evaluation...
┌ Warning: deprecated batchSolve! in favor of new solveTree! interface with the same and more functionality.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/SolverAPI.jl:228
Building Bayes net...
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
Si = Symbol[:x1, :x3]
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info: Looking at x1x3f1
[ Info: - Breaking link x1x3f1->x1...
[ Info: - Original links: Symbol[:x1, :x3]
[ Info: - New links: Symbol[:x3]
[ Info: x1x3f1 still has links to other variables, readding it back...
Si = Symbol[:x3]
[ Info:
[ Info: Eliminating x3
[ Info: ===============
[ Info:
[ Info: - Removing x3
[ Info: Looking at x3f2
[ Info: - Breaking link x3f2->x3...
[ Info: - Original links: Symbol[:x3]
[ Info: - New links: Symbol[]
[ Info: x3f2 doesn't have any other links, not adding it back...
[ Info: Looking at x3f1
[ Info: - Breaking link x3f1->x3...
[ Info: - Original links: Symbol[:x3]
[ Info: - New links: Symbol[]
[ Info: x3f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x3,x1,x2,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Solving over the Bayes (Junction) tree.
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x3,x1,x2,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x3,x1,x2,:
[ Info: #1 --
[ Info: [2x0p,d6,N100],
[ Info: [2x0p,d6,N100],
[ Info: #2 --
[ Info: [2x0p,d6,N100],
[ Info: [2x0p,d6,N100],
[ Info: #3 --
[ Info: [2x0p,d6,N100],
[ Info: [2x0p,d6,N100],
[ Info: fmcmc! -- solverData(vert=x3).inferdim=36.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=42.0
[ Info: fmcmc! -- solverData(vert=x2).inferdim=72.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x3, :x1, :x2]
[ Info: sym=x3, mem size of val=(6, 100) and (6, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x1, mem size of val=(6, 100) and (6, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x2, mem size of val=(6, 100) and (6, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
Adding Pose3Pose3NH to graph...
[ Info: Finished tree based init-inference
┌ Warning: FunctorPairwiseNH will be deprecated in favor of common `nullhypo=` interface.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/ApproxConv.jl:200
┌ Warning: FunctorPairwiseNH will be deprecated in favor of common `nullhypo=` interface.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/ApproxConv.jl:200
Test Summary: | Pass Total
loading validation data for testing. | 2 2
[SUCCESS]
[TEST] PartialPose3XYYaw evaluations...
┌ Warning: Skipping JLD tests in RoME
└ @ Main ~/.julia/packages/RoME/uM3dB/test/runtests.jl:68
Test Summary: | Pass Total
test x translation case | 4 4
Test Summary: | Pass Total
test z translation case | 4 4
res = [-1.7763568394002505e-15, 0.0, 0.0, 0.0, 0.0, 0.0]
Test Summary: | Pass Total
test roll and translate case 1 | 4 4
res = [0.0, 2.220446049250313e-15, 1.7763568394002505e-15, 0.0, 0.0, 0.0]
Test Summary: | Pass Total
test roll and translate case 2 | 4 4
res = [8.881784197001252e-16, 0.0, 0.0, 0.0, -2.102094367686146e-17, 0.0]
res = [0.0, 0.0, -0.0]
Test Summary: | Pass Total
test pitch and translate case 1 | 4 4
res = [0.0, 0.0, 0.0, 0.0, -2.102094367686146e-17, 0.0]
res = [0.0, 0.0, -0.0]
Test Summary: | Pass Total
test pitch and translate case 2 | 4 4
res = [8.881784197001252e-16, 0.0, 1.7763568394002505e-15, 0.0, -2.102094367686146e-17, 0.0]
res = [6.835808657661922e-16, 0.0, -0.0]
Test Summary: | Pass Total
test pitch and translate case 3 | 4 4
res = [8.881784197001252e-16, 0.0, 1.7763568394002505e-15, 0.0, -2.102094367686146e-17, 0.0]
res = [6.835808657661922e-16, 0.0, -0.0]
Test Summary: | Pass Total
test pitch and translate case 4 | 4 4
res = [-1.110223024625155e-15, -1.7763568394002505e-15, 0.0, 0.0, 0.0, -1.2325951644078318e-32]
res = [-6.123233995736765e-16, -0.0, -0.0]
Test Summary: | Pass Total
test yaw and translate case 1 | 4 4
[SUCCESS]
[TEST] partial pose3 evaluations...
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x1f1]
[ Info: do init of x1
[ Info: x2 is not initialized, and will do so now...
[ Info: try doautoinit! of x2
[ Info: init with useinitfct Symbol[:x2f1, :x1x2f1]
[ Info: do init of x2
[ Info: [0x6p,d6,N50],
Test Summary: | Pass Total
test PartialPriorRollPitchZ evaluations | 11 11
Test Summary: | Pass Total
test residual function of PartialPose3XYYaw | 5 5
mu2 = [20.0, 5.0, 1.5707963267948966]
Statistics.mean(pts[newdims, :], dims=2) = [19.85029287774343; 5.255411614906605; 1.5866302518555089]
Test Summary: | Pass Total
test PartialPose3XYYaw evaluations | 6 6
[ Info: [0x6p,d6,N50],
Test Summary: | Pass Total
test predictbelief with two functions | 5 5
[SUCCESS]
[TEST] packing converters...
WARNING: using DistributedFactorGraphs.data in module Main conflicts with an existing identifier.
Test Summary: | Pass Total
test PriorPoint2 | 2 2
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x1f1]
[ Info: do init of x1
[ Info: try doautoinit! of x2
┌ Warning: getData is deprecated, please use solverData()
└ @ DistributedFactorGraphs ~/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:188
┌ Warning: Retrieving serialization module from AbstractDFG - override this in the 'GraphsDFG{SolverParams} structure! This is returning Main
└ @ DistributedFactorGraphs ~/.julia/packages/DistributedFactorGraphs/NMxiR/src/services/AbstractDFG.jl:25
┌ Warning: getData is deprecated, please use solverData()
└ @ DistributedFactorGraphs ~/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:188
┌ Warning: getData is deprecated, please use solverData()
└ @ DistributedFactorGraphs ~/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:188
Test Summary: | Pass Total
test conversions of PriorPose2 | 4 4
Test Summary: | Pass Total
test conversions of Pose2Pose2 | 2 2
[ Info: try doautoinit! of x2
[ Info: init with useinitfct Symbol[:x1x2f1]
[ Info: do init of x2
[ Info: try doautoinit! of l1
Test Summary: | Pass Total
test conversions of Pose2Point2BearingRange | 4 4
[ Info: try doautoinit! of x1
┌ Warning: threadmodel is not defined, fix with DFG
└ @ Main ~/.julia/packages/RoME/uM3dB/test/testpackingconverters.jl:156
┌ Warning: getData is deprecated, please use solverData()
└ @ DistributedFactorGraphs ~/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:188
┌ Warning: Retrieving serialization module from AbstractDFG - override this in the 'GraphsDFG{SolverParams} structure! This is returning Main
└ @ DistributedFactorGraphs ~/.julia/packages/DistributedFactorGraphs/NMxiR/src/services/AbstractDFG.jl:25
┌ Warning: getData is deprecated, please use solverData()
└ @ DistributedFactorGraphs ~/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:188
┌ Warning: getData is deprecated, please use solverData()
└ @ DistributedFactorGraphs ~/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:188
Test Summary: | Pass Total
test conversions of PriorPose3 | 10 10
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x1f1]
[ Info: do init of x1
[ Info: try doautoinit! of x2
Test Summary: | Pass Total
test conversions of Pose3Pose3 | 3 3
[ Info: try doautoinit! of x2
[ Info: init with useinitfct Symbol[:x1x2f1, :x1x2f2]
[ Info: do init of x2
┌ Warning: FunctorPairwiseNH will be deprecated in favor of common `nullhypo=` interface.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/ApproxConv.jl:200
[ Info: [2x0p,d6,N100],
Test Summary: | Pass Total
test conversions of Pose3Pose3NH | 4 4
Test Summary: | Pass Total
test conversions of PartialPriorRollPitchZ | 1 1
Test Summary: | Pass Total
test conversions of PartialPose3XYYaw | 1 1
Test Summary: | Pass Total
test conversions of PartialPose3XYYawNH | 1 1
Test Summary: | Pass Total
test PriorPoint2DensityNH | 2 2
[SUCCESS]
Basic Pose2 initialization: Error During Test at /root/.julia/packages/RoME/uM3dB/test/TestDefaultFGInitialization.jl:5
Got exception outside of a @test
MethodError: no method matching addVariable!(::GraphsDFG{SolverParams}, ::Symbol, ::Type{Pose2}; N=100, autoinit=true, ready=0, labels=Symbol[])
Closest candidates are:
addVariable!(::G<:AbstractDFG, ::Symbol, ::Type{#s42} where #s42<:InferenceVariable; N, autoinit, solvable, dontmargin, labels, smalldata) where G<:AbstractDFG at /root/.julia/packages/IncrementalInference/FweX2/src/FactorGraph01.jl:445 got unsupported keyword argument "ready"
addVariable!(::AbstractDFG, ::Symbol, !Matched::InferenceVariable; N, autoinit, solvable, dontmargin, labels, smalldata, checkduplicates) at /root/.julia/packages/IncrementalInference/FweX2/src/FactorGraph01.jl:422 got unsupported keyword argument "ready"
addVariable!(::GraphsDFG, !Matched::DFGVariable) at /root/.julia/packages/DistributedFactorGraphs/NMxiR/src/GraphsDFG/services/GraphsDFG.jl:72 got unsupported keyword arguments "N", "autoinit", "ready", "labels"
...
Stacktrace:
[1] kwerr(::NamedTuple{(:N, :autoinit, :ready, :labels),Tuple{Int64,Bool,Int64,Array{Symbol,1}}}, ::Function, ::GraphsDFG{SolverParams}, ::Symbol, ::Type) at ./error.jl:125
[2] (::getfield(DistributedFactorGraphs, Symbol("#kw##addVariable!")))(::NamedTuple{(:N, :autoinit, :ready, :labels),Tuple{Int64,Bool,Int64,Array{Symbol,1}}}, ::typeof(addVariable!), ::GraphsDFG{SolverParams}, ::Symbol, ::Type{Pose2}) at ./none:0
[3] #initFactorGraph!#50(::Nothing, ::Nothing, ::Int64, ::Symbol, ::Int64, ::Type, ::Array{Symbol,1}, ::typeof(initFactorGraph!), ::GraphsDFG{SolverParams}) at /root/.julia/packages/RoME/uM3dB/src/RobotUtils.jl:327
[4] (::getfield(RoME, Symbol("#kw##initFactorGraph!")))(::NamedTuple{(:lbl, :ready),Tuple{Symbol,Int64}}, ::typeof(initFactorGraph!), ::GraphsDFG{SolverParams}) at ./none:0
[5] top-level scope at /root/.julia/packages/RoME/uM3dB/test/TestDefaultFGInitialization.jl:7
[6] top-level scope at /buildworker/worker/package_linux64/build/usr/share/julia/stdlib/v1.2/Test/src/Test.jl:1113
[7] top-level scope at /root/.julia/packages/RoME/uM3dB/test/TestDefaultFGInitialization.jl:6
[8] include at ./boot.jl:328 [inlined]
[9] include_relative(::Module, ::String) at ./loading.jl:1094
[10] include(::Module, ::String) at ./Base.jl:31
[11] include(::String) at ./client.jl:431
[12] top-level scope at /root/.julia/packages/RoME/uM3dB/test/runtests.jl:87
[13] include at ./boot.jl:328 [inlined]
[14] include_relative(::Module, ::String) at ./loading.jl:1094
[15] include(::Module, ::String) at ./Base.jl:31
[16] include(::String) at ./client.jl:431
[17] top-level scope at none:5
[18] eval(::Module, ::Any) at ./boot.jl:330
[19] exec_options(::Base.JLOptions) at ./client.jl:271
[20] _start() at ./client.jl:464
Test Summary: | Error Total
Basic Pose2 initialization | 1 1
ERROR: LoadError: LoadError: Some tests did not pass: 0 passed, 0 failed, 1 errored, 0 broken.
in expression starting at /root/.julia/packages/RoME/uM3dB/test/TestDefaultFGInitialization.jl:5
in expression starting at /root/.julia/packages/RoME/uM3dB/test/runtests.jl:87
ERROR: Package RoME errored during testing
Stacktrace:
[1] pkgerror(::String, ::Vararg{String,N} where N) at /buildworker/worker/package_linux64/build/usr/share/julia/stdlib/v1.2/Pkg/src/Types.jl:112
[2] #test#119(::Bool, ::Nothing, ::typeof(Pkg.Operations.test), ::Pkg.Types.Context, ::Array{Pkg.Types.PackageSpec,1}) at /buildworker/worker/package_linux64/build/usr/share/julia/stdlib/v1.2/Pkg/src/Operations.jl:1288
[3] #test at ./none:0 [inlined]
[4] #test#62(::Bool, ::Nothing, ::Base.Iterators.Pairs{Union{},Union{},Tuple{},NamedTuple{(),Tuple{}}}, ::typeof(Pkg.API.test), ::Pkg.Types.Context, ::Array{Pkg.Types.PackageSpec,1}) at /buildworker/worker/package_linux64/build/usr/share/julia/stdlib/v1.2/Pkg/src/API.jl:245
[5] test at /buildworker/worker/package_linux64/build/usr/share/julia/stdlib/v1.2/Pkg/src/API.jl:233 [inlined]
[6] #test#61 at /buildworker/worker/package_linux64/build/usr/share/julia/stdlib/v1.2/Pkg/src/API.jl:230 [inlined]
[7] test at /buildworker/worker/package_linux64/build/usr/share/julia/stdlib/v1.2/Pkg/src/API.jl:230 [inlined]
[8] #test#60 at /buildworker/worker/package_linux64/build/usr/share/julia/stdlib/v1.2/Pkg/src/API.jl:229 [inlined]
[9] test at /buildworker/worker/package_linux64/build/usr/share/julia/stdlib/v1.2/Pkg/src/API.jl:229 [inlined]
[10] #test#59(::Base.Iterators.Pairs{Union{},Union{},Tuple{},NamedTuple{(),Tuple{}}}, ::typeof(Pkg.API.test), ::String) at /buildworker/worker/package_linux64/build/usr/share/julia/stdlib/v1.2/Pkg/src/API.jl:228
[11] test(::String) at /buildworker/worker/package_linux64/build/usr/share/julia/stdlib/v1.2/Pkg/src/API.jl:228
[12] top-level scope at none:10
Results with Julia v1.3.0
Testing was unsuccessful : package has test failures.
Last evaluation was ago and took 49 minutes, 27 seconds.
Click here to download the log file.
▸ Click here to show the log contents.
Resolving package versions...
Installed URIParser ─────────────────── v0.4.0
Installed IniFile ───────────────────── v0.5.0
Installed SortingAlgorithms ─────────── v0.3.1
Installed CoordinateTransformations ─── v0.5.0
Installed DiffResults ───────────────── v0.0.4
Installed Arpack ────────────────────── v0.3.1
Installed DataStructures ────────────── v0.17.6
Installed RoME ──────────────────────── v0.5.1
Installed JLD2 ──────────────────────── v0.1.9
Installed LineSearches ──────────────── v7.0.1
Installed Rotations ─────────────────── v0.12.0
Installed NLsolve ───────────────────── v4.2.0
Installed StaticArrays ──────────────── v0.12.1
Installed QuadGK ────────────────────── v2.1.1
Installed Compose ───────────────────── v0.7.3
Installed FileIO ────────────────────── v1.1.0
Installed BinaryProvider ────────────── v0.5.8
Installed Compat ────────────────────── v2.2.0
Installed InvertedIndices ───────────── v1.0.0
Installed NLSolversBase ─────────────── v7.5.0
Installed Parsers ───────────────────── v0.3.10
Installed StatsFuns ─────────────────── v0.9.0
Installed DocStringExtensions ───────── v0.8.1
Installed CategoricalArrays ─────────── v0.7.3
Installed IterTools ─────────────────── v1.3.0
Installed ProgressMeter ─────────────── v1.2.0
Installed Rmath ─────────────────────── v0.5.1
Installed MacroTools ────────────────── v0.5.2
Installed Missings ──────────────────── v0.4.3
Installed Graphs ────────────────────── v0.10.3
Installed TableTraits ───────────────── v1.0.0
Installed Distributions ─────────────── v0.21.9
Installed Parameters ────────────────── v0.12.0
Installed FixedPointNumbers ─────────── v0.6.1
Installed PositiveFactorizations ────── v0.2.3
Installed SpecialFunctions ──────────── v0.8.0
Installed KernelDensityEstimate ─────── v0.5.2
Installed ApproxManifoldProducts ────── v0.1.2
Installed JSON ──────────────────────── v0.21.0
Installed OrderedCollections ────────── v1.1.0
Installed CommonSubexpressions ──────── v0.2.0
Installed IncrementalInference ──────── v0.8.2
Installed BinDeps ───────────────────── v0.8.10
Installed ColorTypes ────────────────── v0.8.0
Installed LightGraphs ───────────────── v1.3.0
Installed DataAPI ───────────────────── v1.1.0
Installed Distances ─────────────────── v0.8.2
Installed Neo4j ─────────────────────── v2.0.0
Installed Tables ────────────────────── v0.2.11
Installed TransformUtils ────────────── v0.2.2
Installed ForwardDiff ───────────────── v0.10.7
Installed NaNMath ───────────────────── v0.3.3
Installed DataValueInterfaces ───────── v1.0.0
Installed DiffEqDiffTools ───────────── v1.5.0
Installed Optim ─────────────────────── v0.19.5
Installed MbedTLS ───────────────────── v0.7.0
Installed DiffRules ─────────────────── v0.1.0
Installed ArrayInterface ────────────── v2.0.0
Installed Calculus ──────────────────── v0.5.1
Installed ArnoldiMethod ─────────────── v0.0.4
Installed Measures ──────────────────── v0.3.0
Installed Colors ────────────────────── v0.9.6
Installed FunctionalStateMachine ────── v0.1.3
Installed Inflate ───────────────────── v0.1.1
Installed Requires ──────────────────── v0.5.2
Installed IteratorInterfaceExtensions ─ v1.0.0
Installed CodecZlib ─────────────────── v0.6.0
Installed SimpleTraits ──────────────── v0.9.1
Installed PooledArrays ──────────────── v0.5.2
Installed JSON2 ─────────────────────── v0.3.1
Installed DataFrames ────────────────── v0.19.4
Installed DistributedFactorGraphs ───── v0.5.1
Installed HTTP ──────────────────────── v0.8.8
Installed TranscodingStreams ────────── v0.9.5
Installed FillArrays ────────────────── v0.8.2
Installed GraphPlot ─────────────────── v0.3.1
Installed PDMats ────────────────────── v0.9.10
Installed Reexport ──────────────────── v0.2.0
Installed StatsBase ─────────────────── v0.32.0
Updating `~/.julia/environments/v1.3/Project.toml`
[91fb55c2] + RoME v0.5.1
Updating `~/.julia/environments/v1.3/Manifest.toml`
[9bbbb610] + ApproxManifoldProducts v0.1.2
[ec485272] + ArnoldiMethod v0.0.4
[7d9fca2a] + Arpack v0.3.1
[4fba245c] + ArrayInterface v2.0.0
[9e28174c] + BinDeps v0.8.10
[b99e7846] + BinaryProvider v0.5.8
[49dc2e85] + Calculus v0.5.1
[324d7699] + CategoricalArrays v0.7.3
[944b1d66] + CodecZlib v0.6.0
[3da002f7] + ColorTypes v0.8.0
[5ae59095] + Colors v0.9.6
[bbf7d656] + CommonSubexpressions v0.2.0
[34da2185] + Compat v2.2.0
[a81c6b42] + Compose v0.7.3
[150eb455] + CoordinateTransformations v0.5.0
[9a962f9c] + DataAPI v1.1.0
[a93c6f00] + DataFrames v0.19.4
[864edb3b] + DataStructures v0.17.6
[e2d170a0] + DataValueInterfaces v1.0.0
[01453d9d] + DiffEqDiffTools v1.5.0
[163ba53b] + DiffResults v0.0.4
[b552c78f] + DiffRules v0.1.0
[b4f34e82] + Distances v0.8.2
[b5cc3c7e] + DistributedFactorGraphs v0.5.1
[31c24e10] + Distributions v0.21.9
[ffbed154] + DocStringExtensions v0.8.1
[5789e2e9] + FileIO v1.1.0
[1a297f60] + FillArrays v0.8.2
[53c48c17] + FixedPointNumbers v0.6.1
[f6369f11] + ForwardDiff v0.10.7
[3e9e306e] + FunctionalStateMachine v0.1.3
[a2cc645c] + GraphPlot v0.3.1
[86223c79] + Graphs v0.10.3
[cd3eb016] + HTTP v0.8.8
[904591bb] + IncrementalInference v0.8.2
[d25df0c9] + Inflate v0.1.1
[83e8ac13] + IniFile v0.5.0
[41ab1584] + InvertedIndices v1.0.0
[c8e1da08] + IterTools v1.3.0
[82899510] + IteratorInterfaceExtensions v1.0.0
[033835bb] + JLD2 v0.1.9
[682c06a0] + JSON v0.21.0
[2535ab7d] + JSON2 v0.3.1
[2472808a] + KernelDensityEstimate v0.5.2
[093fc24a] + LightGraphs v1.3.0
[d3d80556] + LineSearches v7.0.1
[1914dd2f] + MacroTools v0.5.2
[739be429] + MbedTLS v0.7.0
[442fdcdd] + Measures v0.3.0
[e1d29d7a] + Missings v0.4.3
[d41bc354] + NLSolversBase v7.5.0
[2774e3e8] + NLsolve v4.2.0
[77ba4419] + NaNMath v0.3.3
[d2adbeaf] + Neo4j v2.0.0
[429524aa] + Optim v0.19.5
[bac558e1] + OrderedCollections v1.1.0
[90014a1f] + PDMats v0.9.10
[d96e819e] + Parameters v0.12.0
[69de0a69] + Parsers v0.3.10
[2dfb63ee] + PooledArrays v0.5.2
[85a6dd25] + PositiveFactorizations v0.2.3
[92933f4c] + ProgressMeter v1.2.0
[1fd47b50] + QuadGK v2.1.1
[189a3867] + Reexport v0.2.0
[ae029012] + Requires v0.5.2
[79098fc4] + Rmath v0.5.1
[91fb55c2] + RoME v0.5.1
[6038ab10] + Rotations v0.12.0
[699a6c99] + SimpleTraits v0.9.1
[a2af1166] + SortingAlgorithms v0.3.1
[276daf66] + SpecialFunctions v0.8.0
[90137ffa] + StaticArrays v0.12.1
[2913bbd2] + StatsBase v0.32.0
[4c63d2b9] + StatsFuns v0.9.0
[3783bdb8] + TableTraits v1.0.0
[bd369af6] + Tables v0.2.11
[3bb67fe8] + TranscodingStreams v0.9.5
[9b8138ad] + TransformUtils v0.2.2
[30578b45] + URIParser v0.4.0
[2a0f44e3] + Base64
[ade2ca70] + Dates
[8bb1440f] + DelimitedFiles
[8ba89e20] + Distributed
[9fa8497b] + Future
[b77e0a4c] + InteractiveUtils
[76f85450] + LibGit2
[8f399da3] + Libdl
[37e2e46d] + LinearAlgebra
[56ddb016] + Logging
[d6f4376e] + Markdown
[a63ad114] + Mmap
[44cfe95a] + Pkg
[de0858da] + Printf
[9abbd945] + Profile
[3fa0cd96] + REPL
[9a3f8284] + Random
[ea8e919c] + SHA
[9e88b42a] + Serialization
[1a1011a3] + SharedArrays
[6462fe0b] + Sockets
[2f01184e] + SparseArrays
[10745b16] + Statistics
[4607b0f0] + SuiteSparse
[8dfed614] + Test
[cf7118a7] + UUIDs
[4ec0a83e] + Unicode
Building Arpack ──────────→ `~/.julia/packages/Arpack/cu5By/deps/build.log`
Building Rmath ───────────→ `~/.julia/packages/Rmath/4wt82/deps/build.log`
Building SpecialFunctions → `~/.julia/packages/SpecialFunctions/ne2iw/deps/build.log`
Building MbedTLS ─────────→ `~/.julia/packages/MbedTLS/a1JFn/deps/build.log`
Building CodecZlib ───────→ `~/.julia/packages/CodecZlib/5t9zO/deps/build.log`
Testing RoME
Resolving package versions...
Status `/tmp/jl_DjgGBH/Manifest.toml`
[9bbbb610] ApproxManifoldProducts v0.1.2
[ec485272] ArnoldiMethod v0.0.4
[7d9fca2a] Arpack v0.3.1
[4fba245c] ArrayInterface v2.0.0
[9e28174c] BinDeps v0.8.10
[b99e7846] BinaryProvider v0.5.8
[49dc2e85] Calculus v0.5.1
[324d7699] CategoricalArrays v0.7.3
[944b1d66] CodecZlib v0.6.0
[3da002f7] ColorTypes v0.8.0
[5ae59095] Colors v0.9.6
[bbf7d656] CommonSubexpressions v0.2.0
[34da2185] Compat v2.2.0
[a81c6b42] Compose v0.7.3
[150eb455] CoordinateTransformations v0.5.0
[9a962f9c] DataAPI v1.1.0
[a93c6f00] DataFrames v0.19.4
[864edb3b] DataStructures v0.17.6
[e2d170a0] DataValueInterfaces v1.0.0
[01453d9d] DiffEqDiffTools v1.5.0
[163ba53b] DiffResults v0.0.4
[b552c78f] DiffRules v0.1.0
[b4f34e82] Distances v0.8.2
[b5cc3c7e] DistributedFactorGraphs v0.5.1
[31c24e10] Distributions v0.21.9
[ffbed154] DocStringExtensions v0.8.1
[5789e2e9] FileIO v1.1.0
[1a297f60] FillArrays v0.8.2
[53c48c17] FixedPointNumbers v0.6.1
[f6369f11] ForwardDiff v0.10.7
[3e9e306e] FunctionalStateMachine v0.1.3
[a2cc645c] GraphPlot v0.3.1
[86223c79] Graphs v0.10.3
[cd3eb016] HTTP v0.8.8
[904591bb] IncrementalInference v0.8.2
[d25df0c9] Inflate v0.1.1
[83e8ac13] IniFile v0.5.0
[41ab1584] InvertedIndices v1.0.0
[c8e1da08] IterTools v1.3.0
[82899510] IteratorInterfaceExtensions v1.0.0
[033835bb] JLD2 v0.1.9
[682c06a0] JSON v0.21.0
[2535ab7d] JSON2 v0.3.1
[2472808a] KernelDensityEstimate v0.5.2
[093fc24a] LightGraphs v1.3.0
[d3d80556] LineSearches v7.0.1
[1914dd2f] MacroTools v0.5.2
[739be429] MbedTLS v0.7.0
[442fdcdd] Measures v0.3.0
[e1d29d7a] Missings v0.4.3
[d41bc354] NLSolversBase v7.5.0
[2774e3e8] NLsolve v4.2.0
[77ba4419] NaNMath v0.3.3
[d2adbeaf] Neo4j v2.0.0
[429524aa] Optim v0.19.5
[bac558e1] OrderedCollections v1.1.0
[90014a1f] PDMats v0.9.10
[d96e819e] Parameters v0.12.0
[69de0a69] Parsers v0.3.10
[2dfb63ee] PooledArrays v0.5.2
[85a6dd25] PositiveFactorizations v0.2.3
[92933f4c] ProgressMeter v1.2.0
[1fd47b50] QuadGK v2.1.1
[189a3867] Reexport v0.2.0
[ae029012] Requires v0.5.2
[79098fc4] Rmath v0.5.1
[91fb55c2] RoME v0.5.1
[6038ab10] Rotations v0.12.0
[699a6c99] SimpleTraits v0.9.1
[a2af1166] SortingAlgorithms v0.3.1
[276daf66] SpecialFunctions v0.8.0
[90137ffa] StaticArrays v0.12.1
[2913bbd2] StatsBase v0.32.0
[4c63d2b9] StatsFuns v0.9.0
[3783bdb8] TableTraits v1.0.0
[bd369af6] Tables v0.2.11
[3bb67fe8] TranscodingStreams v0.9.5
[9b8138ad] TransformUtils v0.2.2
[30578b45] URIParser v0.4.0
[2a0f44e3] Base64 [`@stdlib/Base64`]
[ade2ca70] Dates [`@stdlib/Dates`]
[8bb1440f] DelimitedFiles [`@stdlib/DelimitedFiles`]
[8ba89e20] Distributed [`@stdlib/Distributed`]
[9fa8497b] Future [`@stdlib/Future`]
[b77e0a4c] InteractiveUtils [`@stdlib/InteractiveUtils`]
[76f85450] LibGit2 [`@stdlib/LibGit2`]
[8f399da3] Libdl [`@stdlib/Libdl`]
[37e2e46d] LinearAlgebra [`@stdlib/LinearAlgebra`]
[56ddb016] Logging [`@stdlib/Logging`]
[d6f4376e] Markdown [`@stdlib/Markdown`]
[a63ad114] Mmap [`@stdlib/Mmap`]
[44cfe95a] Pkg [`@stdlib/Pkg`]
[de0858da] Printf [`@stdlib/Printf`]
[9abbd945] Profile [`@stdlib/Profile`]
[3fa0cd96] REPL [`@stdlib/REPL`]
[9a3f8284] Random [`@stdlib/Random`]
[ea8e919c] SHA [`@stdlib/SHA`]
[9e88b42a] Serialization [`@stdlib/Serialization`]
[1a1011a3] SharedArrays [`@stdlib/SharedArrays`]
[6462fe0b] Sockets [`@stdlib/Sockets`]
[2f01184e] SparseArrays [`@stdlib/SparseArrays`]
[10745b16] Statistics [`@stdlib/Statistics`]
[4607b0f0] SuiteSparse [`@stdlib/SuiteSparse`]
[8dfed614] Test [`@stdlib/Test`]
[cf7118a7] UUIDs [`@stdlib/UUIDs`]
[4ec0a83e] Unicode [`@stdlib/Unicode`]
[ Info: Multithreaded convolutions possible, Threads.nthreads()=1. See `addFactor!(.;threadmodel=MultiThreaded)`.
[ Info: KernelDensityEstimate.FORCE_EVAL_DIRECT = true
WARNING: Method definition (::Type{DistributedFactorGraphs.VariableNodeData{T} where T<:DistributedFactorGraphs.InferenceVariable})(Array{Float64, 2}, Array{Float64, 2}, Array{Symbol, 1}, Array{Int64, 1}, Int64, Bool, Symbol, Array{Symbol, 1}, T<:DistributedFactorGraphs.InferenceVariable, Bool, Float64, Bool, Bool, Int64) where {T<:DistributedFactorGraphs.InferenceVariable} in module DistributedFactorGraphs at /root/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:11 overwritten at /root/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:41.
** incremental compilation may be fatally broken for this module **
WARNING: Method definition (::Type{DistributedFactorGraphs.VariableNodeData{T} where T<:DistributedFactorGraphs.InferenceVariable})(Array{Float64, 2}, Array{Float64, 2}, Array{Symbol, 1}, Array{Int64, 1}, Int64, Bool, Symbol, Array{Symbol, 1}, T<:DistributedFactorGraphs.InferenceVariable, Bool, Float64, Bool, Bool, Int64) where {T<:DistributedFactorGraphs.InferenceVariable} in module DistributedFactorGraphs at /root/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:11 overwritten at /root/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:41.
** incremental compilation may be fatally broken for this module **
[ Info: KernelDensityEstimate.FORCE_EVAL_DIRECT = true
WARNING: Method definition (::Type{DistributedFactorGraphs.VariableNodeData{T} where T<:DistributedFactorGraphs.InferenceVariable})(Array{Float64, 2}, Array{Float64, 2}, Array{Symbol, 1}, Array{Int64, 1}, Int64, Bool, Symbol, Array{Symbol, 1}, T<:DistributedFactorGraphs.InferenceVariable, Bool, Float64, Bool, Bool, Int64) where {T<:DistributedFactorGraphs.InferenceVariable} in module DistributedFactorGraphs at /root/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:11 overwritten at /root/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:41.
** incremental compilation may be fatally broken for this module **
WARNING: ignoring conflicting import of DistributedFactorGraphs.compare into RoME
[ Info: Adding graph visualization tools.
[TEST] numeric root...
Test Summary: | Pass Total
Increased dimension root finding test | 2 2
Test Summary: | Pass Total
test CommonConvWrapper functions | 55 55
[SUCCESS]
Test Summary: |
Testing hand constructed product of SE(2) equivalent... | No tests
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x1f1, :x1f2]
[ Info: do init of x1
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
Test Summary: | Pass Total
Factor graph based test of SE(2) equivalent using only Priors... | 3 3
┌ Warning: not implemented yet
└ @ Main ~/.julia/packages/RoME/uM3dB/test/testManifoldsPose2Equivalent.jl:202
Test Summary: |
Factor graph based test of SE(2) equivalent using Priors and Conditional Likelihoods... | No tests
┌ Warning: Skipping multiple feature constraint test for the time being
└ @ Main ~/.julia/packages/RoME/uM3dB/test/runtests.jl:21
[TEST] Linear array function evaluations...
zDim = size(measurement[1], 1) = 3
0.454430 seconds (338.87 k allocations: 17.239 MiB, 5.94% gc time)
0.060684 seconds (25.67 k allocations: 1.184 MiB)
1.441829 seconds (1.03 M allocations: 69.266 MiB, 3.04% gc time)
┌ Warning: still need to insert kld(..) test to ensure this is working
└ @ Main ~/.julia/packages/RoME/uM3dB/test/testDidsonFunctions.jl:46
Test back projection from
0.000049 seconds (21 allocations: 1.797 KiB)
0.000037 seconds (19 allocations: 1.469 KiB)
0.584951 seconds (1.59 M allocations: 123.484 MiB, 6.78% gc time)
┌ Warning: Breaks if not set to 100
└ @ Main ~/.julia/packages/RoME/uM3dB/test/testDidsonFunctions.jl:103
Adding PriorPose3 to graph...
[ Info: try doautoinit! of x1
Adding LinearRangeBearingElevation to graph...
0.014860 seconds (58 allocations: 3.656 KiB)
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x1f1]
[ Info: do init of x1
[ Info: try doautoinit! of l1
┌ Warning: getData is deprecated, please use solverData(), future warnings in getData is suppressed
└ @ DistributedFactorGraphs ~/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGFactor.jl:76
[ Info: l1 is not initialized, and will do so now...
[ Info: try doautoinit! of l1
[ Info: init with useinitfct Symbol[:x1l1f1]
[ Info: do init of l1
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
Si = Symbol[:l1]
[ Info:
[ Info: Eliminating l1
[ Info: ===============
[ Info:
[ Info: - Removing l1
[ Info: Looking at l1f1
[ Info: - Breaking link l1f1->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials l1,x1,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------l1,x1,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------l1,x1,:
[ Info: #1 --
[ Info: [2x0p,d6,N100],
[ Info: #2 --
[ Info: [2x0p,d6,N100],
[ Info: #3 --
[ Info: [2x0p,d6,N100],
[ Info: fmcmc! -- solverData(vert=l1).inferdim=18.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=15.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:l1, :x1]
[ Info: sym=l1, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x1, mem size of val=(6, 100) and (6, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
[SUCCESS]
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
Si = Symbol[:x1]
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info: Looking at x1f1
[ Info: - Breaking link x1f1->x1...
[ Info: - Original links: Symbol[:x1]
[ Info: - New links: Symbol[]
[ Info: x1f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x1,x0,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: [2x0p,d2,N100],
[ Info: #2 --
[ Info: [2x0p,d2,N100],
[ Info: #3 --
[ Info: [2x0p,d2,N100],
[ Info: fmcmc! -- solverData(vert=x1).inferdim=4.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=6.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x1, :x0]
[ Info: sym=x1, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
basic Point2Point2 test | 2 2
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of l1
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x1f1]
[ Info: do init of x1
[ Info: try doautoinit! of l1
[ Info: init with useinitfct Symbol[:x1l1f1, :x0l1f1]
[ Info: do init of l1
[ Info: [2x0p,d2,N100],
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
Si = Symbol[:l1]
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
Si = Symbol[:l1]
[ Info:
[ Info: Eliminating l1
[ Info: ===============
[ Info:
[ Info: - Removing l1
[ Info: Looking at l1f2
[ Info: - Breaking link l1f2->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f2 doesn't have any other links, not adding it back...
[ Info: Looking at l1f1
[ Info: - Breaking link l1f1->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x1,: l1,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials l1,x0,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=1 adding factor that is no in separator, x1
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x1,: l1,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x1,: l1,
[ Info: #1 --
[ Info: [2x0p,d2,N100],
[ Info: #2 --
[ Info: [2x0p,d2,N100],
[ Info: #3 --
[ Info: [2x0p,d2,N100],
[ Info: fmcmc! -- solverData(vert=l1).inferdim=2.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=4.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:l1]
State machine iter=5
State machine iter=6
[ Info: up w 1 msgs
State machine iter=9[ Info: inp.sendmsgs[l1].inferdim=2.0
[ Info: ---------- successive fnc approx ------------l1,x0,:
State machine iter=10[ Info: #1 --
[ Info: ---------- successive fnc approx ------------l1,x0,:
[ Info: #1 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: #2 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: #3 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: fmcmc! -- solverData(vert=x0).inferdim=4.0
[ Info: fmcmc! -- solverData(vert=l1).inferdim=4.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:l1, :x0]
[ Info: sym=l1, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=11
[ Info: [2x0p,d2,N100],
State machine iter=9
State machine iter=12
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
test Point2Point2Range{T}... | 8 8
Building Bayes net...
Si = Symbol[:l1]
Si = Symbol[:l1]
Find potential functions for each clique
Bayes Tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: Solving over the Bayes (Junction) tree.
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info:
[ Info: Eliminating l1
[ Info: ===============
[ Info:
[ Info: - Removing l1
[ Info: Looking at l1f2
[ Info: - Breaking link l1f2->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f2 doesn't have any other links, not adding it back...
[ Info: Looking at l1f1
[ Info: - Breaking link l1f1->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f1 doesn't have any other links, not adding it back...
[ Info: Get potentials x1,: l1,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials l1,x0,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=1 adding factor that is no in separator, x1
[ Info: Do tree based init-inference on tree
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x1,: l1,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x1,: l1,
[ Info: #1 --
[ Info: [2x0p,d2,N100],
[ Info: #2 --
[ Info: [2x0p,d2,N100],
[ Info: #3 --
[ Info: [2x0p,d2,N100],
[ Info: fmcmc! -- solverData(vert=l1).inferdim=2.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=4.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:l1]
State machine iter=5
State machine iter=6
State machine iter=9
State machine iter=10
[ Info: up w 1 msgs
[ Info: inp.sendmsgs[l1].inferdim=2.0
[ Info: ---------- successive fnc approx ------------l1,x0,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------l1,x0,:
[ Info: #1 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: #2 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: #3 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: fmcmc! -- solverData(vert=x0).inferdim=4.0
[ Info: fmcmc! -- solverData(vert=l1).inferdim=4.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
State machine iter=11
[ Info: transferUpdateSubGraph! -- syms=Symbol[:l1, :x0]
[ Info: sym=l1, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: [2x0p,d2,N100],
State machine iter=9
[ Info: Finished tree based init-inference
State machine iter=12
Test Summary: | Pass Total
test tree based autoinit on small bimodal point2 trilateration... | 16 16
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x0x1f1]
[ Info: do init of x1
[ Info: try doautoinit! of x2
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
Si = Symbol[:x0, :x2]
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x0x2f1
[ Info: - Breaking link x0x2f1->x0...
[ Info: - Original links: Symbol[:x0, :x2]
[ Info: - New links: Symbol[:x2]
[ Info: x0x2f1 still has links to other variables, readding it back...
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x2f2
[ Info: - Breaking link x2f2->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f2 doesn't have any other links, not adding it back...
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
[ Info: Get potentials x2,x0,x1,:
[ Info: using all factors among cliq variables
Si = Symbol[:x2]
Find potential functions for each clique
[ Info: finding all frontals for down WIP
Bayes Tree
State machine iter=1
State machine iter=2
State machine iter=3
[ Info: Do tree based init-inference on tree
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: #2 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: #3 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x2).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=12.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=18.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x2, :x0, :x1]
[ Info: sym=x2, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x1, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
basic pose2 trivial case without forcing autoinit... | 9 9
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x0x1f1]
[ Info: do init of x1
[ Info: try doautoinit! of x2
[ Info: x2 is not initialized, and will do so now...
[ Info: try doautoinit! of x2
[ Info: init with useinitfct Symbol[:x1x2f1]
[ Info: do init of x2
┌ Warning: deprecated batchSolve! in favor of new solveTree! interface with the same and more functionality.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/SolverAPI.jl:228
Building Bayes net...
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
Si = Symbol[:x0, :x2]
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x0x2f1
[ Info: - Breaking link x0x2f1->x0...
[ Info: - Original links: Symbol[:x0, :x2]
[ Info: - New links: Symbol[:x2]
[ Info: x0x2f1 still has links to other variables, readding it back...
Si = Symbol[:x2]
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x2f2
[ Info: - Breaking link x2f2->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f2 doesn't have any other links, not adding it back...
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x2,x0,x1,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Solving over the Bayes (Junction) tree.
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: #2 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: #3 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x2).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=12.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=18.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x2, :x0, :x1]
[ Info: sym=x2, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x1, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
basic pose2 with forcing bad initialization... | 9 9
[ Info: Solving over the Bayes (Junction) tree.
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
Building Bayes net...
[ Info: - Removing x0
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info: Looking at x1f1
[ Info: - Breaking link x1f1->x1...
[ Info: - Original links: Symbol[:x1]
[ Info: - New links: Symbol[]
[ Info: x1f1 doesn't have any other links, not adding it back...
[ Info: Get potentials x1,x0,:
[ Info: using all factors among cliq variables
Si = Symbol[:x1]
Find potential functions for each clique
[ Info: finding all frontals for down WIP
Bayes Tree
State machine iter=1
State machine iter=2
State machine iter=3
[ Info: Do tree based init-inference on tree
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: #2 --
[ Info: [2x0p,d3,N100],
[ Info: #3 --
[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x1).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=12.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x1, :x0]
[ Info: sym=x1, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
test basic banana (split)... | 6 6
[TEST] Pose2 evaluations...
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
Si = Symbol[:x1]
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info: Looking at x1f1
[ Info: - Breaking link x1f1->x1...
[ Info: - Original links: Symbol[:x1]
[ Info: - New links: Symbol[]
[ Info: x1f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x1,x0,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: #2 --
[ Info: [2x0p,d3,N100],
[ Info: #3 --
[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x1).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=12.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x1, :x0]
[ Info: sym=x1, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: Finished tree based init-inference
State machine iter=9
[ Info: try doautoinit! of x2
[ Info: Solving over the Bayes (Junction) tree.
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
Building Bayes net...
Si = Symbol[:x0, :x2]
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x0x2f1
[ Info: - Breaking link x0x2f1->x0...
[ Info: - Original links: Symbol[:x0, :x2]
[ Info: - New links: Symbol[:x2]
[ Info: x0x2f1 still has links to other variables, readding it back...
Si = Symbol[:x2]
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x2f2
[ Info: - Breaking link x2f2->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f2 doesn't have any other links, not adding it back...
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
[ Info: Get potentials x2,x0,x1,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Do tree based init-inference on tree
Find potential functions for each clique
Bayes Tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: #2 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: #3 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x2).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=12.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=18.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x2, :x0, :x1]
[ Info: sym=x2, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x1, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
Building Bayes net...
Si = Symbol[:x0, :x2]
Si = Symbol[:x2]
Find potential functions for each clique
Bayes Tree
State machine iter=1
State machine iter=2
State machine iter=3
[ Info: Finished tree based init-inference
[ Info: Solving over the Bayes (Junction) tree.
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x0x2f1
[ Info: - Breaking link x0x2f1->x0...
[ Info: - Original links: Symbol[:x0, :x2]
[ Info: - New links: Symbol[:x2]
[ Info: x0x2f1 still has links to other variables, readding it back...
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x2f2
[ Info: - Breaking link x2f2->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f2 doesn't have any other links, not adding it back...
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
[ Info: Get potentials x2,x0,x1,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Do tree based init-inference on tree
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: #2 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: #3 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x2).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=12.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=18.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x2, :x0, :x1]
[ Info: sym=x2, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x1, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
test bearing range evaluations
[ Info: try doautoinit! of l1
[ Info: try doautoinit! of l1
[ Info: init with useinitfct Symbol[:l1f1, :x0l1f1]
[ Info: do init of l1
[ Info: [2x0p,d2,N100],
Test Summary: | Pass Total
test pose and point combinations... | 18 18
[SUCCESS]
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
Si = Symbol[:x1, :l1]
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
Si = Symbol[:x3, :x1]
[ Info:
[ Info: Eliminating x5
[ Info: ===============
[ Info:
[ Info: - Removing x5
[ Info:
[ Info: Eliminating l1
[ Info: ===============
[ Info:
[ Info: - Removing l1
[ Info: Looking at x1l1f1
[ Info: - Breaking link x1l1f1->l1...
[ Info: - Original links: Symbol[:x1, :l1]
[ Info: - New links: Symbol[:x1]
[ Info: x1l1f1 still has links to other variables, readding it back...
[ Info:
[ Info: Eliminating x3
[ Info: ===============
[ Info:
[ Info: - Removing x3
[ Info: Looking at x3x1f1
[ Info: - Breaking link x3x1f1->x3...
[ Info: - Original links: Symbol[:x3, :x1]
[ Info: - New links: Symbol[:x1]
[ Info: x3x1f1 still has links to other variables, readding it back...
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info: Looking at x1f1
[ Info: - Breaking link x1f1->x1...
[ Info: - Original links: Symbol[:x1]
[ Info: - New links: Symbol[]
[ Info: x1f1 doesn't have any other links, not adding it back...
[ Info: Looking at x1x6f1
[ Info: - Breaking link x1x6f1->x1...
[ Info: - Original links: Symbol[:x1, :x6]
[ Info: - New links: Symbol[:x6]
[ Info: x1x6f1 still has links to other variables, readding it back...
[ Info: Looking at x1x4f1
[ Info: - Breaking link x1x4f1->x1...
[ Info: - Original links: Symbol[:x1, :x4]
[ Info: - New links: Symbol[:x4]
[ Info: x1x4f1 still has links to other variables, readding it back...
[ Info: Looking at x1f2
[ Info: - Breaking link x1f2->x1...
[ Info: - Original links: Symbol[:x1]
[ Info: - New links: Symbol[]
[ Info: x1f2 doesn't have any other links, not adding it back...
[ Info:
[ Info: Eliminating x6
[ Info: ===============
[ Info:
[ Info: - Removing x6
[ Info: Looking at x6f1
[ Info: - Breaking link x6f1->x6...
[ Info: - Original links: Symbol[:x6]
[ Info: - New links: Symbol[]
[ Info: x6f1 doesn't have any other links, not adding it back...
[ Info: Looking at x6x4f1
Si = Symbol[:x6, :x4]
Si = Symbol[:x1, :x6]
Si = Symbol[:x1, :x4]
Si = Symbol[:x6, :x4]
[ Info: - Breaking link x6x4f1->x6...
[ Info: - Original links: Symbol[:x6, :x4]
[ Info: - New links: Symbol[:x4]
[ Info: x6x4f1 still has links to other variables, readding it back...
[ Info: Looking at x6x4f2
[ Info: - Breaking link x6x4f2->x6...
[ Info: - Original links: Symbol[:x6, :x4]
[ Info: - New links: Symbol[:x4]
[ Info: x6x4f2 still has links to other variables, readding it back...
[ Info:
[ Info: Eliminating x4
[ Info: ===============
[ Info:
Si = Symbol[:x4]
[ Info: - Removing x4
[ Info: Looking at x4f4
[ Info: - Breaking link x4f4->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f4 doesn't have any other links, not adding it back...
[ Info: Looking at x4f1
[ Info: - Breaking link x4f1->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f1 doesn't have any other links, not adding it back...
[ Info: Looking at x4f3
[ Info: - Breaking link x4f3->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f3 doesn't have any other links, not adding it back...
[ Info: Looking at x4f2
[ Info: - Breaking link x4f2->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f2 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x2,: x3,x1,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x3,: x1,x4,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=2 adding factor that is no in separator, x2
[ Info: Get potentials x0,: x1,l1,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials l1,: x1,x6,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=3 adding factor that is no in separator, x0
[ Info: Get potentials x5,: x6,x4,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x4,x6,x1,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=1 adding factor that is no in separator, x5
[ Info: cliq=1 adding factor that is no in separator, x3
[ Info: cliq=1 adding factor that is no in separator, x5
[ Info: cliq=1 adding factor that is no in separator, l1
[ Info: cliq=1 adding factor that is no in separator, x2
[ Info: cliq=1 adding factor that is no in separator, x0
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x6, :x4]
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x3, :x1]
State machine iter=7
State machine iter=8
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x1, :l1]
State machine iter=5
State machine iter=9
State machine iter=10
State machine iter=11
State machine iter=12
State machine iter=9
State machine iter=10
State machine iter=11
State machine iter=12
State machine iter=13
State machine iter=6
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
State machine iter=9[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x1, :x6]
State machine iter=10
State machine iter=11
State machine iter=5
State machine iter=6
State machine iter=13
State machine iter=14
State machine iter=15
┌ Warning: getCliqAllFactIds deprecated, use getCliqFactorIdsAll instead.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/JunctionTree.jl:955
State machine iter=7
State machine iter=8
State machine iter=9
State machine iter=10
State machine iter=11
State machine iter=12
State machine iter=13
State machine iter=14
State machine iter=9┌ Warning: getCliqAllFactIds deprecated, use getCliqFactorIdsAll instead.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/JunctionTree.jl:955
State machine iter=10[ Info: cycleInitByVarOrder! -- varorder=Symbol[:x1, :x3, :x4]
State machine iter=11[ Info: var.label=x1 is initialized=false
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x1f1]
[ Info: do init of x1
State machine iter=16
[ Info: var.label=x3 is initialized=false
[ Info: try doautoinit! of x3
[ Info: init with useinitfct Symbol[]
[ Info: var.label=x4 is initialized=false
[ Info: try doautoinit! of x4
[ Info: init with useinitfct Symbol[]
[ Info: var.label=x1 is initialized=true
[ Info: var.label=x3 is initialized=false
[ Info: try doautoinit! of x3
[ Info: init with useinitfct Symbol[]
[ Info: var.label=x4 is initialized=false
[ Info: try doautoinit! of x4
[ Info: init with useinitfct Symbol[]
[ Info: cycleInitByVarOrder!, retval=true
State machine iter=7
State machine iter=8
State machine iter=9
State machine iter=10
State machine iter=11
State machine iter=12
State machine iter=14
State machine iter=15
┌ Warning: getCliqAllFactIds deprecated, use getCliqFactorIdsAll instead.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/JunctionTree.jl:955
[ Info: cycleInitByVarOrder! -- varorder=Symbol[:x1, :x3, :x2]
State machine iter=15[ Info: var.label=x1 is initialized=false
[ Info: try doautoinit! of x1
State machine iter=16
[ Info: init with useinitfct Symbol[:x1f1]
[ Info: do init of x1
State machine iter=17[ Info: var.label=x3 is initialized=false
[ Info: try doautoinit! of x3
[ Info: init with useinitfct Symbol[]
[ Info: var.label=x2 is initialized=false
[ Info: try doautoinit! of x2
[ Info: init with useinitfct Symbol[:x1x2f1]
[ Info: do init of x2
State machine iter=18
State machine iter=13
State machine iter=14[ Info: var.label=x1 is initialized=true
[ Info: var.label=x3 is initialized=false
[ Info: try doautoinit! of x3
[ Info: init with useinitfct Symbol[:x2x3f1]
[ Info: do init of x3
State machine iter=15
State machine iter=17[ Info: var.label=x2 is initialized=true
[ Info: var.label=x1 is initialized=true
State machine iter=18[ Info: var.label=x3 is initialized=true
[ Info: var.label=x2 is initialized=true
State machine iter=19[ Info: cycleInitByVarOrder!, retval=true
State machine iter=20
State machine iter=21
State machine iter=22
┌ Warning: getCliqAllFactIds deprecated, use getCliqFactorIdsAll instead.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/JunctionTree.jl:955
State machine iter=16
[ Info: Outgoing msg density on:
State machine iter=23[ Info: prepCliqInitMsgsUp, seps=Symbol[:x3, :x1]
State machine iter=16
State machine iter=17
State machine iter=18
State machine iter=19
State machine iter=20
State machine iter=21
State machine iter=19
State machine iter=20
State machine iter=21
State machine iter=22
State machine iter=23
[ Info: Outgoing msg density on:
State machine iter=17[ Info: prepCliqInitMsgsUp, seps=Symbol[:x1, :x4]
State machine iter=18
State machine iter=19
State machine iter=24
State machine iter=25
State machine iter=26
State machine iter=27
State machine iter=28
State machine iter=29
┌ Warning: getCliqAllFactIds deprecated, use getCliqFactorIdsAll instead.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/JunctionTree.jl:955
[ Info: cycleInitByVarOrder! -- varorder=Symbol[:x6, :x4, :x5]
State machine iter=22
State machine iter=23
[ Info: var.label=x6 is initialized=false
[ Info: try doautoinit! of x6
[ Info: init with useinitfct Symbol[:x6f1]
[ Info: do init of x6
[ Info: var.label=x4 is initialized=false
[ Info: try doautoinit! of x4
[ Info: init with useinitfct Symbol[:x4f1]
[ Info: do init of x4
State machine iter=24
State machine iter=24
[ Info: var.label=x5 is initialized=false
[ Info: try doautoinit! of x5
State machine iter=25
State machine iter=26[ Info: init with useinitfct Symbol[:x5x6f1, :x4x5f1]
[ Info: do init of x5
[ Info: [2x0p,d3,N100],
[ Info: var.label=x6 is initialized=true
[ Info: var.label=x4 is initialized=true
[ Info: var.label=x5 is initialized=true
[ Info: cycleInitByVarOrder!, retval=true
State machine iter=30
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x6, :x4]
State machine iter=25
State machine iter=26
State machine iter=27
State machine iter=31
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=32
State machine iter=33
State machine iter=28
State machine iter=29
State machine iter=30
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
sanity check on Hex example | 22 22
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: x1 is not initialized, and will do so now...
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x0x1f1]
[ Info: do init of x1
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
Si = Symbol[:x1]
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info: Looking at x1f1
[ Info: - Breaking link x1f1->x1...
[ Info: - Original links: Symbol[:x1]
[ Info: - New links: Symbol[]
[ Info: x1f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x1,x0,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: [2x0p,d4,N100],
[ Info: #2 --
[ Info: [2x0p,d4,N100],
[ Info: #3 --
[ Info: [2x0p,d4,N100],
[ Info: fmcmc! -- solverData(vert=x1).inferdim=16.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=20.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x1, :x0]
[ Info: sym=x1, mem size of val=(4, 100) and (4, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(4, 100) and (4, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
global x0 = getKDEMax(getVertKDE(fg, :x0)) = [-0.08796944810431467, -0.08061386589448165, 10.134974889510444, 9.96423214385729]
global x1 = getKDEMax(getVertKDE(fg, :x1)) = [20.020131518950013, 20.084956069161525, 9.971125449345017, 10.235593736910062]
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x0x1f1]
[ Info: do init of x1
[ Info: try doautoinit! of x2
[ Info: x2 is not initialized, and will do so now...
[ Info: try doautoinit! of x2
[ Info: init with useinitfct Symbol[:x1x2f1]
[ Info: do init of x2
[ Info: Solving over the Bayes (Junction) tree.
[ Info:
Building Bayes net...
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
Si = Symbol[:x0, :x2]
Si = Symbol[:x2]
Find potential functions for each clique
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x0x2f1
[ Info: - Breaking link x0x2f1->x0...
[ Info: - Original links: Symbol[:x0, :x2]
[ Info: - New links: Symbol[:x2]
[ Info: x0x2f1 still has links to other variables, readding it back...
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x2f2
[ Info: - Breaking link x2f2->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f2 doesn't have any other links, not adding it back...
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
[ Info: Get potentials x2,x0,x1,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
State machine iter=1
State machine iter=2
State machine iter=3
[ Info: Do tree based init-inference on tree
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: [2x0p,d4,N100],
[ Info: [2x0p,d4,N100],
[ Info: #2 --
[ Info: [2x0p,d4,N100],
[ Info: [2x0p,d4,N100],
[ Info: #3 --
[ Info: [2x0p,d4,N100],
[ Info: [2x0p,d4,N100],
[ Info: fmcmc! -- solverData(vert=x2).inferdim=16.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=20.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=32.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x2, :x0, :x1]
[ Info: sym=x2, mem size of val=(4, 100) and (4, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(4, 100) and (4, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x1, mem size of val=(4, 100) and (4, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
global x0 = getKDEMax(getVertKDE(fg, :x0)) = [0.1565070790502562, 0.03440988618536185, 9.967544796054227, 9.954492045388529]
global x1 = getKDEMax(getVertKDE(fg, :x1)) = [10.078962391186725, 10.110220110293982, 10.082043294704308, 9.993458563152572]
global x2 = getKDEMax(getVertKDE(fg, :x2)) = [20.013598381329746, 20.293618615609482, 9.791304924853296, 9.868926783927726]
[ Info: x1 is not initialized, and will do so now...
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x1f1]
[ Info: do init of x1
Test Summary: | Pass Total
[TEST] Pose2 evaluations... | 22 22
[ Info: try doautoinit! of x0
[ Info: x0 is not initialized, and will do so now...
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x2
[ Info: try doautoinit! of x2
[ Info: init with useinitfct Symbol[:x2f1]
[ Info: do init of x2
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x2x1f1, :x0x1f1]
[ Info: do init of x1
[ Info: [2x0p,d2,N100],
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
Si = Symbol[:x2, :x0]
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x2x0f1
[ Info: - Breaking link x2x0f1->x2...
[ Info: - Original links: Symbol[:x2, :x0]
[ Info: - New links: Symbol[:x0]
[ Info: x2x0f1 still has links to other variables, readding it back...
Si = Symbol[:x0]
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x0f2
[ Info: - Breaking link x0f2->x0...
[ Info: - Original links: Symbol[:x0]
[ Info: - New links: Symbol[]
[ Info: x0f2 doesn't have any other links, not adding it back...
[ Info: Looking at x0f3
[ Info: - Breaking link x0f3->x0...
[ Info: - Original links: Symbol[:x0]
[ Info: - New links: Symbol[]
[ Info: x0f3 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x0,x2,x1,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x0,x2,x1,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x0,x2,x1,:
[ Info: #1 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: #2 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: #3 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: fmcmc! -- solverData(vert=x0).inferdim=6.0
[ Info: fmcmc! -- solverData(vert=x2).inferdim=6.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=8.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x0, :x2, :x1]
[ Info: sym=x0, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x2, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x1, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
test Point2Point2WorldBearing factor is working | 6 6
Test Summary: | Pass Total
test sampling from BearingRange factor... | 4 4
res = [0.0, 0.0]
res = [1.4997597826618579e-30, 0.0]
res = [1.4997597826618579e-30, 0.0]
res = [0.0, 0.0]
Test Summary: | Pass Total
test BearingRange factor residual function... | 4 4
Test Summary: | Pass Total
test unimodal bearing range factor, solve for landmark... | 5 5
abs.(Statistics.mean(pts, dims=2)) = [0.12831501293828912; 0.12073146143037924; 0.0006528802329255685]
Statistics.std(pts, dims=2) = [0.8730655584287426; 0.5628434263207333; 0.11295388625619358]
Test Summary: | Pass Total
test unimodal bearing range factor, solve for pose... | 3 3
Test Summary: | Pass Total
Testing Pose2Point2Bearing Initialization and Packing | 2 2
Test Summary: | Pass Total
test odometry accumulation MutablePose2Pose2Gaussian... | 2 2
STEP 1: Driving around a bit
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x0x1f1]
[ Info: do init of x1
[ Info: try doautoinit! of x2
[ Info: try doautoinit! of x2
[ Info: init with useinitfct Symbol[:x1x2f1]
[ Info: do init of x2
[ Info: try doautoinit! of x3
[ Info: try doautoinit! of x3
[ Info: init with useinitfct Symbol[:x2x3f1]
[ Info: do init of x3
[ Info: try doautoinit! of x4
[ Info: try doautoinit! of x4
[ Info: init with useinitfct Symbol[:x3x4f1]
[ Info: do init of x4
[ Info: try doautoinit! of x5
[ Info: try doautoinit! of x5
[ Info: init with useinitfct Symbol[:x4x5f1]
[ Info: do init of x5
[ Info: try doautoinit! of x6
STEP 2: Solve graph when shorter than fixed length
[ Info: try doautoinit! of l1
[ Info: Solving over the Bayes (Junction) tree.
[ Info: Quasi fixed-lag is enabled (a feature currently in testing)!
[ Info: [fifoFreeze] QFL - Freezing nodes x0 -> x1.
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info:
[ Info: Eliminating x3
[ Info: ===============
[ Info:
[ Info: - Removing x3
[ Info:
[ Info: Eliminating x5
[ Info: ===============
[ Info:
[ Info: - Removing x5
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info: Looking at l1x1f1
[ Info: - Breaking link l1x1f1->x1...
[ Info: - Original links: Symbol[:l1, :x1]
[ Info: - New links: Symbol[:l1]
[ Info: l1x1f1 still has links to other variables, readding it back...
Building Bayes net...
Si = Symbol[:l1, :x1]
Si = Symbol[:x4, :x2]
Si = Symbol[:x6, :x4]
Si = Symbol[:l1, :x2]
Si = Symbol[:x2, :x6]
Si = Symbol[:l1, :x6]
Si = Symbol[:x6]
[ Info:
[ Info: Eliminating x4
[ Info: ===============
[ Info:
[ Info: - Removing x4
[ Info: Looking at x4x2f1
[ Info: - Breaking link x4x2f1->x4...
[ Info: - Original links: Symbol[:x4, :x2]
[ Info: - New links: Symbol[:x2]
[ Info: x4x2f1 still has links to other variables, readding it back...
[ Info: Looking at x6x4f1
[ Info: - Breaking link x6x4f1->x4...
[ Info: - Original links: Symbol[:x6, :x4]
[ Info: - New links: Symbol[:x6]
[ Info: x6x4f1 still has links to other variables, readding it back...
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at l1x2f1
[ Info: - Breaking link l1x2f1->x2...
[ Info: - Original links: Symbol[:l1, :x2]
[ Info: - New links: Symbol[:l1]
[ Info: l1x2f1 still has links to other variables, readding it back...
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
[ Info: Looking at x2x6f1
[ Info: - Breaking link x2x6f1->x2...
[ Info: - Original links: Symbol[:x2, :x6]
[ Info: - New links: Symbol[:x6]
[ Info: x2x6f1 still has links to other variables, readding it back...
[ Info:
[ Info: Eliminating l1
[ Info: ===============
[ Info:
[ Info: - Removing l1
[ Info: Looking at l1f2
[ Info: - Breaking link l1f2->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f2 doesn't have any other links, not adding it back...
[ Info: Looking at l1f1
[ Info: - Breaking link l1f1->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f1 doesn't have any other links, not adding it back...
[ Info: Looking at l1x6f1
[ Info: - Breaking link l1x6f1->l1...
[ Info: - Original links: Symbol[:l1, :x6]
[ Info: - New links: Symbol[:x6]
[ Info: l1x6f1 still has links to other variables, readding it back...
Find potential functions for each clique
Bayes Tree
State machine iter=1[ Info:
[ Info: Eliminating x6
[ Info: ===============
[ Info:
[ Info: - Removing x6
[ Info: Looking at x6f2
[ Info: - Breaking link x6f2->x6...
[ Info: - Original links: Symbol[:x6]
[ Info: - New links: Symbol[]
[ Info: x6f2 doesn't have any other links, not adding it back...
[ Info: Looking at x6f4
[ Info: - Breaking link x6f4->x6...
[ Info: - Original links: Symbol[:x6]
[ Info: - New links: Symbol[]
[ Info: x6f4 doesn't have any other links, not adding it back...
[ Info: Looking at x6f3
[ Info: - Breaking link x6f3->x6...
[ Info: - Original links: Symbol[:x6]
[ Info: - New links: Symbol[]
[ Info: x6f3 doesn't have any other links, not adding it back...
[ Info: Looking at x6f1
[ Info: - Breaking link x6f1->x6...
[ Info: - Original links: Symbol[:x6]
[ Info: - New links: Symbol[]
[ Info: x6f1 doesn't have any other links, not adding it back...
[ Info: Get potentials x5,: x6,x4,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x3,: x4,x2,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x4,: x2,x6,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=2 adding factor that is no in separator, x3
[ Info: cliq=2 adding factor that is no in separator, x5
[ Info: Get potentials x0,: l1,x1,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x1,: l1,x2,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=3 adding factor that is no in separator, x0
[ Info: Get potentials x6,l1,x2,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=1 adding factor that is no in separator, x5
[ Info: cliq=1 adding factor that is no in separator, x0
[ Info: cliq=1 adding factor that is no in separator, x3
[ Info: cliq=1 adding factor that is no in separator, x1
[ Info: Do tree based init-inference on tree
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
State machine iter=1
State machine iter=2
State machine iter=3[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x5,: x6,x4,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x5,: x6,x4,
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: #2 --
State machine iter=4[ Info: [2x0p,d3,N100],
[ Info: #3 --
State machine iter=5
[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x6).inferdim=9.0
State machine iter=6[ Info: fmcmc! -- solverData(vert=x4).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x5).inferdim=18.0
State machine iter=7
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x6, :x4]
State machine iter=8
[ Info: up w 0 msgs
State machine iter=1
[ Info: ---------- successive fnc approx ------------x3,: x4,x2,
[ Info: #1 --
State machine iter=2[ Info: ---------- successive fnc approx ------------x3,: x4,x2,
[ Info: #1 --
State machine iter=3
[ Info: [2x0p,d3,N100],
[ Info: #2 --
State machine iter=4[ Info: [2x0p,d3,N100],
[ Info: #3 --
State machine iter=5[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x4).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x2).inferdim=9.0
State machine iter=6
[ Info: fmcmc! -- solverData(vert=x3).inferdim=18.0
[ Info: Outgoing msg density on:
State machine iter=7
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x4, :x2]
State machine iter=8
State machine iter=9
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x0,: l1,x1,
[ Info: #1 --
State machine iter=10
[ Info: ---------- successive fnc approx ------------x0,: l1,x1,
[ Info: #1 --
[ Info: #2 --
[ Info: #3 --
State machine iter=5[ Info: fmcmc! -- solverData(vert=l1).inferdim=6.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=9.0
State machine iter=6
[ Info: fmcmc! -- solverData(vert=x0).inferdim=3.0
[ Info: Outgoing msg density on:
State machine iter=7
[ Info: prepCliqInitMsgsUp, seps=Symbol[:l1, :x1]
State machine iter=8
State machine iter=9[ Info: up w 2 msgs
[ Info: inp.sendmsgs[x6].inferdim=9.0
[ Info: inp.sendmsgs[x4].inferdim=9.0
State machine iter=10[ Info: inp.sendmsgs[x2].inferdim=9.0
[ Info: inp.sendmsgs[x4].inferdim=9.0
[ Info: ---------- successive fnc approx ------------x4,: x2,x6,
State machine iter=5[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x4,: x2,x6,
State machine iter=6[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=x2).inferdim=9.0
State machine iter=7[ Info: fmcmc! -- solverData(vert=x6).inferdim=9.0
[ Info: ---------- successive fnc approx ------------x4,: x2,x6,
State machine iter=8[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: up w 1 msgs
State machine iter=9
[ Info: fmcmc! -- solverData(vert=x4).inferdim=18.0
[ Info: inp.sendmsgs[l1].inferdim=6.0
[ Info: Outgoing msg density on:
[ Info: inp.sendmsgs[x1].inferdim=9.0
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x2, :x6]
State machine iter=10[ Info: ---------- successive fnc approx ------------x1,: l1,x2,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x1,: l1,x2,
[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=l1).inferdim=6.0
[ Info: ---------- successive fnc approx ------------x1,: l1,x2,
[ Info: #1 --
[ Info: #2 --
[ Info: #3 --
State machine iter=9[ Info: fmcmc! -- solverData(vert=x2).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=9.0
State machine iter=10[ Info: ---------- successive fnc approx ------------x1,: l1,x2,
[ Info: #1 --
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:l1, :x2]
State machine iter=5
State machine iter=6
[ Info: up w 2 msgs
State machine iter=9[ Info: inp.sendmsgs[x2].inferdim=9.0
[ Info: inp.sendmsgs[x6].inferdim=9.0
State machine iter=10[ Info: inp.sendmsgs[x2].inferdim=9.0
[ Info: inp.sendmsgs[l1].inferdim=6.0
[ Info: ---------- successive fnc approx ------------x6,l1,x2,:
[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=x6).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=l1).inferdim=6.0
[ Info: ---------- successive fnc approx ------------x6,l1,x2,:
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x6).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=l1).inferdim=6.0
[ Info: fmcmc! -- solverData(vert=x2).inferdim=18.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x6, :l1, :x2]
[ Info: sym=x6, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=l1, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x2, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=11
State machine iter=11[ Info: [2x0p,d3,N100],
State machine iter=9
State machine iter=11
State machine iter=11
State machine iter=11[ Info: [2x0p,d3,N100],
State machine iter=12[ Info: [2x0p,d3,N100],
State machine iter=12
State machine iter=12
State machine iter=12
[ Info: Finished tree based init-inference
State machine iter=12
STEP 3: Drive a couple more, longer than fixed lag window
[ Info: try doautoinit! of x7
[ Info: try doautoinit! of x7
[ Info: init with useinitfct Symbol[:x6x7f1]
[ Info: do init of x7
[ Info: try doautoinit! of x8
[ Info: try doautoinit! of x8
[ Info: init with useinitfct Symbol[:x7x8f1]
[ Info: do init of x8
[ Info: try doautoinit! of x9
[ Info: try doautoinit! of x9
[ Info: init with useinitfct Symbol[:x8x9f1]
[ Info: do init of x9
[ Info: try doautoinit! of x10
[ Info: try doautoinit! of x10
[ Info: init with useinitfct Symbol[:x9x10f1]
[ Info: do init of x10
[ Info: try doautoinit! of x11
[ Info: try doautoinit! of x11
[ Info: init with useinitfct Symbol[:x10x11f1]
[ Info: do init of x11
[ Info: try doautoinit! of x12
[ Info: [fifoFreeze] QFL - Freezing nodes x0 -> l1.
┌ Warning: getData is deprecated, please use solverData()
└ @ DistributedFactorGraphs ~/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:188
STEP 4: Solve graph when shorter than fixed length, and show time to solve
[ Info: Solving over the Bayes (Junction) tree.
[ Info: Quasi fixed-lag is enabled (a feature currently in testing)!
[ Info: [fifoFreeze] QFL - Freezing nodes x0 -> l1.
Building Bayes net...
[ Info:
[ Info: Eliminating x6
[ Info: ===============
[ Info:
[ Info: - Removing x6
Si = Symbol[:x7, :l1, :x5]
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
Si = Symbol[:l1, :x1]
[ Info:
[ Info: Eliminating x3
[ Info: ===============
[ Info:
[ Info: - Removing x3
Si = Symbol[:x4, :x2]
[ Info:
[ Info: Eliminating x11
[ Info: ===============
[ Info:
[ Info: - Removing x11
Si = Symbol[:x12, :x10]
[ Info:
[ Info: Eliminating x9
[ Info: ===============
[ Info:
[ Info: - Removing x9
Si = Symbol[:x10, :x8]
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info: Looking at l1x1f1
[ Info: - Breaking link l1x1f1->x1...
[ Info: - Original links: Symbol[:l1, :x1]
[ Info: - New links: Symbol[:l1]
[ Info: l1x1f1 still has links to other variables, readding it back...
Si = Symbol[:x2, :l1]
[ Info:
[ Info: Eliminating x7
[ Info: ===============
[ Info:
[ Info: - Removing x7
[ Info: Looking at x7l1x5f1
[ Info: - Breaking link x7l1x5f1->x7...
[ Info: - Original links: Symbol[:x7, :l1, :x5]
[ Info: - New links: Symbol[:l1, :x5]
[ Info: x7l1x5f1 still has links to other variables, readding it back...
Si = Symbol[:l1, :x5, :x8]
[ Info:
[ Info: Eliminating x5
[ Info: ===============
[ Info:
[ Info: - Removing x5
[ Info: Looking at l1x5f1
[ Info: - Breaking link l1x5f1->x5...
[ Info: - Original links: Symbol[:l1, :x5]
[ Info: - New links: Symbol[:l1]
[ Info: l1x5f1 still has links to other variables, readding it back...
[ Info: Looking at l1x5x8f1
[ Info: - Breaking link l1x5x8f1->x5...
[ Info: - Original links: Symbol[:l1, :x5, :x8]
[ Info: - New links: Symbol[:l1, :x8]
[ Info: l1x5x8f1 still has links to other variables, readding it back...
Si = Symbol[:l1, :x8, :x4]
[ Info:
[ Info: Eliminating l1
[ Info: ===============
[ Info:
[ Info: - Removing l1
[ Info: Looking at l1x8x4f1
[ Info: - Breaking link l1x8x4f1->l1...
[ Info: - Original links: Symbol[:l1, :x8, :x4]
[ Info: - New links: Symbol[:x8, :x4]
[ Info: l1x8x4f1 still has links to other variables, readding it back...
[ Info: Looking at l1x8f1
[ Info: - Breaking link l1x8f1->l1...
[ Info: - Original links: Symbol[:l1, :x8]
[ Info: - New links: Symbol[:x8]
[ Info: l1x8f1 still has links to other variables, readding it back...
[ Info: Looking at l1f2
[ Info: - Breaking link l1f2->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f2 doesn't have any other links, not adding it back...
[ Info: Looking at l1f1
[ Info: - Breaking link l1f1->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f1 doesn't have any other links, not adding it back...
[ Info: Looking at x2l1f1
[ Info: - Breaking link x2l1f1->l1...
[ Info: - Original links: Symbol[:x2, :l1]
[ Info: - New links: Symbol[:x2]
[ Info: x2l1f1 still has links to other variables, readding it back...
Si = Symbol[:x8, :x4, :x2]
[ Info:
[ Info: Eliminating x10
[ Info: ===============
[ Info:
[ Info: - Removing x10
[ Info: Looking at x12x10f1
[ Info: - Breaking link x12x10f1->x10...
[ Info: - Original links: Symbol[:x12, :x10]
[ Info: - New links: Symbol[:x12]
[ Info: x12x10f1 still has links to other variables, readding it back...
[ Info: Looking at x10x8f1
[ Info: - Breaking link x10x8f1->x10...
[ Info: - Original links: Symbol[:x10, :x8]
[ Info: - New links: Symbol[:x8]
[ Info: x10x8f1 still has links to other variables, readding it back...
Si = Symbol[:x12, :x8]
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x4x2f1
[ Info: - Breaking link x4x2f1->x2...
[ Info: - Original links: Symbol[:x4, :x2]
[ Info: - New links: Symbol[:x4]
[ Info: x4x2f1 still has links to other variables, readding it back...
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
[ Info: Looking at x8x4x2f1
[ Info: - Breaking link x8x4x2f1->x2...
[ Info: - Original links: Symbol[:x8, :x4, :x2]
[ Info: - New links: Symbol[:x8, :x4]
[ Info: x8x4x2f1 still has links to other variables, readding it back...
Si = Symbol[:x4, :x8]
[ Info:
[ Info: Eliminating x8
[ Info: ===============
[ Info:
[ Info: - Removing x8
[ Info: Looking at x8f2
[ Info: - Breaking link x8f2->x8...
[ Info: - Original links: Symbol[:x8]
[ Info: - New links: Symbol[]
[ Info: x8f2 doesn't have any other links, not adding it back...
[ Info: Looking at x8x4f2
[ Info: - Breaking link x8x4f2->x8...
[ Info: - Original links: Symbol[:x8, :x4]
[ Info: - New links: Symbol[:x4]
[ Info: x8x4f2 still has links to other variables, readding it back...
[ Info: Looking at x8x4f1
[ Info: - Breaking link x8x4f1->x8...
[ Info: - Original links: Symbol[:x8, :x4]
[ Info: - New links: Symbol[:x4]
[ Info: x8x4f1 still has links to other variables, readding it back...
[ Info: Looking at x8f1
[ Info: - Breaking link x8f1->x8...
[ Info: - Original links: Symbol[:x8]
[ Info: - New links: Symbol[]
[ Info: x8f1 doesn't have any other links, not adding it back...
[ Info: Looking at x4x8f1
[ Info: - Breaking link x4x8f1->x8...
[ Info: - Original links: Symbol[:x4, :x8]
[ Info: - New links: Symbol[:x4]
[ Info: x4x8f1 still has links to other variables, readding it back...
[ Info: Looking at x12x8f1
[ Info: - Breaking link x12x8f1->x8...
[ Info: - Original links: Symbol[:x12, :x8]
[ Info: - New links: Symbol[:x12]
[ Info: x12x8f1 still has links to other variables, readding it back...
Si = Symbol[:x4, :x12]
[ Info:
[ Info: Eliminating x4
[ Info: ===============
[ Info:
[ Info: - Removing x4
[ Info: Looking at x4f2
[ Info: - Breaking link x4f2->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f2 doesn't have any other links, not adding it back...
[ Info: Looking at x4f4
[ Info: - Breaking link x4f4->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f4 doesn't have any other links, not adding it back...
[ Info: Looking at x4f1
[ Info: - Breaking link x4f1->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f1 doesn't have any other links, not adding it back...
[ Info: Looking at x4f3
[ Info: - Breaking link x4f3->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f3 doesn't have any other links, not adding it back...
[ Info: Looking at x4x12f1
[ Info: - Breaking link x4x12f1->x4...
[ Info: - Original links: Symbol[:x4, :x12]
[ Info: - New links: Symbol[:x12]
[ Info: x4x12f1 still has links to other variables, readding it back...
Si = Symbol[:x12]
[ Info:
[ Info: Eliminating x12
[ Info: ===============
[ Info:
[ Info: - Removing x12
[ Info: Looking at x12f1
[ Info: - Breaking link x12f1->x12...
[ Info: - Original links: Symbol[:x12]
[ Info: - New links: Symbol[]
[ Info: x12f1 doesn't have any other links, not adding it back...
[ Info: Looking at x12f2
[ Info: - Breaking link x12f2->x12...
[ Info: - Original links: Symbol[:x12]
[ Info: - New links: Symbol[]
[ Info: x12f2 doesn't have any other links, not adding it back...
[ Info: Looking at x12f4
[ Info: - Breaking link x12f4->x12...
[ Info: - Original links: Symbol[:x12]
[ Info: - New links: Symbol[]
[ Info: x12f4 doesn't have any other links, not adding it back...
[ Info: Looking at x12f3
[ Info: - Breaking link x12f3->x12...
[ Info: - Original links: Symbol[:x12]
[ Info: - New links: Symbol[]
[ Info: x12f3 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x6,: x7,l1,x5,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x7,: l1,x5,x8,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=5 adding factor that is no in separator, x6
[ Info: Get potentials x5,: l1,x8,x4,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=4 adding factor that is no in separator, x6
[ Info: Get potentials x0,: l1,x1,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x1,: x2,l1,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=6 adding factor that is no in separator, x0
[ Info: Get potentials x3,: x4,x2,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x2,l1,: x4,x8,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=2 adding factor that is no in separator, x3
[ Info: cliq=2 adding factor that is no in separator, x1
[ Info: cliq=2 adding factor that is no in separator, x0
[ Info: cliq=2 adding factor that is no in separator, x6
[ Info: Get potentials x9,: x10,x8,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x11,: x12,x10,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x10,: x12,x8,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=3 adding factor that is no in separator, x9
[ Info: cliq=3 adding factor that is no in separator, x11
[ Info: Get potentials x12,x4,x8,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=1 adding factor that is no in separator, x11
[ Info: cliq=1 adding factor that is no in separator, x3
[ Info: cliq=1 adding factor that is no in separator, x5
[ Info: cliq=1 adding factor that is no in separator, x7
[ Info: cliq=1 adding factor that is no in separator, x9
Bayes Tree
[ Info: Do tree based init-inference on tree
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x4, :x2]
[ Info: prepCliqInitMsgsUp, seps=Symbol[:l1, :x1]
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x2, :l1]
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
State machine iter=1[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x9,: x10,x8,
[ Info: #1 --
State machine iter=2[ Info: ---------- successive fnc approx ------------x9,: x10,x8,
[ Info: #1 --
State machine iter=3[ Info: [2x0p,d3,N100],
[ Info: #2 --
State machine iter=4[ Info: [2x0p,d3,N100],
[ Info: #3 --
State machine iter=5[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x10).inferdim=9.0
State machine iter=6
[ Info: fmcmc! -- solverData(vert=x8).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x9).inferdim=18.0
State machine iter=7[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x10, :x8]
State machine iter=8
[ Info: up w 0 msgs
State machine iter=1[ Info: ---------- successive fnc approx ------------x11,: x12,x10,
[ Info: #1 --
State machine iter=2[ Info: ---------- successive fnc approx ------------x11,: x12,x10,
[ Info: #1 --
State machine iter=3
[ Info: [2x0p,d3,N100],
[ Info: #2 --
State machine iter=4[ Info: [2x0p,d3,N100],
[ Info: #3 --
State machine iter=5[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x12).inferdim=9.0
┌ Warning: deprecated, use prepCliqInitMsgsUp(subfg::FactorGraph, cliq::Graphs.ExVertex) instead
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/TreeBasedInitialization.jl:509
[ Info: fmcmc! -- solverData(vert=x10).inferdim=9.0
State machine iter=1[ Info: prepCliqInitMsgsUp, seps=Symbol[:x4, :x2]
[ Info: fmcmc! -- solverData(vert=x11).inferdim=18.0
[ Info: Outgoing msg density on:
State machine iter=2
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x12, :x10]
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=1
┌ Warning: deprecated, use prepCliqInitMsgsUp(subfg::FactorGraph, cliq::Graphs.ExVertex) instead
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/TreeBasedInitialization.jl:509
[ Info: prepCliqInitMsgsUp, seps=Symbol[:l1, :x1]
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: up w 0 msgs
State machine iter=9[ Info: ---------- successive fnc approx ------------x6,: x7,l1,x5,
[ Info: #1 --
State machine iter=10[ Info: ---------- successive fnc approx ------------x6,: x7,l1,x5,
[ Info: #1 --
[ Info: #2 --
[ Info: #3 --
State machine iter=5
[ Info: fmcmc! -- solverData(vert=x7).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=l1).inferdim=6.0
State machine iter=6
[ Info: fmcmc! -- solverData(vert=x5).inferdim=18.0
[ Info: fmcmc! -- solverData(vert=x6).inferdim=9.0
State machine iter=7[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x7, :l1, :x5]
State machine iter=8
[ Info: up w 2 msgs
[ Info: inp.sendmsgs[x8].inferdim=9.0
[ Info: inp.sendmsgs[x10].inferdim=9.0
[ Info: inp.sendmsgs[x12].inferdim=9.0
[ Info: inp.sendmsgs[x10].inferdim=9.0
┌ Warning: deprecated, use prepCliqInitMsgsUp(subfg::FactorGraph, cliq::Graphs.ExVertex) instead
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/TreeBasedInitialization.jl:509
[ Info: ---------- successive fnc approx ------------x10,: x12,x8,
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x2, :l1]
[ Info: #1 --
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: ---------- successive fnc approx ------------x10,: x12,x8,
State machine iter=9[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=x12).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x8).inferdim=9.0
State machine iter=10
[ Info: ---------- successive fnc approx ------------x10,: x12,x8,
[ Info: #1 --
[ Info: [2x0p,d3,N100],
State machine iter=6[ Info: fmcmc! -- solverData(vert=x10).inferdim=18.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x12, :x8]
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
State machine iter=9
[ Info: up w 1 msgs
[ Info: inp.sendmsgs[x5].inferdim=18.0
[ Info: inp.sendmsgs[x7].inferdim=9.0
[ Info: inp.sendmsgs[l1].inferdim=6.0
[ Info: ---------- successive fnc approx ------------x7,: l1,x5,x8,
State machine iter=10
State machine iter=6
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x7,: l1,x5,x8,
[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=l1).inferdim=6.0
[ Info: fmcmc! -- solverData(vert=x5).inferdim=18.0
[ Info: ---------- successive fnc approx ------------x7,: l1,x5,x8,
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: #2 --
State machine iter=9
[ Info: [2x0p,d3,N100],
[ Info: #3 --
State machine iter=10[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x8).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x7).inferdim=18.0
[ Info: ---------- successive fnc approx ------------x7,: l1,x5,x8,
[ Info: #1 --
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:l1, :x5, :x8]
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: up w 1 msgs
[ Info: inp.sendmsgs[x5].inferdim=18.0
[ Info: inp.sendmsgs[x8].inferdim=9.0
[ Info: inp.sendmsgs[l1].inferdim=6.0
[ Info: ---------- successive fnc approx ------------x5,: l1,x8,x4,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x5,: l1,x8,x4,
[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=l1).inferdim=6.0
State machine iter=9
[ Info: fmcmc! -- solverData(vert=x8).inferdim=9.0
[ Info: ---------- successive fnc approx ------------x5,: l1,x8,x4,
State machine iter=10[ Info: #1 --
[ Info: #2 --
[ Info: #3 --
[ Info: fmcmc! -- solverData(vert=x4).inferdim=18.0
[ Info: fmcmc! -- solverData(vert=x5).inferdim=18.0
[ Info: ---------- successive fnc approx ------------x5,: l1,x8,x4,
[ Info: #1 --
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:l1, :x8, :x4]
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: up w 3 msgs
[ Info: inp.sendmsgs[x8].inferdim=9.0
[ Info: inp.sendmsgs[x4].inferdim=18.0
[ Info: inp.sendmsgs[l1].inferdim=6.0
[ Info: inp.sendmsgs[x2].inferdim=18.0
[ Info: inp.sendmsgs[l1].inferdim=6.0
[ Info: inp.sendmsgs[x2].inferdim=18.0
[ Info: inp.sendmsgs[x4].inferdim=18.0
[ Info: ---------- successive fnc approx ------------x2,l1,: x4,x8,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x2,l1,: x4,x8,
[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=x8).inferdim=9.0
State machine iter=9[ Info: ---------- successive fnc approx ------------x2,l1,: x4,x8,
[ Info: #1 --
State machine iter=10
[ Info: fmcmc! -- solverData(vert=x2).inferdim=18.0
[ Info: fmcmc! -- solverData(vert=l1).inferdim=6.0
[ Info: fmcmc! -- solverData(vert=x4).inferdim=18.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x4, :x8]
State machine iter=5
State machine iter=6
[ Info: up w 2 msgs
State machine iter=9
[ Info: inp.sendmsgs[x8].inferdim=9.0
[ Info: inp.sendmsgs[x4].inferdim=18.0
State machine iter=10[ Info: inp.sendmsgs[x12].inferdim=9.0
[ Info: inp.sendmsgs[x8].inferdim=9.0
[ Info: ---------- successive fnc approx ------------x12,x4,x8,:
[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=x12).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x4).inferdim=18.0
[ Info: ---------- successive fnc approx ------------x12,x4,x8,:
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x12).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x4).inferdim=18.0
[ Info: fmcmc! -- solverData(vert=x8).inferdim=18.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x12, :x4, :x8]
[ Info: sym=x12, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x4, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x8, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=11
State machine iter=11[ Info: [2x0p,d3,N100],
State machine iter=9
State machine iter=7
State machine iter=7
State machine iter=11
State machine iter=11
State machine iter=11[ Info: [2x0p,d3,N100],
State machine iter=7[ Info: [2x0p,d3,N100],
State machine iter=11
State machine iter=12[ Info: [2x0p,d3,N100],
State machine iter=12
State machine iter=8
State machine iter=8
State machine iter=12
State machine iter=12
State machine iter=8
State machine iter=12
State machine iter=11
State machine iter=12
[ Info: Finished tree based init-inference
┌ Warning: getData is deprecated, please use solverData()
└ @ DistributedFactorGraphs ~/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:188
┌ Warning: getData is deprecated, please use solverData()
└ @ DistributedFactorGraphs ~/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:188
State machine iter=12
Test Summary: | Pass Total
test basic fixed lag operations... | 6 6
[ Info: try doautoinit! of l1
[ Info: try doautoinit! of l2
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: [0x1p,d3,N100],
[ Info: try doautoinit! of l1
[ Info: allowing init from incomplete set of previously initialized hypotheses, fct=x0l1l2f1
[ Info: init with useinitfct Symbol[:x0l1l2f1, :l1f1]
[ Info: do init of l1
[ Info: not all hypotheses initialized, but at least one available -- see #427
[ Info: [2x0p,d2,N100],
[ Info: try doautoinit! of l2
[ Info: init with useinitfct Symbol[:x0l1l2f1, :l2f1]
[ Info: do init of l2
[ Info: [2x0p,d2,N100],
[ Info: [1x1p,d3,N100],
Test Summary: |
test standard multimodal range bearing factor setup... | No tests
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating l2
[ Info: ===============
[ Info:
[ Info: - Removing l2
Si = Symbol[:x0, :l1]
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x0l1f1
[ Info: - Breaking link x0l1f1->x0...
[ Info: - Original links: Symbol[:x0, :l1]
[ Info: - New links: Symbol[:l1]
[ Info: x0l1f1 still has links to other variables, readding it back...
Si = Symbol[:l1]
[ Info:
[ Info: Eliminating l1
[ Info: ===============
[ Info:
[ Info: - Removing l1
[ Info: Looking at l1f2
[ Info: - Breaking link l1f2->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f2 doesn't have any other links, not adding it back...
[ Info: Looking at l1f3
[ Info: - Breaking link l1f3->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f3 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials l1,x0,l2,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------l1,x0,l2,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------l1,x0,l2,:
[ Info: #1 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: [1x1p,d3,N100],
[ Info: #2 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: [1x1p,d3,N100],
[ Info: #3 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: [1x1p,d3,N100],
[ Info: fmcmc! -- solverData(vert=l1).inferdim=14.0
[ Info: fmcmc! -- solverData(vert=l2).inferdim=14.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=8.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:l1, :x0, :l2]
[ Info: sym=l1, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=l2, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: Finished tree based init-inference
State machine iter=9
Test Summary: | Pass Total
test multimodal bearing range factors calculate pose position properly... | 3 3
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of l1
[ Info: try doautoinit! of l2
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of l1
[ Info: allowing init from incomplete set of previously initialized hypotheses, fct=x0l1l2f1
[ Info: init with useinitfct Symbol[:x0l1l2f1, :l1f1]
[ Info: do init of l1
[ Info: not all hypotheses initialized, but at least one available -- see #427
[ Info: [2x0p,d2,N100],
[ Info: try doautoinit! of l2
[ Info: init with useinitfct Symbol[:x0l1l2f1, :l2f1]
[ Info: do init of l2
[ Info: [1x1p,d2,N100],
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating l1
[ Info: ===============
[ Info:
[ Info: - Removing l1
Si = Symbol[:x0, :l2]
[ Info:
[ Info: Eliminating l2
[ Info: ===============
[ Info:
[ Info: - Removing l2
[ Info: Looking at x0l2f1
[ Info: - Breaking link x0l2f1->l2...
[ Info: - Original links: Symbol[:x0, :l2]
[ Info: - New links: Symbol[:x0]
[ Info: x0l2f1 still has links to other variables, readding it back...
Si = Symbol[:x0]
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x0f2
[ Info: - Breaking link x0f2->x0...
[ Info: - Original links: Symbol[:x0]
[ Info: - New links: Symbol[]
[ Info: x0f2 doesn't have any other links, not adding it back...
[ Info: Looking at x0f3
[ Info: - Breaking link x0f3->x0...
[ Info: - Original links: Symbol[:x0]
[ Info: - New links: Symbol[]
[ Info: x0f3 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x0,l2,l1,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x0,l2,l1,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x0,l2,l1,:
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d2,N100],
[ Info: [1x1p,d2,N100],
[ Info: #2 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d2,N100],
[ Info: [1x1p,d2,N100],
[ Info: #3 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d2,N100],
[ Info: [1x1p,d2,N100],
[ Info: fmcmc! -- solverData(vert=x0).inferdim=11.0
[ Info: fmcmc! -- solverData(vert=l1).inferdim=14.0
[ Info: fmcmc! -- solverData(vert=l2).inferdim=12.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x0, :l2, :l1]
[ Info: sym=x0, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=l2, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=l1, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
test multimodal landmark locations are computed correclty... | 5 5
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info: Looking at x1f1
[ Info: - Breaking link x1f1->x1...
[ Info: - Original links: Symbol[:x1]
[ Info: - New links: Symbol[]
[ Info: x1f1 doesn't have any other links, not adding it back...
[ Info: Get potentials x1,x0,:
[ Info: using all factors among cliq variables
Si = Symbol[:x1]
Find potential functions for each clique
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: [2x0p,d5,N100],
[ Info: #2 --
[ Info: [2x0p,d5,N100],
[ Info: #3 --
[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x1).inferdim=25.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=30.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x1, :x0]
[ Info: sym=x1, mem size of val=(5, 100) and (5, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(5, 100) and (5, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
test DynPose2 and velocity... | 5 5
Test Summary: | Pass Total
test distribution compare functions... | 3 3
Test Summary: | Pass Total
test DynPose2 packing converters... | 2 2
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x0x1f1]
[ Info: do init of x1
[ Info: try doautoinit! of x2
[ Info: try doautoinit! of x2
[ Info: init with useinitfct Symbol[:x1x2f1]
[ Info: do init of x2
[ Info: try doautoinit! of x3
[ Info: try doautoinit! of x3
[ Info: init with useinitfct Symbol[:x2x3f1]
[ Info: do init of x3
[ Info: try doautoinit! of x4
[ Info: try doautoinit! of x4
[ Info: init with useinitfct Symbol[:x3x4f1]
[ Info: do init of x4
[ Info: try doautoinit! of x5
[ Info: try doautoinit! of x5
[ Info: init with useinitfct Symbol[:x4x5f1]
[ Info: do init of x5
[ Info: try doautoinit! of x6
[ Info: try doautoinit! of x6
[ Info: init with useinitfct Symbol[:x5x6f1]
[ Info: do init of x6
[ Info: try doautoinit! of x7
[ Info: try doautoinit! of x7
[ Info: init with useinitfct Symbol[:x6x7f1]
[ Info: do init of x7
[ Info: try doautoinit! of x8
[ Info: try doautoinit! of x8
[ Info: init with useinitfct Symbol[:x7x8f1]
[ Info: do init of x8
[ Info: try doautoinit! of x9
[ Info: try doautoinit! of x9
[ Info: init with useinitfct Symbol[:x8x9f1]
[ Info: do init of x9
[ Info: try doautoinit! of x10
[ Info: x10 is not initialized, and will do so now...
[ Info: try doautoinit! of x10
[ Info: init with useinitfct Symbol[:x9x10f1]
[ Info: do init of x10
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x5
[ Info: ===============
[ Info:
[ Info: - Removing x5
Si = Symbol[:x6, :x4]
[ Info:
[ Info: Eliminating x3
[ Info: ===============
[ Info:
[ Info: - Removing x3
[ Info:
[ Info: Eliminating x9
[ Info: ===============
[ Info:
[ Info: - Removing x9
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info:
[ Info: Eliminating x7
[ Info: ===============
[ Info:
[ Info: - Removing x7
Si = Symbol[:x4, :x2]
Si = Symbol[:x10, :x8]
Si = Symbol[:x2, :x0]
Si = Symbol[:x6, :x8]
Si = Symbol[:x2]
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x2x0f1
[ Info: - Breaking link x2x0f1->x0...
[ Info: - Original links: Symbol[:x2, :x0]
[ Info: - New links: Symbol[:x2]
[ Info: x2x0f1 still has links to other variables, readding it back...
[ Info:
[ Info: Eliminating x4
[ Info: ===============
[ Info:
[ Info: - Removing x4
[ Info: Looking at x4x2f1
[ Info: - Breaking link x4x2f1->x4...
[ Info: - Original links: Symbol[:x4, :x2]
[ Info: - New links: Symbol[:x2]
[ Info: x4x2f1 still has links to other variables, readding it back...
[ Info: Looking at x6x4f1
[ Info: - Breaking link x6x4f1->x4...
[ Info: - Original links: Symbol[:x6, :x4]
[ Info: - New links: Symbol[:x6]
[ Info: x6x4f1 still has links to other variables, readding it back...
Si = Symbol[:x2, :x6]
[ Info:
[ Info: Eliminating x8
[ Info: ===============
[ Info:
[ Info: - Removing x8
[ Info: Looking at x10x8f1
[ Info: - Breaking link x10x8f1->x8...
[ Info: - Original links: Symbol[:x10, :x8]
[ Info: - New links: Symbol[:x10]
[ Info: x10x8f1 still has links to other variables, readding it back...
[ Info: Looking at x6x8f1
[ Info: - Breaking link x6x8f1->x8...
[ Info: - Original links: Symbol[:x6, :x8]
Si = Symbol[:x10, :x6]
[ Info: - New links: Symbol[:x6]
[ Info: x6x8f1 still has links to other variables, readding it back...
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x2f3
[ Info: - Breaking link x2f3->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f3 doesn't have any other links, not adding it back...
[ Info: Looking at x2x6f1
[ Info: - Breaking link x2x6f1->x2...
[ Info: - Original links: Symbol[:x2, :x6]
[ Info: - New links: Symbol[:x6]
[ Info: x2x6f1 still has links to other variables, readding it back...
[ Info: Looking at x2f2
[ Info: - Breaking link x2f2->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f2 doesn't have any other links, not adding it back...
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
Si = Symbol[:x6][ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
[ Info:
[ Info: Eliminating x6
Si = Symbol[:x10]
[ Info: ===============
[ Info:
[ Info: - Removing x6
[ Info: Looking at x6f2
[ Info: - Breaking link x6f2->x6...
[ Info: - Original links: Symbol[:x6]
[ Info: - New links: Symbol[]
[ Info: x6f2 doesn't have any other links, not adding it back...
[ Info: Looking at x10x6f1
[ Info: - Breaking link x10x6f1->x6...
[ Info: - Original links: Symbol[:x10, :x6]
[ Info: - New links: Symbol[:x10]
[ Info: x10x6f1 still has links to other variables, readding it back...
[ Info: Looking at x6f4
[ Info: - Breaking link x6f4->x6...
[ Info: - Original links: Symbol[:x6]
[ Info: - New links: Symbol[]
[ Info: x6f4 doesn't have any other links, not adding it back...
[ Info: Looking at x6f1
[ Info: - Breaking link x6f1->x6...
[ Info: - Original links: Symbol[:x6]
[ Info: - New links: Symbol[]
[ Info: x6f1 doesn't have any other links, not adding it back...
[ Info: Looking at x6f3
[ Info: - Breaking link x6f3->x6...
[ Info: - Original links: Symbol[:x6]
[ Info: - New links: Symbol[]
[ Info: x6f3 doesn't have any other links, not adding it back...
[ Info:
[ Info: Eliminating x10
[ Info: ===============
[ Info:
[ Info: - Removing x10
[ Info: Looking at x10f1
[ Info: - Breaking link x10f1->x10...
[ Info: - Original links: Symbol[:x10]
[ Info: - New links: Symbol[]
[ Info: x10f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Looking at x10f3
[ Info: - Breaking link x10f3->x10...
[ Info: - Original links: Symbol[:x10]
[ Info: - New links: Symbol[]
[ Info: x10f3 doesn't have any other links, not adding it back...
[ Info: Looking at x10f2
[ Info: - Breaking link x10f2->x10...
[ Info: - Original links: Symbol[:x10]
[ Info: - New links: Symbol[]
[ Info: x10f2 doesn't have any other links, not adding it back...
[ Info: Get potentials x0,x1,: x2,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x3,: x4,x2,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x5,: x6,x4,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x2,x4,: x6,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=2 adding factor that is no in separator, x3
[ Info: cliq=2 adding factor that is no in separator, x1
[ Info: cliq=2 adding factor that is no in separator, x3
[ Info: cliq=2 adding factor that is no in separator, x5
[ Info: Get potentials x7,: x6,x8,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x9,: x10,x8,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x10,x6,x8,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
State machine iter=1[ Info: cliq=1 adding factor that is no in separator, x9
[ Info: cliq=1 adding factor that is no in separator, x7
[ Info: cliq=1 adding factor that is no in separator, x5
[ Info: cliq=1 adding factor that is no in separator, x7
[ Info: cliq=1 adding factor that is no in separator, x9
[ Info: Do tree based init-inference on tree
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x0,x1,: x2,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x0,x1,: x2,
[ Info: #1 --
State machine iter=4
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
State machine iter=1
State machine iter=2
State machine iter=3[ Info: [2x0p,d5,N100],
State machine iter=4[ Info: [2x0p,d5,N100],
[ Info: #2 --
[ Info: [2x0p,d5,N100],
State machine iter=5[ Info: [2x0p,d5,N100],
[ Info: #3 --
State machine iter=6[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=7[ Info: fmcmc! -- solverData(vert=x2).inferdim=25.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=30.0
State machine iter=8
[ Info: fmcmc! -- solverData(vert=x1).inferdim=50.0
[ Info: Outgoing msg density on:
[ Info: up w 0 msgs
State machine iter=1[ Info: prepCliqInitMsgsUp, seps=Symbol[:x2]
[ Info: ---------- successive fnc approx ------------x7,: x6,x8,
[ Info: #1 --
State machine iter=2[ Info: ---------- successive fnc approx ------------x7,: x6,x8,
[ Info: #1 --
State machine iter=3[ Info: [2x0p,d5,N100],
[ Info: #2 --
State machine iter=4[ Info: [2x0p,d5,N100],
[ Info: #3 --
State machine iter=5[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x6).inferdim=25.0
State machine iter=6[ Info: fmcmc! -- solverData(vert=x8).inferdim=25.0
[ Info: fmcmc! -- solverData(vert=x7).inferdim=50.0
State machine iter=7[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x6, :x8]
State machine iter=8
[ Info: up w 0 msgs
State machine iter=9[ Info: ---------- successive fnc approx ------------x9,: x10,x8,
[ Info: #1 --
State machine iter=10[ Info: ---------- successive fnc approx ------------x9,: x10,x8,
[ Info: #1 --
[ Info: [2x0p,d5,N100],
State machine iter=1[ Info: #2 --
[ Info: [2x0p,d5,N100],
State machine iter=2[ Info: #3 --
[ Info: [2x0p,d5,N100],
State machine iter=3
[ Info: fmcmc! -- solverData(vert=x10).inferdim=25.0
[ Info: fmcmc! -- solverData(vert=x8).inferdim=25.0
State machine iter=4
[ Info: fmcmc! -- solverData(vert=x9).inferdim=50.0
State machine iter=5[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x10, :x8]
State machine iter=6
State machine iter=7
State machine iter=8
State machine iter=1[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x3,: x4,x2,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x3,: x4,x2,
[ Info: #1 --
State machine iter=2
State machine iter=3[ Info: [2x0p,d5,N100],
[ Info: #2 --
State machine iter=4[ Info: [2x0p,d5,N100],
[ Info: #3 --
State machine iter=5
[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x4).inferdim=25.0
State machine iter=6[ Info: fmcmc! -- solverData(vert=x2).inferdim=25.0
[ Info: fmcmc! -- solverData(vert=x3).inferdim=50.0
State machine iter=7
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x4, :x2]
State machine iter=8
State machine iter=9[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x5,: x6,x4,
[ Info: #1 --
State machine iter=10[ Info: ---------- successive fnc approx ------------x5,: x6,x4,
[ Info: #1 --
[ Info: [2x0p,d5,N100],
State machine iter=9[ Info: #2 --
[ Info: [2x0p,d5,N100],
State machine iter=10[ Info: #3 --
[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x6).inferdim=25.0
State machine iter=9[ Info: fmcmc! -- solverData(vert=x4).inferdim=25.0
[ Info: fmcmc! -- solverData(vert=x5).inferdim=50.0
State machine iter=10[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x6, :x4]
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: up w 3 msgs
[ Info: inp.sendmsgs[x2].inferdim=25.0
[ Info: inp.sendmsgs[x2].inferdim=25.0
[ Info: inp.sendmsgs[x4].inferdim=25.0
[ Info: inp.sendmsgs[x6].inferdim=25.0
[ Info: inp.sendmsgs[x4].inferdim=25.0
[ Info: ---------- successive fnc approx ------------x2,x4,: x6,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x2,x4,: x6,
[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=x6).inferdim=25.0
State machine iter=9[ Info: ---------- successive fnc approx ------------x2,x4,: x6,
[ Info: #1 --
State machine iter=10[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x2).inferdim=50.0
[ Info: fmcmc! -- solverData(vert=x4).inferdim=50.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x6]
State machine iter=5
State machine iter=6
[ Info: up w 3 msgs
[ Info: inp.sendmsgs[x6].inferdim=25.0
[ Info: inp.sendmsgs[x6].inferdim=25.0
[ Info: inp.sendmsgs[x8].inferdim=25.0
[ Info: inp.sendmsgs[x8].inferdim=25.0
[ Info: inp.sendmsgs[x10].inferdim=25.0
[ Info: ---------- successive fnc approx ------------x10,x6,x8,:
[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=x10).inferdim=25.0
State machine iter=9
[ Info: ---------- successive fnc approx ------------x10,x6,x8,:
[ Info: #1 --
State machine iter=10[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x10).inferdim=25.0
[ Info: fmcmc! -- solverData(vert=x6).inferdim=50.0
[ Info: fmcmc! -- solverData(vert=x8).inferdim=50.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x10, :x6, :x8]
[ Info: sym=x10, mem size of val=(5, 100) and (5, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x6, mem size of val=(5, 100) and (5, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x8, mem size of val=(5, 100) and (5, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=11
State machine iter=11
[ Info: [2x0p,d5,N100],
State machine iter=11
[ Info: [2x0p,d5,N100],
State machine iter=9[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=12
State machine iter=12
State machine iter=11
State machine iter=11[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=11[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=12[ Info: [2x0p,d5,N100],
State machine iter=12
State machine iter=12
State machine iter=12
[ Info: Finished tree based init-inference
┌ Warning: deprecated batchSolve! in favor of new solveTree! interface with the same and more functionality.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/SolverAPI.jl:228
Building Bayes net...
[ Info:
[ Info: Eliminating x5
[ Info: ===============
[ Info:
[ Info: - Removing x5
Si = Symbol[:x6, :x4]
[ Info:
[ Info: Eliminating x10
[ Info: ===============
[ Info:
[ Info: - Removing x10
Si = Symbol[:x9]
[ Info:
[ Info: Eliminating x3
[ Info: ===============
[ Info:
[ Info: - Removing x3
Si = Symbol[:x4, :x2]
[ Info:
[ Info: Eliminating x8
[ Info: ===============
[ Info:
[ Info: - Removing x8
Si = Symbol[:x9, :x7]
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
Si = Symbol[:x2, :x0]
[ Info:
[ Info: Eliminating x6
[ Info: ===============
[ Info:
[ Info: - Removing x6
[ Info: Looking at x6x4f1
[ Info: - Breaking link x6x4f1->x6...
[ Info: - Original links: Symbol[:x6, :x4]
[ Info: - New links: Symbol[:x4]
[ Info: x6x4f1 still has links to other variables, readding it back...
Si = Symbol[:x7, :x4]
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x2x0f1
[ Info: - Breaking link x2x0f1->x0...
[ Info: - Original links: Symbol[:x2, :x0]
[ Info: - New links: Symbol[:x2]
[ Info: x2x0f1 still has links to other variables, readding it back...
Si = Symbol[:x2]
[ Info:
[ Info: Eliminating x9
[ Info: ===============
[ Info:
[ Info: - Removing x9
[ Info: Looking at x9f1
[ Info: - Breaking link x9f1->x9...
[ Info: - Original links: Symbol[:x9]
[ Info: - New links: Symbol[]
[ Info: x9f1 doesn't have any other links, not adding it back...
[ Info: Looking at x9x7f1
[ Info: - Breaking link x9x7f1->x9...
[ Info: - Original links: Symbol[:x9, :x7]
[ Info: - New links: Symbol[:x7]
[ Info: x9x7f1 still has links to other variables, readding it back...
Si = Symbol[:x7]
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x2f2
[ Info: - Breaking link x2f2->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f2 doesn't have any other links, not adding it back...
[ Info: Looking at x4x2f1
[ Info: - Breaking link x4x2f1->x2...
[ Info: - Original links: Symbol[:x4, :x2]
[ Info: - New links: Symbol[:x4]
[ Info: x4x2f1 still has links to other variables, readding it back...
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
Si = Symbol[:x4]
[ Info:
[ Info: Eliminating x7
[ Info: ===============
[ Info:
[ Info: - Removing x7
[ Info: Looking at x7x4f1
[ Info: - Breaking link x7x4f1->x7...
[ Info: - Original links: Symbol[:x7, :x4]
[ Info: - New links: Symbol[:x4]
[ Info: x7x4f1 still has links to other variables, readding it back...
[ Info: Looking at x7f1
[ Info: - Breaking link x7f1->x7...
[ Info: - Original links: Symbol[:x7]
[ Info: - New links: Symbol[]
[ Info: x7f1 doesn't have any other links, not adding it back...
[ Info: Looking at x7f2
[ Info: - Breaking link x7f2->x7...
[ Info: - Original links: Symbol[:x7]
[ Info: - New links: Symbol[]
[ Info: x7f2 doesn't have any other links, not adding it back...
Si = Symbol[:x4]
[ Info:
[ Info: Eliminating x4
[ Info: ===============
[ Info:
[ Info: - Removing x4
[ Info: Looking at x4f2
[ Info: - Breaking link x4f2->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f2 doesn't have any other links, not adding it back...
[ Info: Looking at x4f1
[ Info: - Breaking link x4f1->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f1 doesn't have any other links, not adding it back...
[ Info: Looking at x4f4
[ Info: - Breaking link x4f4->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f4 doesn't have any other links, not adding it back...
[ Info: Looking at x4f5
[ Info: - Breaking link x4f5->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f5 doesn't have any other links, not adding it back...
[ Info: Looking at x4f3
[ Info: - Breaking link x4f3->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f3 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x0,x1,: x2,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x2,x3,: x4,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=2 adding factor that is no in separator, x1
[ Info: Get potentials x10,: x9,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x9,x8,: x7,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=3 adding factor that is no in separator, x10
[ Info: Get potentials x5,: x6,x4,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x4,x7,x6,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=1 adding factor that is no in separator, x3
[ Info: cliq=1 adding factor that is no in separator, x5
[ Info: cliq=1 adding factor that is no in separator, x8
[ Info: cliq=1 adding factor that is no in separator, x5
Bayes Tree
[ Info: Solving over the Bayes (Junction) tree.
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x0,x1,: x2,
State machine iter=1
[ Info: #1 --
State machine iter=2[ Info: ---------- successive fnc approx ------------x0,x1,: x2,
[ Info: #1 --
State machine iter=3
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=4[ Info: #2 --
[ Info: [2x0p,d5,N100],
State machine iter=5
[ Info: [2x0p,d5,N100],
[ Info: #3 --
State machine iter=6
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=7[ Info: fmcmc! -- solverData(vert=x2).inferdim=25.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=30.0
State machine iter=8[ Info: fmcmc! -- solverData(vert=x1).inferdim=50.0
[ Info: Outgoing msg density on:
[ Info: up w 0 msgs
State machine iter=1[ Info: prepCliqInitMsgsUp, seps=Symbol[:x2]
[ Info: ---------- successive fnc approx ------------x10,: x9,
[ Info: #1 --
State machine iter=2
[ Info: ---------- successive fnc approx ------------x10,: x9,
[ Info: #1 --
State machine iter=3[ Info: [2x0p,d5,N100],
State machine iter=4[ Info: #2 --
[ Info: [2x0p,d5,N100],
[ Info: #3 --
State machine iter=5[ Info: [2x0p,d5,N100],
State machine iter=6[ Info: fmcmc! -- solverData(vert=x9).inferdim=25.0
State machine iter=7[ Info: fmcmc! -- solverData(vert=x10).inferdim=30.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x9]
State machine iter=8
State machine iter=5
State machine iter=6
State machine iter=7[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x5,: x6,x4,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x5,: x6,x4,
[ Info: #1 --
[ Info: [2x0p,d5,N100],
[ Info: #2 --
State machine iter=8[ Info: [2x0p,d5,N100],
[ Info: #3 --
[ Info: up w 1 msgs
[ Info: [2x0p,d5,N100],
[ Info: inp.sendmsgs[x2].inferdim=25.0
State machine iter=5
[ Info: fmcmc! -- solverData(vert=x6).inferdim=25.0
[ Info: ---------- successive fnc approx ------------x2,x3,: x4,
[ Info: fmcmc! -- solverData(vert=x4).inferdim=25.0
State machine iter=6[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=x5).inferdim=50.0
State machine iter=7[ Info: ---------- successive fnc approx ------------x2,x3,: x4,
[ Info: Outgoing msg density on:
[ Info: #1 --
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x6, :x4]
[ Info: [2x0p,d5,N100],
State machine iter=8[ Info: [2x0p,d5,N100],
[ Info: #2 --
[ Info: up w 1 msgs
State machine iter=9[ Info: [2x0p,d5,N100],
[ Info: inp.sendmsgs[x9].inferdim=25.0
[ Info: [2x0p,d5,N100],
[ Info: ---------- successive fnc approx ------------x9,x8,: x7,
State machine iter=10
[ Info: #3 --
[ Info: #1 --
[ Info: [2x0p,d5,N100],
[ Info: ---------- successive fnc approx ------------x9,x8,: x7,
[ Info: [2x0p,d5,N100],
[ Info: #1 --
State machine iter=9[ Info: fmcmc! -- solverData(vert=x4).inferdim=25.0
[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x3).inferdim=50.0
[ Info: [2x0p,d5,N100],
State machine iter=10[ Info: fmcmc! -- solverData(vert=x2).inferdim=50.0
[ Info: #2 --
[ Info: Outgoing msg density on:
[ Info: [2x0p,d5,N100],
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x4]
State machine iter=9[ Info: [2x0p,d5,N100],
[ Info: #3 --
[ Info: [2x0p,d5,N100],
State machine iter=10[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x7).inferdim=25.0
[ Info: fmcmc! -- solverData(vert=x8).inferdim=50.0
State machine iter=9
[ Info: fmcmc! -- solverData(vert=x9).inferdim=50.0
[ Info: Outgoing msg density on:
State machine iter=10
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x7]
State machine iter=5
State machine iter=6
[ Info: up w 3 msgs
[ Info: inp.sendmsgs[x4].inferdim=25.0
[ Info: inp.sendmsgs[x7].inferdim=25.0
[ Info: inp.sendmsgs[x6].inferdim=25.0
[ Info: inp.sendmsgs[x4].inferdim=25.0
[ Info: ---------- successive fnc approx ------------x4,x7,x6,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x4,x7,x6,:
[ Info: #1 --
[ Info: [2x0p,d5,N100],
State machine iter=9[ Info: [2x0p,d5,N100],
[ Info: #2 --
State machine iter=10[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: #3 --
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x7).inferdim=50.0
[ Info: fmcmc! -- solverData(vert=x6).inferdim=50.0
[ Info: ---------- successive fnc approx ------------x4,x7,x6,:
[ Info: #1 --
[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x4).inferdim=50.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x4, :x7, :x6]
[ Info: sym=x4, mem size of val=(5, 100) and (5, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x7, mem size of val=(5, 100) and (5, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x6, mem size of val=(5, 100) and (5, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=11
State machine iter=11
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=11[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=9[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=12[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=11
[ Info: [2x0p,d5,N100],
State machine iter=12[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=11[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=12[ Info: [2x0p,d5,N100],
State machine iter=12
State machine iter=12
[ Info: Finished tree based init-inference
(sym, round.(XX, digits=5)) = (:x2, [0.08763, 0.01421, -0.00067, 0.01739, -0.01497])
(sym, round.(XX, digits=5)) = (:x3, [0.13892, 0.01091, -0.00094, 0.04184, -0.0079])
(sym, round.(XX, digits=5)) = (:x4, [0.1866, -0.02796, 0.00164, 0.05804, -0.02026])
(sym, round.(XX, digits=5)) = (:x5, [2.07496, 0.06553, 0.00036, 0.5845, 0.07181])
(sym, round.(XX, digits=5)) = (:x6, [2.67237, 0.09552, 0.00421, 0.6958, 0.04594])
(sym, round.(XX, digits=5)) = (:x7, [4.05648, 0.10733, -0.00386, 0.80963, 0.02294])
(sym, round.(XX, digits=5)) = (:x8, [6.55943, 0.09221, -0.00927, 0.89247, 0.00369])
(sym, round.(XX, digits=5)) = (:x9, [8.40087, -0.00485, 0.0026, 0.6362, -0.02283])
Test Summary: | Pass Total
test many DynPose2 chain stationary and 'pulled'... | 65 65
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x1f1, :x0x1f1]
[ Info: do init of x1
[ Info: [2x0p,d5,N100],
┌ Warning: deprecated batchSolve! in favor of new solveTree! interface with the same and more functionality.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/SolverAPI.jl:228
Building Bayes net...
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
Si = Symbol[:x0]
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x0f2
[ Info: - Breaking link x0f2->x0...
[ Info: - Original links: Symbol[:x0]
[ Info: - New links: Symbol[]
[ Info: x0f2 doesn't have any other links, not adding it back...
[ Info: Get potentials x0,x1,:
Find potential functions for each clique
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Solving over the Bayes (Junction) tree.
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x0,x1,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x0,x1,:
[ Info: #1 --
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: #2 --
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: #3 --
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x0).inferdim=30.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=30.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x0, :x1]
[ Info: sym=x0, mem size of val=(5, 100) and (5, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x1, mem size of val=(5, 100) and (5, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
test many DynPose2 sideways velocity... | 10 10
[TEST] Pose3 evaluations...
[ Info: try doautoinit! of x1
Test Summary: |
Adding PriorPose3 to graph... | No tests
[ Info: x1 is not initialized, and will do so now...
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x1f1]
[ Info: do init of x1
muX1 = Statistics.mean(getVal(fg, :x1), dims=2) = [-0.1690374859258231; -0.05463665574072395; -0.13038587672728383; 0.0022934869890130077; 0.015640310879781533; 0.0012353457017437864]
stdX1 = Statistics.std(getVal(fg, :x1), dims=2) = [0.820800748339389; 1.0645560683131006; 0.9237347826886072; 0.0979351196764329; 0.11454666034464384; 0.105272073940112]
Test Summary: | Pass Total
Ensure vertex initialized properly | 5 5
Test Summary: | Pass Total
Testing PriorPose3 evaluation... | 2 2
[ Info: try doautoinit! of x2
Test Summary: |
Adding Pose3Pose3 to graph... | No tests
[ Info: x2 is not initialized, and will do so now...
[ Info: try doautoinit! of x2
[ Info: init with useinitfct Symbol[:x1x2f1]
[ Info: do init of x2
X1ptsMean = [0.19048952540118572; -0.14575907800462445; 0.05296271731897301; 0.016347297558362263; 0.046748651070774125; 0.007085707876544707]
Test Summary: | Pass Total
Testing Pose3Pose3 evaluation... | 3 3
[ Info: Solving over the Bayes (Junction) tree.
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
Building Bayes net...
[ Info: - Removing x1
Si = Symbol[:x2]
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x2,x1,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x2,x1,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x2,x1,:
[ Info: #1 --
[ Info: [2x0p,d6,N100],
[ Info: #2 --
[ Info: [2x0p,d6,N100],
[ Info: #3 --
[ Info: [2x0p,d6,N100],
[ Info: fmcmc! -- solverData(vert=x2).inferdim=36.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=42.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x2, :x1]
[ Info: sym=x2, mem size of val=(6, 100) and (6, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x1, mem size of val=(6, 100) and (6, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: Finished tree based init-inference
State machine iter=9
Test Summary: | Pass Total
Construct Bayes tree and perform inference... | 1 1
muX2[1:3] - [10.0; 0; 0] = [-0.35177975921932614, -0.16687597461146944, 0.20784414131139958]
previous test failure 0.75 .< [1.49, 1.45, 1.5] .< 2.25
println("previous test failure 0.75 .< $(round.(stdX2[1:3], digits=2)) .< 2.25") = nothing
Test Summary: | Pass Total
Ensure basic parameters on x1,x2 after inference... | 8 8
[SUCCESS]
[TEST] ensure Pose3Pose3NH evaluations...
Test Summary: | Pass Total
Test syntax for null hypothesis matrix substitution | 1 1
Test if null hypothesis occurs as expected...
Adding PriorPose3 to graph...
[ Info: try doautoinit! of x1
[ Info: x1 is not initialized, and will do so now...
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x1f1]
[ Info: do init of x1
Ensure vertex initialized properly
Testing PriorPose3 evaluation...
[ Info: try doautoinit! of x2
[ Info: try doautoinit! of x2
[ Info: init with useinitfct Symbol[:x1x2f1]
[ Info: do init of x2
Testing Pose3Pose3 evaluation...
[ Info: try doautoinit! of x3
Building Bayes net...
Si = Symbol[:x1, :x3]
┌ Warning: deprecated batchSolve! in favor of new solveTree! interface with the same and more functionality.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/SolverAPI.jl:228
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info: Looking at x1x3f1
[ Info: - Breaking link x1x3f1->x1...
[ Info: - Original links: Symbol[:x1, :x3]
[ Info: - New links: Symbol[:x3]
[ Info: x1x3f1 still has links to other variables, readding it back...
Si = Symbol[:x3]
Find potential functions for each clique
Bayes Tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info:
[ Info: Eliminating x3
[ Info: ===============
[ Info:
[ Info: - Removing x3
[ Info: Looking at x3f2
[ Info: - Breaking link x3f2->x3...
[ Info: - Original links: Symbol[:x3]
[ Info: - New links: Symbol[]
[ Info: x3f2 doesn't have any other links, not adding it back...
[ Info: Looking at x3f1
[ Info: - Breaking link x3f1->x3...
[ Info: - Original links: Symbol[:x3]
[ Info: - New links: Symbol[]
[ Info: x3f1 doesn't have any other links, not adding it back...
[ Info: Get potentials x3,x1,x2,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Solving over the Bayes (Junction) tree.
[ Info: Do tree based init-inference on tree
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x3,x1,x2,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x3,x1,x2,:
[ Info: #1 --
[ Info: [2x0p,d6,N100],
[ Info: [2x0p,d6,N100],
[ Info: #2 --
[ Info: [2x0p,d6,N100],
[ Info: [2x0p,d6,N100],
[ Info: #3 --
[ Info: [2x0p,d6,N100],
[ Info: [2x0p,d6,N100],
[ Info: fmcmc! -- solverData(vert=x3).inferdim=36.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=42.0
[ Info: fmcmc! -- solverData(vert=x2).inferdim=72.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x3, :x1, :x2]
[ Info: sym=x3, mem size of val=(6, 100) and (6, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x1, mem size of val=(6, 100) and (6, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x2, mem size of val=(6, 100) and (6, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
Adding Pose3Pose3NH to graph...
[ Info: Finished tree based init-inference
┌ Warning: FunctorPairwiseNH will be deprecated in favor of common `nullhypo=` interface.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/ApproxConv.jl:200
┌ Warning: FunctorPairwiseNH will be deprecated in favor of common `nullhypo=` interface.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/ApproxConv.jl:200
Test Summary: | Pass Total
loading validation data for testing. | 2 2
[SUCCESS]
┌ Warning: Skipping JLD tests in RoME
└ @ Main ~/.julia/packages/RoME/uM3dB/test/runtests.jl:68
[TEST] PartialPose3XYYaw evaluations...
Test Summary: | Pass Total
test x translation case | 4 4
Test Summary: | Pass Total
test z translation case | 4 4
res = [-1.7763568394002505e-15, 0.0, 0.0, 0.0, 0.0, 0.0]
Test Summary: | Pass Total
test roll and translate case 1 | 4 4
res = [0.0, 2.220446049250313e-15, 1.7763568394002505e-15, 0.0, 0.0, 0.0]
Test Summary: | Pass Total
test roll and translate case 2 | 4 4
res = [8.881784197001252e-16, 0.0, 0.0, 0.0, -2.102094367686146e-17, 0.0]
res = [0.0, 0.0, -0.0]
Test Summary: | Pass Total
test pitch and translate case 1 | 4 4
res = [0.0, 0.0, 0.0, 0.0, -2.102094367686146e-17, 0.0]
res = [0.0, 0.0, -0.0]
Test Summary: | Pass Total
test pitch and translate case 2 | 4 4
res = [8.881784197001252e-16, 0.0, 1.7763568394002505e-15, 0.0, -2.102094367686146e-17, 0.0]
res = [6.835808657661922e-16, 0.0, -0.0]
Test Summary: | Pass Total
test pitch and translate case 3 | 4 4
res = [8.881784197001252e-16, 0.0, 1.7763568394002505e-15, 0.0, -2.102094367686146e-17, 0.0]
res = [6.835808657661922e-16, 0.0, -0.0]
Test Summary: | Pass Total
test pitch and translate case 4 | 4 4
res = [-1.110223024625155e-15, -1.7763568394002505e-15, 0.0, 0.0, 0.0, -1.2325951644078318e-32]
res = [-6.123233995736765e-16, -0.0, -0.0]
Test Summary: | Pass Total
test yaw and translate case 1 | 4 4
[SUCCESS]
[TEST] partial pose3 evaluations...
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x1f1]
[ Info: do init of x1
[ Info: x2 is not initialized, and will do so now...
[ Info: try doautoinit! of x2
[ Info: init with useinitfct Symbol[:x2f1, :x1x2f1]
[ Info: do init of x2
[ Info: [0x6p,d6,N50],
Test Summary: | Pass Total
test PartialPriorRollPitchZ evaluations | 11 11
Test Summary: | Pass Total
test residual function of PartialPose3XYYaw | 5 5
mu2 = [20.0, 5.0, 1.5707963267948966]
Statistics.mean(pts[newdims, :], dims=2) = [19.855054858412327; 4.962105912914401; 1.5730705321626142]
Test Summary: | Pass Total
test PartialPose3XYYaw evaluations | 6 6
[ Info: [0x6p,d6,N50],
Test Summary: | Pass Total
test predictbelief with two functions | 5 5
[SUCCESS]
[TEST] packing converters...
WARNING: using DistributedFactorGraphs.data in module Main conflicts with an existing identifier.
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x1
Test Summary: | Pass Total
test PriorPoint2 | 2 2
[ Info: init with useinitfct Symbol[:x1f1]
[ Info: do init of x1
[ Info: try doautoinit! of x2
┌ Warning: getData is deprecated, please use solverData()
└ @ DistributedFactorGraphs ~/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:188
┌ Warning: Retrieving serialization module from AbstractDFG - override this in the 'GraphsDFG{SolverParams} structure! This is returning Main
└ @ DistributedFactorGraphs ~/.julia/packages/DistributedFactorGraphs/NMxiR/src/services/AbstractDFG.jl:25
┌ Warning: getData is deprecated, please use solverData()
└ @ DistributedFactorGraphs ~/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:188
┌ Warning: getData is deprecated, please use solverData()
└ @ DistributedFactorGraphs ~/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:188
Test Summary: | Pass Total
test conversions of PriorPose2 | 4 4
Test Summary: | Pass Total
test conversions of Pose2Pose2 | 2 2
[ Info: try doautoinit! of x2
[ Info: init with useinitfct Symbol[:x1x2f1]
[ Info: do init of x2
[ Info: try doautoinit! of l1
Test Summary: | Pass Total
test conversions of Pose2Point2BearingRange | 4 4
[ Info: try doautoinit! of x1
┌ Warning: threadmodel is not defined, fix with DFG
└ @ Main ~/.julia/packages/RoME/uM3dB/test/testpackingconverters.jl:156
┌ Warning: getData is deprecated, please use solverData()
└ @ DistributedFactorGraphs ~/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:188
┌ Warning: Retrieving serialization module from AbstractDFG - override this in the 'GraphsDFG{SolverParams} structure! This is returning Main
└ @ DistributedFactorGraphs ~/.julia/packages/DistributedFactorGraphs/NMxiR/src/services/AbstractDFG.jl:25
┌ Warning: getData is deprecated, please use solverData()
└ @ DistributedFactorGraphs ~/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:188
┌ Warning: getData is deprecated, please use solverData()
└ @ DistributedFactorGraphs ~/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:188
Test Summary: | Pass Total
test conversions of PriorPose3 | 10 10
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x1f1]
[ Info: do init of x1
[ Info: try doautoinit! of x2
Test Summary: | Pass Total
test conversions of Pose3Pose3 | 3 3
[ Info: try doautoinit! of x2
[ Info: init with useinitfct Symbol[:x1x2f1, :x1x2f2]
[ Info: do init of x2
┌ Warning: FunctorPairwiseNH will be deprecated in favor of common `nullhypo=` interface.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/ApproxConv.jl:200
[ Info: [2x0p,d6,N100],
Test Summary: | Pass Total
test conversions of Pose3Pose3NH | 4 4
Test Summary: | Pass Total
test conversions of PartialPriorRollPitchZ | 1 1
Test Summary: | Pass Total
test conversions of PartialPose3XYYaw | 1 1
Test Summary: | Pass Total
test conversions of PartialPose3XYYawNH | 1 1
Test Summary: | Pass Total
test PriorPoint2DensityNH | 2 2
[SUCCESS]
Basic Pose2 initialization: Error During Test at /root/.julia/packages/RoME/uM3dB/test/TestDefaultFGInitialization.jl:5
Got exception outside of a @test
MethodError: no method matching addVariable!(::GraphsDFG{SolverParams}, ::Symbol, ::Type{Pose2}; N=100, autoinit=true, ready=0, labels=Symbol[])
Closest candidates are:
addVariable!(::G, ::Symbol, ::Type{#s44} where #s44<:InferenceVariable; N, autoinit, solvable, dontmargin, labels, smalldata) where G<:AbstractDFG at /root/.julia/packages/IncrementalInference/FweX2/src/FactorGraph01.jl:445 got unsupported keyword argument "ready"
addVariable!(::AbstractDFG, ::Symbol, !Matched::InferenceVariable; N, autoinit, solvable, dontmargin, labels, smalldata, checkduplicates) at /root/.julia/packages/IncrementalInference/FweX2/src/FactorGraph01.jl:422 got unsupported keyword argument "ready"
addVariable!(::GraphsDFG, !Matched::DFGVariable) at /root/.julia/packages/DistributedFactorGraphs/NMxiR/src/GraphsDFG/services/GraphsDFG.jl:72 got unsupported keyword arguments "N", "autoinit", "ready", "labels"
...
Stacktrace:
[1] kwerr(::NamedTuple{(:N, :autoinit, :ready, :labels),Tuple{Int64,Bool,Int64,Array{Symbol,1}}}, ::Function, ::GraphsDFG{SolverParams}, ::Symbol, ::Type) at ./error.jl:125
[2] #addVariable! at ./none:0 [inlined]
[3] #initFactorGraph!#50(::Nothing, ::Nothing, ::Int64, ::Symbol, ::Int64, ::Type, ::Array{Symbol,1}, ::typeof(initFactorGraph!), ::GraphsDFG{SolverParams}) at /root/.julia/packages/RoME/uM3dB/src/RobotUtils.jl:327
[4] (::RoME.var"#kw##initFactorGraph!")(::NamedTuple{(:lbl, :ready),Tuple{Symbol,Int64}}, ::typeof(initFactorGraph!), ::GraphsDFG{SolverParams}) at ./none:0
[5] top-level scope at /root/.julia/packages/RoME/uM3dB/test/TestDefaultFGInitialization.jl:7
[6] top-level scope at /buildworker/worker/package_linux64/build/usr/share/julia/stdlib/v1.3/Test/src/Test.jl:1107
[7] top-level scope at /root/.julia/packages/RoME/uM3dB/test/TestDefaultFGInitialization.jl:6
[8] include at ./boot.jl:328 [inlined]
[9] include_relative(::Module, ::String) at ./loading.jl:1105
[10] include(::Module, ::String) at ./Base.jl:31
[11] include(::String) at ./client.jl:424
[12] top-level scope at /root/.julia/packages/RoME/uM3dB/test/runtests.jl:87
[13] include at ./boot.jl:328 [inlined]
[14] include_relative(::Module, ::String) at ./loading.jl:1105
[15] include(::Module, ::String) at ./Base.jl:31
[16] include(::String) at ./client.jl:424
[17] top-level scope at none:6
[18] eval(::Module, ::Any) at ./boot.jl:330
[19] exec_options(::Base.JLOptions) at ./client.jl:263
[20] _start() at ./client.jl:460
Test Summary: | Error Total
Basic Pose2 initialization | 1 1
ERROR: LoadError: LoadError: Some tests did not pass: 0 passed, 0 failed, 1 errored, 0 broken.
in expression starting at /root/.julia/packages/RoME/uM3dB/test/TestDefaultFGInitialization.jl:5
in expression starting at /root/.julia/packages/RoME/uM3dB/test/runtests.jl:87
ERROR: Package RoME errored during testing
Stacktrace:
[1] pkgerror(::String, ::Vararg{String,N} where N) at /buildworker/worker/package_linux64/build/usr/share/julia/stdlib/v1.3/Pkg/src/Types.jl:113
[2] #test#131(::Bool, ::Nothing, ::Cmd, ::Cmd, ::typeof(Pkg.Operations.test), ::Pkg.Types.Context, ::Array{Pkg.Types.PackageSpec,1}) at /buildworker/worker/package_linux64/build/usr/share/julia/stdlib/v1.3/Pkg/src/Operations.jl:1370
[3] #test at ./none:0 [inlined]
[4] #test#62(::Bool, ::Nothing, ::Cmd, ::Cmd, ::Base.Iterators.Pairs{Union{},Union{},Tuple{},NamedTuple{(),Tuple{}}}, ::typeof(Pkg.API.test), ::Pkg.Types.Context, ::Array{Pkg.Types.PackageSpec,1}) at /buildworker/worker/package_linux64/build/usr/share/julia/stdlib/v1.3/Pkg/src/API.jl:253
[5] test(::Pkg.Types.Context, ::Array{Pkg.Types.PackageSpec,1}) at /buildworker/worker/package_linux64/build/usr/share/julia/stdlib/v1.3/Pkg/src/API.jl:239
[6] #test#61 at /buildworker/worker/package_linux64/build/usr/share/julia/stdlib/v1.3/Pkg/src/API.jl:233 [inlined]
[7] test at /buildworker/worker/package_linux64/build/usr/share/julia/stdlib/v1.3/Pkg/src/API.jl:233 [inlined]
[8] #test#60 at /buildworker/worker/package_linux64/build/usr/share/julia/stdlib/v1.3/Pkg/src/API.jl:232 [inlined]
[9] test at /buildworker/worker/package_linux64/build/usr/share/julia/stdlib/v1.3/Pkg/src/API.jl:232 [inlined]
[10] #test#59(::Base.Iterators.Pairs{Union{},Union{},Tuple{},NamedTuple{(),Tuple{}}}, ::typeof(Pkg.API.test), ::String) at /buildworker/worker/package_linux64/build/usr/share/julia/stdlib/v1.3/Pkg/src/API.jl:231
[11] test(::String) at /buildworker/worker/package_linux64/build/usr/share/julia/stdlib/v1.3/Pkg/src/API.jl:231
[12] top-level scope at none:10
Results with Julia v1.3.1-pre-7704df0a5a
Testing was interrupted : test duration exceeded the time limit.
Last evaluation was ago and took 1 hour, 12 seconds.
Click here to download the log file.
▸ Click here to show the log contents.
Resolving package versions...
Installed CoordinateTransformations ─── v0.5.0
Installed ColorTypes ────────────────── v0.8.0
Installed KernelDensityEstimate ─────── v0.5.2
Installed DataStructures ────────────── v0.17.6
Installed Colors ────────────────────── v0.9.6
Installed RoME ──────────────────────── v0.5.1
Installed Optim ─────────────────────── v0.19.5
Installed LightGraphs ───────────────── v1.3.0
Installed QuadGK ────────────────────── v2.1.1
Installed NaNMath ───────────────────── v0.3.3
Installed Compose ───────────────────── v0.7.3
Installed Compat ────────────────────── v2.2.0
Installed Tables ────────────────────── v0.2.11
Installed SpecialFunctions ──────────── v0.8.0
Installed MbedTLS ───────────────────── v0.7.0
Installed DataFrames ────────────────── v0.19.4
Installed StaticArrays ──────────────── v0.12.1
Installed Graphs ────────────────────── v0.10.3
Installed BinDeps ───────────────────── v0.8.10
Installed IterTools ─────────────────── v1.3.0
Installed DiffResults ───────────────── v0.0.4
Installed MacroTools ────────────────── v0.5.2
Installed FixedPointNumbers ─────────── v0.6.1
Installed Inflate ───────────────────── v0.1.1
Installed GraphPlot ─────────────────── v0.3.1
Installed FillArrays ────────────────── v0.8.2
Installed StatsBase ─────────────────── v0.32.0
Installed LineSearches ──────────────── v7.0.1
Installed ForwardDiff ───────────────── v0.10.7
Installed Arpack ────────────────────── v0.3.1
Installed FileIO ────────────────────── v1.1.0
Installed HTTP ──────────────────────── v0.8.8
Installed Calculus ──────────────────── v0.5.1
Installed URIParser ─────────────────── v0.4.0
Installed Missings ──────────────────── v0.4.3
Installed CodecZlib ─────────────────── v0.6.0
Installed CommonSubexpressions ──────── v0.2.0
Installed PooledArrays ──────────────── v0.5.2
Installed Neo4j ─────────────────────── v2.0.0
Installed TableTraits ───────────────── v1.0.0
Installed StatsFuns ─────────────────── v0.9.0
Installed DocStringExtensions ───────── v0.8.1
Installed BinaryProvider ────────────── v0.5.8
Installed TranscodingStreams ────────── v0.9.5
Installed Parameters ────────────────── v0.12.0
Installed ProgressMeter ─────────────── v1.2.0
Installed Rotations ─────────────────── v0.12.0
Installed Rmath ─────────────────────── v0.5.1
Installed NLSolversBase ─────────────── v7.5.0
Installed InvertedIndices ───────────── v1.0.0
Installed DiffRules ─────────────────── v0.1.0
Installed Requires ──────────────────── v0.5.2
Installed ArrayInterface ────────────── v2.0.0
Installed Measures ──────────────────── v0.3.0
Installed IniFile ───────────────────── v0.5.0
Installed FunctionalStateMachine ────── v0.1.3
Installed Distances ─────────────────── v0.8.2
Installed DistributedFactorGraphs ───── v0.5.1
Installed DataValueInterfaces ───────── v1.0.0
Installed SimpleTraits ──────────────── v0.9.1
Installed PositiveFactorizations ────── v0.2.3
Installed Reexport ──────────────────── v0.2.0
Installed Distributions ─────────────── v0.21.9
Installed DataAPI ───────────────────── v1.1.0
Installed IteratorInterfaceExtensions ─ v1.0.0
Installed CategoricalArrays ─────────── v0.7.3
Installed JLD2 ──────────────────────── v0.1.9
Installed JSON ──────────────────────── v0.21.0
Installed OrderedCollections ────────── v1.1.0
Installed Parsers ───────────────────── v0.3.10
Installed ArnoldiMethod ─────────────── v0.0.4
Installed PDMats ────────────────────── v0.9.10
Installed DiffEqDiffTools ───────────── v1.5.0
Installed ApproxManifoldProducts ────── v0.1.2
Installed SortingAlgorithms ─────────── v0.3.1
Installed JSON2 ─────────────────────── v0.3.1
Installed NLsolve ───────────────────── v4.2.0
Installed TransformUtils ────────────── v0.2.2
Installed IncrementalInference ──────── v0.8.2
Updating `~/.julia/environments/v1.3/Project.toml`
[91fb55c2] + RoME v0.5.1
Updating `~/.julia/environments/v1.3/Manifest.toml`
[9bbbb610] + ApproxManifoldProducts v0.1.2
[ec485272] + ArnoldiMethod v0.0.4
[7d9fca2a] + Arpack v0.3.1
[4fba245c] + ArrayInterface v2.0.0
[9e28174c] + BinDeps v0.8.10
[b99e7846] + BinaryProvider v0.5.8
[49dc2e85] + Calculus v0.5.1
[324d7699] + CategoricalArrays v0.7.3
[944b1d66] + CodecZlib v0.6.0
[3da002f7] + ColorTypes v0.8.0
[5ae59095] + Colors v0.9.6
[bbf7d656] + CommonSubexpressions v0.2.0
[34da2185] + Compat v2.2.0
[a81c6b42] + Compose v0.7.3
[150eb455] + CoordinateTransformations v0.5.0
[9a962f9c] + DataAPI v1.1.0
[a93c6f00] + DataFrames v0.19.4
[864edb3b] + DataStructures v0.17.6
[e2d170a0] + DataValueInterfaces v1.0.0
[01453d9d] + DiffEqDiffTools v1.5.0
[163ba53b] + DiffResults v0.0.4
[b552c78f] + DiffRules v0.1.0
[b4f34e82] + Distances v0.8.2
[b5cc3c7e] + DistributedFactorGraphs v0.5.1
[31c24e10] + Distributions v0.21.9
[ffbed154] + DocStringExtensions v0.8.1
[5789e2e9] + FileIO v1.1.0
[1a297f60] + FillArrays v0.8.2
[53c48c17] + FixedPointNumbers v0.6.1
[f6369f11] + ForwardDiff v0.10.7
[3e9e306e] + FunctionalStateMachine v0.1.3
[a2cc645c] + GraphPlot v0.3.1
[86223c79] + Graphs v0.10.3
[cd3eb016] + HTTP v0.8.8
[904591bb] + IncrementalInference v0.8.2
[d25df0c9] + Inflate v0.1.1
[83e8ac13] + IniFile v0.5.0
[41ab1584] + InvertedIndices v1.0.0
[c8e1da08] + IterTools v1.3.0
[82899510] + IteratorInterfaceExtensions v1.0.0
[033835bb] + JLD2 v0.1.9
[682c06a0] + JSON v0.21.0
[2535ab7d] + JSON2 v0.3.1
[2472808a] + KernelDensityEstimate v0.5.2
[093fc24a] + LightGraphs v1.3.0
[d3d80556] + LineSearches v7.0.1
[1914dd2f] + MacroTools v0.5.2
[739be429] + MbedTLS v0.7.0
[442fdcdd] + Measures v0.3.0
[e1d29d7a] + Missings v0.4.3
[d41bc354] + NLSolversBase v7.5.0
[2774e3e8] + NLsolve v4.2.0
[77ba4419] + NaNMath v0.3.3
[d2adbeaf] + Neo4j v2.0.0
[429524aa] + Optim v0.19.5
[bac558e1] + OrderedCollections v1.1.0
[90014a1f] + PDMats v0.9.10
[d96e819e] + Parameters v0.12.0
[69de0a69] + Parsers v0.3.10
[2dfb63ee] + PooledArrays v0.5.2
[85a6dd25] + PositiveFactorizations v0.2.3
[92933f4c] + ProgressMeter v1.2.0
[1fd47b50] + QuadGK v2.1.1
[189a3867] + Reexport v0.2.0
[ae029012] + Requires v0.5.2
[79098fc4] + Rmath v0.5.1
[91fb55c2] + RoME v0.5.1
[6038ab10] + Rotations v0.12.0
[699a6c99] + SimpleTraits v0.9.1
[a2af1166] + SortingAlgorithms v0.3.1
[276daf66] + SpecialFunctions v0.8.0
[90137ffa] + StaticArrays v0.12.1
[2913bbd2] + StatsBase v0.32.0
[4c63d2b9] + StatsFuns v0.9.0
[3783bdb8] + TableTraits v1.0.0
[bd369af6] + Tables v0.2.11
[3bb67fe8] + TranscodingStreams v0.9.5
[9b8138ad] + TransformUtils v0.2.2
[30578b45] + URIParser v0.4.0
[2a0f44e3] + Base64
[ade2ca70] + Dates
[8bb1440f] + DelimitedFiles
[8ba89e20] + Distributed
[9fa8497b] + Future
[b77e0a4c] + InteractiveUtils
[76f85450] + LibGit2
[8f399da3] + Libdl
[37e2e46d] + LinearAlgebra
[56ddb016] + Logging
[d6f4376e] + Markdown
[a63ad114] + Mmap
[44cfe95a] + Pkg
[de0858da] + Printf
[9abbd945] + Profile
[3fa0cd96] + REPL
[9a3f8284] + Random
[ea8e919c] + SHA
[9e88b42a] + Serialization
[1a1011a3] + SharedArrays
[6462fe0b] + Sockets
[2f01184e] + SparseArrays
[10745b16] + Statistics
[4607b0f0] + SuiteSparse
[8dfed614] + Test
[cf7118a7] + UUIDs
[4ec0a83e] + Unicode
Building MbedTLS ─────────→ `~/.julia/packages/MbedTLS/a1JFn/deps/build.log`
Building SpecialFunctions → `~/.julia/packages/SpecialFunctions/ne2iw/deps/build.log`
Building Arpack ──────────→ `~/.julia/packages/Arpack/cu5By/deps/build.log`
Building CodecZlib ───────→ `~/.julia/packages/CodecZlib/5t9zO/deps/build.log`
Building Rmath ───────────→ `~/.julia/packages/Rmath/4wt82/deps/build.log`
Testing RoME
Resolving package versions...
Status `/tmp/jl_5mZJsA/Manifest.toml`
[9bbbb610] ApproxManifoldProducts v0.1.2
[ec485272] ArnoldiMethod v0.0.4
[7d9fca2a] Arpack v0.3.1
[4fba245c] ArrayInterface v2.0.0
[9e28174c] BinDeps v0.8.10
[b99e7846] BinaryProvider v0.5.8
[49dc2e85] Calculus v0.5.1
[324d7699] CategoricalArrays v0.7.3
[944b1d66] CodecZlib v0.6.0
[3da002f7] ColorTypes v0.8.0
[5ae59095] Colors v0.9.6
[bbf7d656] CommonSubexpressions v0.2.0
[34da2185] Compat v2.2.0
[a81c6b42] Compose v0.7.3
[150eb455] CoordinateTransformations v0.5.0
[9a962f9c] DataAPI v1.1.0
[a93c6f00] DataFrames v0.19.4
[864edb3b] DataStructures v0.17.6
[e2d170a0] DataValueInterfaces v1.0.0
[01453d9d] DiffEqDiffTools v1.5.0
[163ba53b] DiffResults v0.0.4
[b552c78f] DiffRules v0.1.0
[b4f34e82] Distances v0.8.2
[b5cc3c7e] DistributedFactorGraphs v0.5.1
[31c24e10] Distributions v0.21.9
[ffbed154] DocStringExtensions v0.8.1
[5789e2e9] FileIO v1.1.0
[1a297f60] FillArrays v0.8.2
[53c48c17] FixedPointNumbers v0.6.1
[f6369f11] ForwardDiff v0.10.7
[3e9e306e] FunctionalStateMachine v0.1.3
[a2cc645c] GraphPlot v0.3.1
[86223c79] Graphs v0.10.3
[cd3eb016] HTTP v0.8.8
[904591bb] IncrementalInference v0.8.2
[d25df0c9] Inflate v0.1.1
[83e8ac13] IniFile v0.5.0
[41ab1584] InvertedIndices v1.0.0
[c8e1da08] IterTools v1.3.0
[82899510] IteratorInterfaceExtensions v1.0.0
[033835bb] JLD2 v0.1.9
[682c06a0] JSON v0.21.0
[2535ab7d] JSON2 v0.3.1
[2472808a] KernelDensityEstimate v0.5.2
[093fc24a] LightGraphs v1.3.0
[d3d80556] LineSearches v7.0.1
[1914dd2f] MacroTools v0.5.2
[739be429] MbedTLS v0.7.0
[442fdcdd] Measures v0.3.0
[e1d29d7a] Missings v0.4.3
[d41bc354] NLSolversBase v7.5.0
[2774e3e8] NLsolve v4.2.0
[77ba4419] NaNMath v0.3.3
[d2adbeaf] Neo4j v2.0.0
[429524aa] Optim v0.19.5
[bac558e1] OrderedCollections v1.1.0
[90014a1f] PDMats v0.9.10
[d96e819e] Parameters v0.12.0
[69de0a69] Parsers v0.3.10
[2dfb63ee] PooledArrays v0.5.2
[85a6dd25] PositiveFactorizations v0.2.3
[92933f4c] ProgressMeter v1.2.0
[1fd47b50] QuadGK v2.1.1
[189a3867] Reexport v0.2.0
[ae029012] Requires v0.5.2
[79098fc4] Rmath v0.5.1
[91fb55c2] RoME v0.5.1
[6038ab10] Rotations v0.12.0
[699a6c99] SimpleTraits v0.9.1
[a2af1166] SortingAlgorithms v0.3.1
[276daf66] SpecialFunctions v0.8.0
[90137ffa] StaticArrays v0.12.1
[2913bbd2] StatsBase v0.32.0
[4c63d2b9] StatsFuns v0.9.0
[3783bdb8] TableTraits v1.0.0
[bd369af6] Tables v0.2.11
[3bb67fe8] TranscodingStreams v0.9.5
[9b8138ad] TransformUtils v0.2.2
[30578b45] URIParser v0.4.0
[2a0f44e3] Base64 [`@stdlib/Base64`]
[ade2ca70] Dates [`@stdlib/Dates`]
[8bb1440f] DelimitedFiles [`@stdlib/DelimitedFiles`]
[8ba89e20] Distributed [`@stdlib/Distributed`]
[9fa8497b] Future [`@stdlib/Future`]
[b77e0a4c] InteractiveUtils [`@stdlib/InteractiveUtils`]
[76f85450] LibGit2 [`@stdlib/LibGit2`]
[8f399da3] Libdl [`@stdlib/Libdl`]
[37e2e46d] LinearAlgebra [`@stdlib/LinearAlgebra`]
[56ddb016] Logging [`@stdlib/Logging`]
[d6f4376e] Markdown [`@stdlib/Markdown`]
[a63ad114] Mmap [`@stdlib/Mmap`]
[44cfe95a] Pkg [`@stdlib/Pkg`]
[de0858da] Printf [`@stdlib/Printf`]
[9abbd945] Profile [`@stdlib/Profile`]
[3fa0cd96] REPL [`@stdlib/REPL`]
[9a3f8284] Random [`@stdlib/Random`]
[ea8e919c] SHA [`@stdlib/SHA`]
[9e88b42a] Serialization [`@stdlib/Serialization`]
[1a1011a3] SharedArrays [`@stdlib/SharedArrays`]
[6462fe0b] Sockets [`@stdlib/Sockets`]
[2f01184e] SparseArrays [`@stdlib/SparseArrays`]
[10745b16] Statistics [`@stdlib/Statistics`]
[4607b0f0] SuiteSparse [`@stdlib/SuiteSparse`]
[8dfed614] Test [`@stdlib/Test`]
[cf7118a7] UUIDs [`@stdlib/UUIDs`]
[4ec0a83e] Unicode [`@stdlib/Unicode`]
[ Info: Multithreaded convolutions possible, Threads.nthreads()=1. See `addFactor!(.;threadmodel=MultiThreaded)`.
[ Info: KernelDensityEstimate.FORCE_EVAL_DIRECT = true
WARNING: Method definition (::Type{DistributedFactorGraphs.VariableNodeData{T} where T<:DistributedFactorGraphs.InferenceVariable})(Array{Float64, 2}, Array{Float64, 2}, Array{Symbol, 1}, Array{Int64, 1}, Int64, Bool, Symbol, Array{Symbol, 1}, T<:DistributedFactorGraphs.InferenceVariable, Bool, Float64, Bool, Bool, Int64) where {T<:DistributedFactorGraphs.InferenceVariable} in module DistributedFactorGraphs at /root/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:11 overwritten at /root/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:41.
** incremental compilation may be fatally broken for this module **
WARNING: Method definition (::Type{DistributedFactorGraphs.VariableNodeData{T} where T<:DistributedFactorGraphs.InferenceVariable})(Array{Float64, 2}, Array{Float64, 2}, Array{Symbol, 1}, Array{Int64, 1}, Int64, Bool, Symbol, Array{Symbol, 1}, T<:DistributedFactorGraphs.InferenceVariable, Bool, Float64, Bool, Bool, Int64) where {T<:DistributedFactorGraphs.InferenceVariable} in module DistributedFactorGraphs at /root/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:11 overwritten at /root/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:41.
** incremental compilation may be fatally broken for this module **
[ Info: KernelDensityEstimate.FORCE_EVAL_DIRECT = true
WARNING: Method definition (::Type{DistributedFactorGraphs.VariableNodeData{T} where T<:DistributedFactorGraphs.InferenceVariable})(Array{Float64, 2}, Array{Float64, 2}, Array{Symbol, 1}, Array{Int64, 1}, Int64, Bool, Symbol, Array{Symbol, 1}, T<:DistributedFactorGraphs.InferenceVariable, Bool, Float64, Bool, Bool, Int64) where {T<:DistributedFactorGraphs.InferenceVariable} in module DistributedFactorGraphs at /root/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:11 overwritten at /root/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:41.
** incremental compilation may be fatally broken for this module **
WARNING: ignoring conflicting import of DistributedFactorGraphs.compare into RoME
[ Info: Adding graph visualization tools.
[TEST] numeric root...
Test Summary: | Pass Total
Increased dimension root finding test | 2 2
Test Summary: | Pass Total
test CommonConvWrapper functions | 55 55
[SUCCESS]
Test Summary: |
Testing hand constructed product of SE(2) equivalent... | No tests
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x1f1, :x1f2]
[ Info: do init of x1
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
Test Summary: | Pass Total
Factor graph based test of SE(2) equivalent using only Priors... | 3 3
┌ Warning: not implemented yet
└ @ Main ~/.julia/packages/RoME/uM3dB/test/testManifoldsPose2Equivalent.jl:202
Test Summary: |
Factor graph based test of SE(2) equivalent using Priors and Conditional Likelihoods... | No tests
┌ Warning: Skipping multiple feature constraint test for the time being
└ @ Main ~/.julia/packages/RoME/uM3dB/test/runtests.jl:21
[TEST] Linear array function evaluations...
zDim = size(measurement[1], 1) = 3
0.417053 seconds (338.88 k allocations: 17.238 MiB)
0.064050 seconds (25.67 k allocations: 1.184 MiB)
2.285887 seconds (1.04 M allocations: 70.139 MiB, 2.86% gc time)
┌ Warning: still need to insert kld(..) test to ensure this is working
└ @ Main ~/.julia/packages/RoME/uM3dB/test/testDidsonFunctions.jl:46
Test back projection from
0.000091 seconds (21 allocations: 1.797 KiB)
0.000040 seconds (19 allocations: 1.469 KiB)
0.607261 seconds (1.60 M allocations: 124.103 MiB, 7.67% gc time)
┌ Warning: Breaks if not set to 100
└ @ Main ~/.julia/packages/RoME/uM3dB/test/testDidsonFunctions.jl:103
Adding PriorPose3 to graph...
[ Info: try doautoinit! of x1
Adding LinearRangeBearingElevation to graph...
0.010425 seconds (58 allocations: 3.656 KiB)
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x1f1]
[ Info: do init of x1
[ Info: try doautoinit! of l1
┌ Warning: getData is deprecated, please use solverData(), future warnings in getData is suppressed
└ @ DistributedFactorGraphs ~/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGFactor.jl:76
[ Info: l1 is not initialized, and will do so now...
[ Info: try doautoinit! of l1
[ Info: init with useinitfct Symbol[:x1l1f1]
[ Info: do init of l1
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
Si = Symbol[:l1]
[ Info:
[ Info: Eliminating l1
[ Info: ===============
[ Info:
[ Info: - Removing l1
[ Info: Looking at l1f1
[ Info: - Breaking link l1f1->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials l1,x1,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------l1,x1,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------l1,x1,:
[ Info: #1 --
[ Info: [2x0p,d6,N100],
[ Info: #2 --
[ Info: [2x0p,d6,N100],
[ Info: #3 --
[ Info: [2x0p,d6,N100],
[ Info: fmcmc! -- solverData(vert=l1).inferdim=18.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=15.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:l1, :x1]
[ Info: sym=l1, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x1, mem size of val=(6, 100) and (6, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
[SUCCESS]
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: Solving over the Bayes (Junction) tree.
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
Building Bayes net...
Si = Symbol[:x1]
[ Info: - Removing x0
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info: Looking at x1f1
[ Info: - Breaking link x1f1->x1...
[ Info: - Original links: Symbol[:x1]
[ Info: - New links: Symbol[]
[ Info: x1f1 doesn't have any other links, not adding it back...
[ Info: Get potentials x1,x0,:
Find potential functions for each clique
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: [2x0p,d2,N100],
[ Info: #2 --
[ Info: [2x0p,d2,N100],
[ Info: #3 --
[ Info: [2x0p,d2,N100],
[ Info: fmcmc! -- solverData(vert=x1).inferdim=4.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=6.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x1, :x0]
[ Info: sym=x1, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
basic Point2Point2 test | 2 2
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of l1
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x1f1]
[ Info: do init of x1
[ Info: try doautoinit! of l1
[ Info: init with useinitfct Symbol[:x1l1f1, :x0l1f1]
[ Info: do init of l1
[ Info: [2x0p,d2,N100],
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
Si = Symbol[:l1]
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
Si = Symbol[:l1]
[ Info:
[ Info: Eliminating l1
[ Info: ===============
[ Info:
[ Info: - Removing l1
[ Info: Looking at l1f2
[ Info: - Breaking link l1f2->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f2 doesn't have any other links, not adding it back...
[ Info: Looking at l1f1
[ Info: - Breaking link l1f1->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x1,: l1,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials l1,x0,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=1 adding factor that is no in separator, x1
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x1,: l1,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x1,: l1,
[ Info: #1 --
[ Info: [2x0p,d2,N100],
[ Info: #2 --
[ Info: [2x0p,d2,N100],
[ Info: #3 --
[ Info: [2x0p,d2,N100],
[ Info: fmcmc! -- solverData(vert=l1).inferdim=2.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=4.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:l1]
State machine iter=5
State machine iter=6
[ Info: up w 1 msgs
[ Info: inp.sendmsgs[l1].inferdim=2.0
[ Info: ---------- successive fnc approx ------------l1,x0,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------l1,x0,:
State machine iter=9
State machine iter=10
[ Info: #1 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: #2 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: #3 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: fmcmc! -- solverData(vert=x0).inferdim=4.0
[ Info: fmcmc! -- solverData(vert=l1).inferdim=4.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
State machine iter=11
[ Info: transferUpdateSubGraph! -- syms=Symbol[:l1, :x0]
[ Info: sym=l1, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: [2x0p,d2,N100],
State machine iter=9
State machine iter=12
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
test Point2Point2Range{T}... | 8 8
[ Info: Solving over the Bayes (Junction) tree.
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info:
[ Info: Eliminating l1
[ Info: ===============
[ Info:
[ Info: - Removing l1
[ Info: Looking at l1f2
[ Info: - Breaking link l1f2->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f2 doesn't have any other links, not adding it back...
[ Info: Looking at l1f1
[ Info: - Breaking link l1f1->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f1 doesn't have any other links, not adding it back...
[ Info: Get potentials x1,: l1,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Building Bayes net...
Si = Symbol[:l1]
Si = Symbol[:l1]
Find potential functions for each clique
[ Info: Get potentials l1,x0,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=1 adding factor that is no in separator, x1
[ Info: Do tree based init-inference on tree
Bayes Tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x1,: l1,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x1,: l1,
[ Info: #1 --
[ Info: [2x0p,d2,N100],
[ Info: #2 --
[ Info: [2x0p,d2,N100],
[ Info: #3 --
[ Info: [2x0p,d2,N100],
[ Info: fmcmc! -- solverData(vert=l1).inferdim=2.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=4.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:l1]
State machine iter=5
State machine iter=6
[ Info: up w 1 msgs
[ Info: inp.sendmsgs[l1].inferdim=2.0
[ Info: ---------- successive fnc approx ------------l1,x0,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------l1,x0,:
[ Info: #1 --
State machine iter=9
State machine iter=10
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: #2 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: #3 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: fmcmc! -- solverData(vert=x0).inferdim=4.0
[ Info: fmcmc! -- solverData(vert=l1).inferdim=4.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:l1, :x0]
[ Info: sym=l1, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=11
[ Info: [2x0p,d2,N100],
State machine iter=9
State machine iter=12
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
test tree based autoinit on small bimodal point2 trilateration... | 16 16
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x0x1f1]
[ Info: do init of x1
[ Info: try doautoinit! of x2
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
Si = Symbol[:x0, :x2]
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x0x2f1
[ Info: - Breaking link x0x2f1->x0...
[ Info: - Original links: Symbol[:x0, :x2]
[ Info: - New links: Symbol[:x2]
[ Info: x0x2f1 still has links to other variables, readding it back...
Si = Symbol[:x2]
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x2f2
[ Info: - Breaking link x2f2->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f2 doesn't have any other links, not adding it back...
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x2,x0,x1,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: #2 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: #3 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x2).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=12.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=18.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x2, :x0, :x1]
[ Info: sym=x2, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x1, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
basic pose2 trivial case without forcing autoinit... | 9 9
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x0x1f1]
[ Info: do init of x1
[ Info: try doautoinit! of x2
[ Info: x2 is not initialized, and will do so now...
[ Info: try doautoinit! of x2
[ Info: init with useinitfct Symbol[:x1x2f1]
[ Info: do init of x2
Building Bayes net...
Si = Symbol[:x0, :x2]
Si = Symbol[:x2]
Find potential functions for each clique┌ Warning: deprecated batchSolve! in favor of new solveTree! interface with the same and more functionality.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/SolverAPI.jl:228
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x0x2f1
[ Info: - Breaking link x0x2f1->x0...
[ Info: - Original links: Symbol[:x0, :x2]
[ Info: - New links: Symbol[:x2]
[ Info: x0x2f1 still has links to other variables, readding it back...
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x2f2
[ Info: - Breaking link x2f2->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f2 doesn't have any other links, not adding it back...
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
[ Info: Get potentials x2,x0,x1,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Solving over the Bayes (Junction) tree.
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: #2 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: #3 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x2).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=12.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=18.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x2, :x0, :x1]
[ Info: sym=x2, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x1, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
basic pose2 with forcing bad initialization... | 9 9
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info: Looking at x1f1
[ Info: - Breaking link x1f1->x1...
[ Info: - Original links: Symbol[:x1]
[ Info: - New links: Symbol[]
[ Info: x1f1 doesn't have any other links, not adding it back...
[ Info: Get potentials x1,x0,:
[ Info: using all factors among cliq variables
Si = Symbol[:x1]
Find potential functions for each clique
[ Info: finding all frontals for down WIP
Bayes Tree
State machine iter=1
State machine iter=2
State machine iter=3
[ Info: Do tree based init-inference on tree
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: #2 --
[ Info: [2x0p,d3,N100],
[ Info: #3 --
[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x1).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=12.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x1, :x0]
[ Info: sym=x1, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: Finished tree based init-inference
State machine iter=9
Test Summary: | Pass Total
test basic banana (split)... | 6 6
[TEST] Pose2 evaluations...
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
Si = Symbol[:x1]
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info: Looking at x1f1
[ Info: - Breaking link x1f1->x1...
[ Info: - Original links: Symbol[:x1]
[ Info: - New links: Symbol[]
[ Info: x1f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x1,x0,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: #2 --
[ Info: [2x0p,d3,N100],
[ Info: #3 --
[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x1).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=12.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x1, :x0]
[ Info: sym=x1, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
Building Bayes net...
Si = Symbol[:x0, :x2]
Si = Symbol[:x2]
Find potential functions for each clique
[ Info: try doautoinit! of x2
[ Info: Solving over the Bayes (Junction) tree.
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x0x2f1
[ Info: - Breaking link x0x2f1->x0...
[ Info: - Original links: Symbol[:x0, :x2]
[ Info: - New links: Symbol[:x2]
[ Info: x0x2f1 still has links to other variables, readding it back...
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x2f2
[ Info: - Breaking link x2f2->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f2 doesn't have any other links, not adding it back...
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
[ Info: Get potentials x2,x0,x1,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: Do tree based init-inference on tree
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: #2 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: #3 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x2).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=12.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=18.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x2, :x0, :x1]
[ Info: sym=x2, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x1, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: Finished tree based init-inference
[ Info: Solving over the Bayes (Junction) tree.
State machine iter=9
Building Bayes net...
Si = Symbol[:x0, :x2]
Si = Symbol[:x2]
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x0x2f1
[ Info: - Breaking link x0x2f1->x0...
[ Info: - Original links: Symbol[:x0, :x2]
[ Info: - New links: Symbol[:x2]
[ Info: x0x2f1 still has links to other variables, readding it back...
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x2f2
[ Info: - Breaking link x2f2->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f2 doesn't have any other links, not adding it back...
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
[ Info: - Original links: Symbol[:x2]
Find potential functions for each clique
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
[ Info: Get potentials x2,x0,x1,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Do tree based init-inference on tree
Bayes Tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: #2 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: #3 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x2).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=12.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=18.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x2, :x0, :x1]
[ Info: sym=x2, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x1, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: Finished tree based init-inference
State machine iter=9
test bearing range evaluations
[ Info: try doautoinit! of l1
[ Info: try doautoinit! of l1
[ Info: init with useinitfct Symbol[:l1f1, :x0l1f1]
[ Info: do init of l1
[ Info: [2x0p,d2,N100],
Test Summary: | Pass Total
test pose and point combinations... | 18 18
[SUCCESS]
[ Info: Solving over the Bayes (Junction) tree.
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
Building Bayes net...
Si = Symbol[:x1, :l1]
Si = Symbol[:x3, :x1]
[ Info: - Removing x0
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info:
[ Info: Eliminating x5
[ Info: ===============
[ Info:
[ Info: - Removing x5
[ Info:
[ Info: Eliminating l1
[ Info: ===============
[ Info:
[ Info: - Removing l1
[ Info: Looking at x1l1f1
[ Info: - Breaking link x1l1f1->l1...
[ Info: - Original links: Symbol[:x1, :l1]
[ Info: - New links: Symbol[:x1]
[ Info: x1l1f1 still has links to other variables, readding it back...
[ Info:
[ Info: Eliminating x3
[ Info: ===============
[ Info:
[ Info: - Removing x3
[ Info: Looking at x3x1f1
[ Info: - Breaking link x3x1f1->x3...
[ Info: - Original links: Symbol[:x3, :x1]
[ Info: - New links: Symbol[:x1]
[ Info: x3x1f1 still has links to other variables, readding it back...
Si = Symbol[:x6, :x4]
Si = Symbol[:x1, :x6]
Si = Symbol[:x1, :x4]
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info: Looking at x1f1
[ Info: - Breaking link x1f1->x1...
[ Info: - Original links: Symbol[:x1]
[ Info: - New links: Symbol[]
[ Info: x1f1 doesn't have any other links, not adding it back...
[ Info: Looking at x1x6f1
[ Info: - Breaking link x1x6f1->x1...
[ Info: - Original links: Symbol[:x1, :x6]
[ Info: - New links: Symbol[:x6]
[ Info: x1x6f1 still has links to other variables, readding it back...
[ Info: Looking at x1x4f1
[ Info: - Breaking link x1x4f1->x1...
[ Info: - Original links: Symbol[:x1, :x4]
[ Info: - New links: Symbol[:x4]
[ Info: x1x4f1 still has links to other variables, readding it back...
[ Info: Looking at x1f2
[ Info: - Breaking link x1f2->x1...
[ Info: - Original links: Symbol[:x1]
[ Info: - New links: Symbol[]
[ Info: x1f2 doesn't have any other links, not adding it back...
[ Info:
[ Info: Eliminating x6
[ Info: ===============
[ Info:
[ Info: - Removing x6
[ Info: Looking at x6f1
[ Info: - Breaking link x6f1->x6...
[ Info: - Original links: Symbol[:x6]
[ Info: - New links: Symbol[]
[ Info: x6f1 doesn't have any other links, not adding it back...
[ Info: Looking at x6x4f1
[ Info: - Breaking link x6x4f1->x6...
[ Info: - Original links: Symbol[:x6, :x4]
[ Info: - New links: Symbol[:x4]
[ Info: x6x4f1 still has links to other variables, readding it back...
[ Info: Looking at x6x4f2
[ Info: - Breaking link x6x4f2->x6...
[ Info: - Original links: Symbol[:x6, :x4]
[ Info: - New links: Symbol[:x4]
[ Info: x6x4f2 still has links to other variables, readding it back...
[ Info:
[ Info: Eliminating x4
[ Info: ===============
[ Info:
[ Info: - Removing x4
[ Info: Looking at x4f4
[ Info: - Breaking link x4f4->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f4 doesn't have any other links, not adding it back...
[ Info: Looking at x4f1
[ Info: - Breaking link x4f1->x4...
Si = Symbol[:x6, :x4]
Si = Symbol[:x4]
Find potential functions for each clique
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f1 doesn't have any other links, not adding it back...
[ Info: Looking at x4f3
[ Info: - Breaking link x4f3->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f3 doesn't have any other links, not adding it back...
[ Info: Looking at x4f2
[ Info: - Breaking link x4f2->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f2 doesn't have any other links, not adding it back...
[ Info: Get potentials x2,: x3,x1,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x3,: x1,x4,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=2 adding factor that is no in separator, x2
[ Info: Get potentials x0,: x1,l1,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials l1,: x1,x6,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=3 adding factor that is no in separator, x0
[ Info: Get potentials x5,: x6,x4,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x4,x6,x1,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=1 adding factor that is no in separator, x5
[ Info: cliq=1 adding factor that is no in separator, x3
[ Info: cliq=1 adding factor that is no in separator, x5
[ Info: cliq=1 adding factor that is no in separator, l1
[ Info: cliq=1 adding factor that is no in separator, x2
[ Info: cliq=1 adding factor that is no in separator, x0
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
State machine iter=1[ Info: prepCliqInitMsgsUp, seps=Symbol[:x6, :x4]
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x3, :x1]
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: Outgoing msg density on:
State machine iter=5[ Info: prepCliqInitMsgsUp, seps=Symbol[:x1, :l1]
State machine iter=9
State machine iter=10
State machine iter=11
State machine iter=12
State machine iter=9
State machine iter=10
State machine iter=11
State machine iter=12
State machine iter=13
State machine iter=6
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: Outgoing msg density on:
State machine iter=9[ Info: prepCliqInitMsgsUp, seps=Symbol[:x1, :x6]
State machine iter=10
State machine iter=11
State machine iter=5
State machine iter=6
State machine iter=13
State machine iter=14
State machine iter=15
State machine iter=7┌ Warning: getCliqAllFactIds deprecated, use getCliqFactorIdsAll instead.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/JunctionTree.jl:955
State machine iter=8
State machine iter=9
State machine iter=10
State machine iter=11
State machine iter=12
State machine iter=13
State machine iter=14
┌ Warning: getCliqAllFactIds deprecated, use getCliqFactorIdsAll instead.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/JunctionTree.jl:955
State machine iter=9
State machine iter=10[ Info: cycleInitByVarOrder! -- varorder=Symbol[:x1, :x3, :x4]
[ Info: var.label=x1 is initialized=false
State machine iter=11[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x1f1]
[ Info: do init of x1
State machine iter=16[ Info: var.label=x3 is initialized=false
[ Info: try doautoinit! of x3
[ Info: init with useinitfct Symbol[]
[ Info: var.label=x4 is initialized=false
[ Info: try doautoinit! of x4
[ Info: init with useinitfct Symbol[]
[ Info: var.label=x1 is initialized=true
[ Info: var.label=x3 is initialized=false
[ Info: try doautoinit! of x3
[ Info: init with useinitfct Symbol[]
[ Info: var.label=x4 is initialized=false
[ Info: try doautoinit! of x4
[ Info: init with useinitfct Symbol[]
[ Info: cycleInitByVarOrder!, retval=true
State machine iter=7
State machine iter=8
State machine iter=9
State machine iter=10
State machine iter=11
State machine iter=12
State machine iter=14
State machine iter=15
┌ Warning: getCliqAllFactIds deprecated, use getCliqFactorIdsAll instead.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/JunctionTree.jl:955
State machine iter=15[ Info: cycleInitByVarOrder! -- varorder=Symbol[:x1, :x3, :x2]
[ Info: var.label=x1 is initialized=false
State machine iter=16[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x1f1]
State machine iter=17[ Info: do init of x1
[ Info: var.label=x3 is initialized=false
State machine iter=18[ Info: try doautoinit! of x3
[ Info: init with useinitfct Symbol[]
[ Info: var.label=x2 is initialized=false
State machine iter=17[ Info: try doautoinit! of x2
[ Info: init with useinitfct Symbol[:x1x2f1]
State machine iter=18[ Info: do init of x2
[ Info: var.label=x1 is initialized=true
State machine iter=19[ Info: var.label=x3 is initialized=false
[ Info: try doautoinit! of x3
State machine iter=20[ Info: init with useinitfct Symbol[:x2x3f1]
[ Info: do init of x3
State machine iter=21
State machine iter=22
[ Info: var.label=x2 is initialized=true
[ Info: var.label=x1 is initialized=true
[ Info: var.label=x3 is initialized=true
[ Info: var.label=x2 is initialized=true
┌ Warning: getCliqAllFactIds deprecated, use getCliqFactorIdsAll instead.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/JunctionTree.jl:955
[ Info: cycleInitByVarOrder!, retval=true
State machine iter=23
State machine iter=16
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x3, :x1]
State machine iter=24
State machine iter=25
State machine iter=26
State machine iter=27
State machine iter=28
State machine iter=29
State machine iter=13┌ Warning: getCliqAllFactIds deprecated, use getCliqFactorIdsAll instead.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/JunctionTree.jl:955
State machine iter=14
State machine iter=15
State machine iter=19
State machine iter=20
State machine iter=21
State machine iter=22
State machine iter=23
[ Info: Outgoing msg density on:
State machine iter=30[ Info: prepCliqInitMsgsUp, seps=Symbol[:x1, :x4]
State machine iter=17
State machine iter=18
State machine iter=19
State machine iter=16
State machine iter=17
State machine iter=18
State machine iter=24
State machine iter=25
State machine iter=26
┌ Warning: getCliqAllFactIds deprecated, use getCliqFactorIdsAll instead.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/JunctionTree.jl:955
State machine iter=31
State machine iter=32
State machine iter=33
State machine iter=34
State machine iter=35
State machine iter=36
[ Info: cycleInitByVarOrder! -- varorder=Symbol[:x6, :x4, :x5]
[ Info: var.label=x6 is initialized=false
[ Info: try doautoinit! of x6
[ Info: init with useinitfct Symbol[:x6f1]
[ Info: do init of x6
[ Info: var.label=x4 is initialized=false
[ Info: try doautoinit! of x4
[ Info: init with useinitfct Symbol[:x4f1]
[ Info: do init of x4
[ Info: var.label=x5 is initialized=false
[ Info: try doautoinit! of x5
[ Info: init with useinitfct Symbol[:x5x6f1, :x4x5f1]
[ Info: do init of x5
[ Info: [2x0p,d3,N100],
[ Info: var.label=x6 is initialized=true
[ Info: var.label=x4 is initialized=true
[ Info: var.label=x5 is initialized=true
[ Info: cycleInitByVarOrder!, retval=true
State machine iter=37
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x6, :x4]
State machine iter=19
State machine iter=20
State machine iter=21
[ Info: Outgoing msg density on:
State machine iter=38[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=39
State machine iter=40
State machine iter=22
State machine iter=23
State machine iter=24
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
sanity check on Hex example | 22 22
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: x1 is not initialized, and will do so now...
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x0x1f1]
[ Info: do init of x1
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
Si = Symbol[:x1]
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info: Looking at x1f1
[ Info: - Breaking link x1f1->x1...
[ Info: - Original links: Symbol[:x1]
[ Info: - New links: Symbol[]
[ Info: x1f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x1,x0,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: [2x0p,d4,N100],
[ Info: #2 --
[ Info: [2x0p,d4,N100],
[ Info: #3 --
[ Info: [2x0p,d4,N100],
[ Info: fmcmc! -- solverData(vert=x1).inferdim=16.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=20.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x1, :x0]
[ Info: sym=x1, mem size of val=(4, 100) and (4, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(4, 100) and (4, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
global x0 = getKDEMax(getVertKDE(fg, :x0)) = [0.19634874960342416, -0.015281351742685323, 9.979563719311356, 10.016016854336637]
global x1 = getKDEMax(getVertKDE(fg, :x1)) = [19.991348823857393, 20.051145501297743, 10.059479999234775, 9.983607821281433]
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x0x1f1]
[ Info: do init of x1
[ Info: try doautoinit! of x2
[ Info: x2 is not initialized, and will do so now...
[ Info: try doautoinit! of x2
[ Info: init with useinitfct Symbol[:x1x2f1]
[ Info: do init of x2
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
Si = Symbol[:x0, :x2]
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x0x2f1
[ Info: - Breaking link x0x2f1->x0...
[ Info: - Original links: Symbol[:x0, :x2]
[ Info: - New links: Symbol[:x2]
[ Info: x0x2f1 still has links to other variables, readding it back...
Si = Symbol[:x2]
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x2f2
[ Info: - Breaking link x2f2->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f2 doesn't have any other links, not adding it back...
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x2,x0,x1,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x2,x0,x1,:
[ Info: #1 --
[ Info: [2x0p,d4,N100],
[ Info: [2x0p,d4,N100],
[ Info: #2 --
[ Info: [2x0p,d4,N100],
[ Info: [2x0p,d4,N100],
[ Info: #3 --
[ Info: [2x0p,d4,N100],
[ Info: [2x0p,d4,N100],
[ Info: fmcmc! -- solverData(vert=x2).inferdim=16.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=20.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=32.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x2, :x0, :x1]
[ Info: sym=x2, mem size of val=(4, 100) and (4, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(4, 100) and (4, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x1, mem size of val=(4, 100) and (4, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
global x0 = getKDEMax(getVertKDE(fg, :x0)) = [-0.04015878832281389, -0.02442836072674552, 9.856287166237752, 9.863139719577347]
global x1 = getKDEMax(getVertKDE(fg, :x1)) = [9.757527315773139, 10.027203575683307, 9.958579131238487, 9.974352777878869]
global x2 = getKDEMax(getVertKDE(fg, :x2)) = [19.892561133011863, 20.092854142420663, 9.77912148043737, 10.09594129331737]
[ Info: x1 is not initialized, and will do so now...
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x1f1]
[ Info: do init of x1
Test Summary: | Pass Total
[TEST] Pose2 evaluations... | 22 22
[ Info: try doautoinit! of x0
[ Info: x0 is not initialized, and will do so now...
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x2
[ Info: try doautoinit! of x2
[ Info: init with useinitfct Symbol[:x2f1]
[ Info: do init of x2
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x2x1f1, :x0x1f1]
[ Info: do init of x1
[ Info: [2x0p,d2,N100],
[ Info: Solving over the Bayes (Junction) tree.
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
Building Bayes net...
[ Info: - Removing x1
Si = Symbol[:x2, :x0]
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x2x0f1
[ Info: - Breaking link x2x0f1->x2...
[ Info: - Original links: Symbol[:x2, :x0]
[ Info: - New links: Symbol[:x0]
[ Info: x2x0f1 still has links to other variables, readding it back...
Si = Symbol[:x0]
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x0f2
[ Info: - Breaking link x0f2->x0...
[ Info: - Original links: Symbol[:x0]
[ Info: - New links: Symbol[]
[ Info: x0f2 doesn't have any other links, not adding it back...
[ Info: Looking at x0f3
[ Info: - Breaking link x0f3->x0...
[ Info: - Original links: Symbol[:x0]
[ Info: - New links: Symbol[]
[ Info: x0f3 doesn't have any other links, not adding it back...
[ Info: Get potentials x0,x2,x1,:
[ Info: using all factors among cliq variables
Find potential functions for each clique
[ Info: finding all frontals for down WIP
Bayes Tree
State machine iter=1
State machine iter=2
State machine iter=3
[ Info: Do tree based init-inference on tree
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x0,x2,x1,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x0,x2,x1,:
[ Info: #1 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: #2 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: #3 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: fmcmc! -- solverData(vert=x0).inferdim=6.0
[ Info: fmcmc! -- solverData(vert=x2).inferdim=6.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=8.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x0, :x2, :x1]
[ Info: sym=x0, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x2, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x1, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
test Point2Point2WorldBearing factor is working | 6 6
Test Summary: | Pass Total
test sampling from BearingRange factor... | 4 4
res = [0.0, 0.0]
res = [1.4997597826618579e-30, 0.0]
res = [1.4997597826618579e-30, 0.0]
res = [0.0, 0.0]
Test Summary: | Pass Total
test BearingRange factor residual function... | 4 4
Test Summary: | Pass Total
test unimodal bearing range factor, solve for landmark... | 5 5
abs.(Statistics.mean(pts, dims=2)) = [0.0724902346241858; 0.06996383048082808; 0.00021777518814855958]
Statistics.std(pts, dims=2) = [1.0133394580451869; 0.7242550266896394; 0.11490970802301544]
Test Summary: | Pass Total
test unimodal bearing range factor, solve for pose... | 3 3
Test Summary: | Pass Total
Testing Pose2Point2Bearing Initialization and Packing | 2 2
Test Summary: | Pass Total
test odometry accumulation MutablePose2Pose2Gaussian... | 2 2
STEP 1: Driving around a bit
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x0x1f1]
[ Info: do init of x1
[ Info: try doautoinit! of x2
[ Info: try doautoinit! of x2
[ Info: init with useinitfct Symbol[:x1x2f1]
[ Info: do init of x2
[ Info: try doautoinit! of x3
[ Info: try doautoinit! of x3
[ Info: init with useinitfct Symbol[:x2x3f1]
[ Info: do init of x3
[ Info: try doautoinit! of x4
[ Info: try doautoinit! of x4
[ Info: init with useinitfct Symbol[:x3x4f1]
[ Info: do init of x4
[ Info: try doautoinit! of x5
[ Info: try doautoinit! of x5
[ Info: init with useinitfct Symbol[:x4x5f1]
[ Info: do init of x5
[ Info: try doautoinit! of x6
[ Info: try doautoinit! of l1
STEP 2: Solve graph when shorter than fixed length
[ Info: Solving over the Bayes (Junction) tree.
[ Info: Quasi fixed-lag is enabled (a feature currently in testing)!
[ Info: [fifoFreeze] QFL - Freezing nodes x0 -> x1.
Building Bayes net...
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
Si = Symbol[:l1, :x1]
[ Info:
[ Info: Eliminating x3
[ Info: ===============
[ Info:
[ Info: - Removing x3
Si = Symbol[:x4, :x2]
[ Info:
[ Info: Eliminating x5
[ Info: ===============
[ Info:
[ Info: - Removing x5
Si = Symbol[:x6, :x4]
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info: Looking at l1x1f1
[ Info: - Breaking link l1x1f1->x1...
[ Info: - Original links: Symbol[:l1, :x1]
[ Info: - New links: Symbol[:l1]
[ Info: l1x1f1 still has links to other variables, readding it back...
Si = Symbol[:l1, :x2]
[ Info:
[ Info: Eliminating x4
[ Info: ===============
[ Info:
[ Info: - Removing x4
[ Info: Looking at x4x2f1
[ Info: - Breaking link x4x2f1->x4...
[ Info: - Original links: Symbol[:x4, :x2]
[ Info: - New links: Symbol[:x2]
[ Info: x4x2f1 still has links to other variables, readding it back...
[ Info: Looking at x6x4f1
[ Info: - Breaking link x6x4f1->x4...
[ Info: - Original links: Symbol[:x6, :x4]
[ Info: - New links: Symbol[:x6]
[ Info: x6x4f1 still has links to other variables, readding it back...
Si = Symbol[:x2, :x6]
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at l1x2f1
[ Info: - Breaking link l1x2f1->x2...
[ Info: - Original links: Symbol[:l1, :x2]
[ Info: - New links: Symbol[:l1]
[ Info: l1x2f1 still has links to other variables, readding it back...
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
[ Info: Looking at x2x6f1
[ Info: - Breaking link x2x6f1->x2...
[ Info: - Original links: Symbol[:x2, :x6]
[ Info: - New links: Symbol[:x6]
[ Info: x2x6f1 still has links to other variables, readding it back...
Si = Symbol[:l1, :x6]
[ Info:
[ Info: Eliminating l1
[ Info: ===============
[ Info:
[ Info: - Removing l1
[ Info: Looking at l1f2
[ Info: - Breaking link l1f2->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f2 doesn't have any other links, not adding it back...
[ Info: Looking at l1f1
[ Info: - Breaking link l1f1->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f1 doesn't have any other links, not adding it back...
[ Info: Looking at l1x6f1
[ Info: - Breaking link l1x6f1->l1...
[ Info: - Original links: Symbol[:l1, :x6]
[ Info: - New links: Symbol[:x6]
[ Info: l1x6f1 still has links to other variables, readding it back...
Si = Symbol[:x6]
[ Info:
[ Info: Eliminating x6
[ Info: ===============
[ Info:
[ Info: - Removing x6
[ Info: Looking at x6f2
[ Info: - Breaking link x6f2->x6...
[ Info: - Original links: Symbol[:x6]
[ Info: - New links: Symbol[]
[ Info: x6f2 doesn't have any other links, not adding it back...
[ Info: Looking at x6f4
[ Info: - Breaking link x6f4->x6...
[ Info: - Original links: Symbol[:x6]
[ Info: - New links: Symbol[]
[ Info: x6f4 doesn't have any other links, not adding it back...
[ Info: Looking at x6f3
[ Info: - Breaking link x6f3->x6...
[ Info: - Original links: Symbol[:x6]
[ Info: - New links: Symbol[]
[ Info: x6f3 doesn't have any other links, not adding it back...
[ Info: Looking at x6f1
[ Info: - Breaking link x6f1->x6...
[ Info: - Original links: Symbol[:x6]
[ Info: - New links: Symbol[]
[ Info: x6f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x5,: x6,x4,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x3,: x4,x2,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x4,: x2,x6,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=2 adding factor that is no in separator, x3
[ Info: cliq=2 adding factor that is no in separator, x5
[ Info: Get potentials x0,: l1,x1,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x1,: l1,x2,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=3 adding factor that is no in separator, x0
[ Info: Get potentials x6,l1,x2,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=1 adding factor that is no in separator, x5
[ Info: cliq=1 adding factor that is no in separator, x0
[ Info: cliq=1 adding factor that is no in separator, x3
[ Info: cliq=1 adding factor that is no in separator, x1
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: up w 0 msgs
State machine iter=1[ Info: ---------- successive fnc approx ------------x5,: x6,x4,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x5,: x6,x4,
[ Info: #1 --
State machine iter=2
State machine iter=3[ Info: [2x0p,d3,N100],
[ Info: #2 --
State machine iter=4[ Info: [2x0p,d3,N100],
[ Info: #3 --
State machine iter=5[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x6).inferdim=9.0
State machine iter=6
[ Info: fmcmc! -- solverData(vert=x4).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x5).inferdim=18.0
State machine iter=7[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x6, :x4]
State machine iter=8
[ Info: up w 0 msgs
State machine iter=1[ Info: ---------- successive fnc approx ------------x3,: x4,x2,
[ Info: #1 --
State machine iter=2[ Info: ---------- successive fnc approx ------------x3,: x4,x2,
[ Info: #1 --
State machine iter=3
[ Info: [2x0p,d3,N100],
[ Info: #2 --
State machine iter=4
[ Info: [2x0p,d3,N100],
State machine iter=5[ Info: #3 --
[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x4).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x2).inferdim=9.0
State machine iter=6
[ Info: fmcmc! -- solverData(vert=x3).inferdim=18.0
[ Info: Outgoing msg density on:
State machine iter=7
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x4, :x2]
State machine iter=8
State machine iter=9
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x0,: l1,x1,
[ Info: #1 --
State machine iter=10[ Info: ---------- successive fnc approx ------------x0,: l1,x1,
[ Info: #1 --
[ Info: #2 --
State machine iter=5
[ Info: #3 --
State machine iter=6[ Info: fmcmc! -- solverData(vert=l1).inferdim=6.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=3.0
[ Info: Outgoing msg density on:
State machine iter=7
State machine iter=8[ Info: prepCliqInitMsgsUp, seps=Symbol[:l1, :x1]
[ Info: up w 2 msgs
[ Info: inp.sendmsgs[x6].inferdim=9.0
[ Info: inp.sendmsgs[x4].inferdim=9.0
State machine iter=9
State machine iter=10
State machine iter=5
State machine iter=6
[ Info: inp.sendmsgs[x2].inferdim=9.0
[ Info: inp.sendmsgs[x4].inferdim=9.0
[ Info: ---------- successive fnc approx ------------x4,: x2,x6,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x4,: x2,x6,
[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=x2).inferdim=9.0
State machine iter=7[ Info: fmcmc! -- solverData(vert=x6).inferdim=9.0
[ Info: ---------- successive fnc approx ------------x4,: x2,x6,
[ Info: #1 --
State machine iter=8
[ Info: [2x0p,d3,N100],
[ Info: up w 1 msgs
[ Info: fmcmc! -- solverData(vert=x4).inferdim=18.0
State machine iter=9[ Info: inp.sendmsgs[l1].inferdim=6.0
[ Info: Outgoing msg density on:
[ Info: inp.sendmsgs[x1].inferdim=9.0
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x2, :x6]
State machine iter=10[ Info: ---------- successive fnc approx ------------x1,: l1,x2,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x1,: l1,x2,
[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=l1).inferdim=6.0
[ Info: ---------- successive fnc approx ------------x1,: l1,x2,
[ Info: #1 --
[ Info: #2 --
[ Info: #3 --
State machine iter=9[ Info: fmcmc! -- solverData(vert=x2).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x1).inferdim=9.0
State machine iter=10[ Info: ---------- successive fnc approx ------------x1,: l1,x2,
[ Info: #1 --
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:l1, :x2]
State machine iter=5
State machine iter=6
[ Info: up w 2 msgs
State machine iter=9
[ Info: inp.sendmsgs[x2].inferdim=9.0
[ Info: inp.sendmsgs[x6].inferdim=9.0
State machine iter=10[ Info: inp.sendmsgs[x2].inferdim=9.0
[ Info: inp.sendmsgs[l1].inferdim=6.0
[ Info: ---------- successive fnc approx ------------x6,l1,x2,:
[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=x6).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=l1).inferdim=6.0
[ Info: ---------- successive fnc approx ------------x6,l1,x2,:
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x6).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=l1).inferdim=6.0
[ Info: fmcmc! -- solverData(vert=x2).inferdim=18.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x6, :l1, :x2]
[ Info: sym=x6, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=l1, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x2, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=11
State machine iter=11
[ Info: [2x0p,d3,N100],
State machine iter=9
State machine iter=11
State machine iter=11
State machine iter=11
[ Info: [2x0p,d3,N100],
State machine iter=12[ Info: [2x0p,d3,N100],
State machine iter=12
State machine iter=12
State machine iter=12
State machine iter=12
[ Info: Finished tree based init-inference
STEP 3: Drive a couple more, longer than fixed lag window
[ Info: try doautoinit! of x7
[ Info: try doautoinit! of x7
[ Info: init with useinitfct Symbol[:x6x7f1]
[ Info: do init of x7
[ Info: try doautoinit! of x8
[ Info: try doautoinit! of x8
[ Info: init with useinitfct Symbol[:x7x8f1]
[ Info: do init of x8
[ Info: try doautoinit! of x9
[ Info: try doautoinit! of x9
[ Info: init with useinitfct Symbol[:x8x9f1]
[ Info: do init of x9
[ Info: try doautoinit! of x10
[ Info: try doautoinit! of x10
[ Info: init with useinitfct Symbol[:x9x10f1]
[ Info: do init of x10
[ Info: try doautoinit! of x11
[ Info: try doautoinit! of x11
[ Info: init with useinitfct Symbol[:x10x11f1]
[ Info: do init of x11
[ Info: try doautoinit! of x12
[ Info: [fifoFreeze] QFL - Freezing nodes x0 -> l1.
┌ Warning: getData is deprecated, please use solverData()
└ @ DistributedFactorGraphs ~/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:188
STEP 4: Solve graph when shorter than fixed length, and show time to solve
[ Info: Solving over the Bayes (Junction) tree.
[ Info: Quasi fixed-lag is enabled (a feature currently in testing)!
[ Info: [fifoFreeze] QFL - Freezing nodes x0 -> l1.
Building Bayes net...
[ Info:
[ Info: Eliminating x6
[ Info: ===============
[ Info:
[ Info: - Removing x6
Si = Symbol[:x7, :l1, :x5]
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
Si = Symbol[:l1, :x1]
[ Info:
[ Info: Eliminating x3
[ Info: ===============
[ Info:
[ Info: - Removing x3
Si = Symbol[:x4, :x2]
[ Info:
[ Info: Eliminating x11
[ Info: ===============
[ Info:
[ Info: - Removing x11
Si = Symbol[:x12, :x10]
[ Info:
[ Info: Eliminating x9
[ Info: ===============
[ Info:
[ Info: - Removing x9
Si = Symbol[:x10, :x8]
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info: Looking at l1x1f1
[ Info: - Breaking link l1x1f1->x1...
[ Info: - Original links: Symbol[:l1, :x1]
[ Info: - New links: Symbol[:l1]
[ Info: l1x1f1 still has links to other variables, readding it back...
Si = Symbol[:x2, :l1]
[ Info:
[ Info: Eliminating x7
[ Info: ===============
[ Info:
[ Info: - Removing x7
[ Info: Looking at x7l1x5f1
[ Info: - Breaking link x7l1x5f1->x7...
[ Info: - Original links: Symbol[:x7, :l1, :x5]
[ Info: - New links: Symbol[:l1, :x5]
[ Info: x7l1x5f1 still has links to other variables, readding it back...
Si = Symbol[:l1, :x5, :x8]
[ Info:
[ Info: Eliminating x5
[ Info: ===============
[ Info:
[ Info: - Removing x5
[ Info: Looking at l1x5f1
[ Info: - Breaking link l1x5f1->x5...
[ Info: - Original links: Symbol[:l1, :x5]
[ Info: - New links: Symbol[:l1]
[ Info: l1x5f1 still has links to other variables, readding it back...
[ Info: Looking at l1x5x8f1
[ Info: - Breaking link l1x5x8f1->x5...
[ Info: - Original links: Symbol[:l1, :x5, :x8]
[ Info: - New links: Symbol[:l1, :x8]
[ Info: l1x5x8f1 still has links to other variables, readding it back...
Si = Symbol[:l1, :x8, :x4]
[ Info:
[ Info: Eliminating l1
[ Info: ===============
[ Info:
[ Info: - Removing l1
[ Info: Looking at l1x8x4f1
[ Info: - Breaking link l1x8x4f1->l1...
[ Info: - Original links: Symbol[:l1, :x8, :x4]
[ Info: - New links: Symbol[:x8, :x4]
[ Info: l1x8x4f1 still has links to other variables, readding it back...
[ Info: Looking at l1x8f1
[ Info: - Breaking link l1x8f1->l1...
[ Info: - Original links: Symbol[:l1, :x8]
[ Info: - New links: Symbol[:x8]
[ Info: l1x8f1 still has links to other variables, readding it back...
[ Info: Looking at l1f2
[ Info: - Breaking link l1f2->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f2 doesn't have any other links, not adding it back...
[ Info: Looking at l1f1
[ Info: - Breaking link l1f1->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f1 doesn't have any other links, not adding it back...
[ Info: Looking at x2l1f1
[ Info: - Breaking link x2l1f1->l1...
[ Info: - Original links: Symbol[:x2, :l1]
[ Info: - New links: Symbol[:x2]
[ Info: x2l1f1 still has links to other variables, readding it back...
Si = Symbol[:x8, :x4, :x2]
[ Info:
[ Info: Eliminating x10
[ Info: ===============
[ Info:
[ Info: - Removing x10
[ Info: Looking at x12x10f1
[ Info: - Breaking link x12x10f1->x10...
[ Info: - Original links: Symbol[:x12, :x10]
[ Info: - New links: Symbol[:x12]
[ Info: x12x10f1 still has links to other variables, readding it back...
[ Info: Looking at x10x8f1
[ Info: - Breaking link x10x8f1->x10...
[ Info: - Original links: Symbol[:x10, :x8]
[ Info: - New links: Symbol[:x8]
[ Info: x10x8f1 still has links to other variables, readding it back...
Si = Symbol[:x12, :x8]
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x4x2f1
[ Info: - Breaking link x4x2f1->x2...
[ Info: - Original links: Symbol[:x4, :x2]
[ Info: - New links: Symbol[:x4]
[ Info: x4x2f1 still has links to other variables, readding it back...
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
[ Info: Looking at x8x4x2f1
[ Info: - Breaking link x8x4x2f1->x2...
[ Info: - Original links: Symbol[:x8, :x4, :x2]
[ Info: - New links: Symbol[:x8, :x4]
[ Info: x8x4x2f1 still has links to other variables, readding it back...
Si = Symbol[:x4, :x8]
[ Info:
[ Info: Eliminating x8
[ Info: ===============
[ Info:
[ Info: - Removing x8
[ Info: Looking at x8f2
[ Info: - Breaking link x8f2->x8...
[ Info: - Original links: Symbol[:x8]
[ Info: - New links: Symbol[]
[ Info: x8f2 doesn't have any other links, not adding it back...
[ Info: Looking at x8x4f2
[ Info: - Breaking link x8x4f2->x8...
[ Info: - Original links: Symbol[:x8, :x4]
[ Info: - New links: Symbol[:x4]
[ Info: x8x4f2 still has links to other variables, readding it back...
[ Info: Looking at x8x4f1
[ Info: - Breaking link x8x4f1->x8...
[ Info: - Original links: Symbol[:x8, :x4]
[ Info: - New links: Symbol[:x4]
[ Info: x8x4f1 still has links to other variables, readding it back...
[ Info: Looking at x8f1
[ Info: - Breaking link x8f1->x8...
[ Info: - Original links: Symbol[:x8]
[ Info: - New links: Symbol[]
[ Info: x8f1 doesn't have any other links, not adding it back...
[ Info: Looking at x4x8f1
[ Info: - Breaking link x4x8f1->x8...
[ Info: - Original links: Symbol[:x4, :x8]
[ Info: - New links: Symbol[:x4]
[ Info: x4x8f1 still has links to other variables, readding it back...
[ Info: Looking at x12x8f1
[ Info: - Breaking link x12x8f1->x8...
[ Info: - Original links: Symbol[:x12, :x8]
[ Info: - New links: Symbol[:x12]
[ Info: x12x8f1 still has links to other variables, readding it back...
Si = Symbol[:x4, :x12]
[ Info:
[ Info: Eliminating x4
[ Info: ===============
[ Info:
[ Info: - Removing x4
[ Info: Looking at x4f2
[ Info: - Breaking link x4f2->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f2 doesn't have any other links, not adding it back...
[ Info: Looking at x4f4
[ Info: - Breaking link x4f4->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f4 doesn't have any other links, not adding it back...
[ Info: Looking at x4f1
[ Info: - Breaking link x4f1->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f1 doesn't have any other links, not adding it back...
[ Info: Looking at x4f3
[ Info: - Breaking link x4f3->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f3 doesn't have any other links, not adding it back...
[ Info: Looking at x4x12f1
[ Info: - Breaking link x4x12f1->x4...
[ Info: - Original links: Symbol[:x4, :x12]
[ Info: - New links: Symbol[:x12]
[ Info: x4x12f1 still has links to other variables, readding it back...
Si = Symbol[:x12]
[ Info:
[ Info: Eliminating x12
[ Info: ===============
[ Info:
[ Info: - Removing x12
[ Info: Looking at x12f1
[ Info: - Breaking link x12f1->x12...
[ Info: - Original links: Symbol[:x12]
[ Info: - New links: Symbol[]
[ Info: x12f1 doesn't have any other links, not adding it back...
[ Info: Looking at x12f2
[ Info: - Breaking link x12f2->x12...
[ Info: - Original links: Symbol[:x12]
[ Info: - New links: Symbol[]
[ Info: x12f2 doesn't have any other links, not adding it back...
[ Info: Looking at x12f4
[ Info: - Breaking link x12f4->x12...
[ Info: - Original links: Symbol[:x12]
[ Info: - New links: Symbol[]
[ Info: x12f4 doesn't have any other links, not adding it back...
[ Info: Looking at x12f3
[ Info: - Breaking link x12f3->x12...
[ Info: - Original links: Symbol[:x12]
[ Info: - New links: Symbol[]
[ Info: x12f3 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x6,: x7,l1,x5,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x7,: l1,x5,x8,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=5 adding factor that is no in separator, x6
[ Info: Get potentials x5,: l1,x8,x4,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=4 adding factor that is no in separator, x6
[ Info: Get potentials x0,: l1,x1,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x1,: x2,l1,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=6 adding factor that is no in separator, x0
[ Info: Get potentials x3,: x4,x2,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x2,l1,: x4,x8,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=2 adding factor that is no in separator, x3
[ Info: cliq=2 adding factor that is no in separator, x1
[ Info: cliq=2 adding factor that is no in separator, x0
[ Info: cliq=2 adding factor that is no in separator, x6
[ Info: Get potentials x9,: x10,x8,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x11,: x12,x10,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x10,: x12,x8,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=3 adding factor that is no in separator, x9
[ Info: cliq=3 adding factor that is no in separator, x11
[ Info: Get potentials x12,x4,x8,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=1 adding factor that is no in separator, x11
[ Info: cliq=1 adding factor that is no in separator, x3
[ Info: cliq=1 adding factor that is no in separator, x5
[ Info: cliq=1 adding factor that is no in separator, x7
[ Info: cliq=1 adding factor that is no in separator, x9
Bayes Tree
[ Info: Do tree based init-inference on tree
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x4, :x2]
[ Info: prepCliqInitMsgsUp, seps=Symbol[:l1, :x1]
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x2, :l1]
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: up w 0 msgs
State machine iter=1[ Info: ---------- successive fnc approx ------------x9,: x10,x8,
[ Info: #1 --
State machine iter=2[ Info: ---------- successive fnc approx ------------x9,: x10,x8,
[ Info: #1 --
State machine iter=3[ Info: [2x0p,d3,N100],
State machine iter=4[ Info: #2 --
[ Info: [2x0p,d3,N100],
State machine iter=5[ Info: #3 --
[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x10).inferdim=9.0
State machine iter=6
[ Info: fmcmc! -- solverData(vert=x8).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x9).inferdim=18.0
State machine iter=7[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x10, :x8]
State machine iter=8
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x11,: x12,x10,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x11,: x12,x10,
[ Info: #1 --
State machine iter=1
State machine iter=2
State machine iter=3[ Info: [2x0p,d3,N100],
[ Info: #2 --
State machine iter=4[ Info: [2x0p,d3,N100],
[ Info: #3 --
State machine iter=5[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x12).inferdim=9.0
┌ Warning: deprecated, use prepCliqInitMsgsUp(subfg::FactorGraph, cliq::Graphs.ExVertex) instead
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/TreeBasedInitialization.jl:509
[ Info: fmcmc! -- solverData(vert=x10).inferdim=9.0
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x4, :x2]
State machine iter=1
[ Info: fmcmc! -- solverData(vert=x11).inferdim=18.0
[ Info: Outgoing msg density on:
State machine iter=2[ Info: prepCliqInitMsgsUp, seps=Symbol[:x12, :x10]
┌ Warning: deprecated, use prepCliqInitMsgsUp(subfg::FactorGraph, cliq::Graphs.ExVertex) instead
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/TreeBasedInitialization.jl:509
[ Info: prepCliqInitMsgsUp, seps=Symbol[:l1, :x1]
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
State machine iter=9
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x6,: x7,l1,x5,
[ Info: #1 --
State machine iter=10
[ Info: ---------- successive fnc approx ------------x6,: x7,l1,x5,
[ Info: #1 --
[ Info: #2 --
[ Info: #3 --
State machine iter=5[ Info: fmcmc! -- solverData(vert=x7).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=l1).inferdim=6.0
State machine iter=6[ Info: fmcmc! -- solverData(vert=x5).inferdim=18.0
[ Info: fmcmc! -- solverData(vert=x6).inferdim=9.0
State machine iter=7[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x7, :l1, :x5]
State machine iter=8
[ Info: up w 2 msgs
State machine iter=4[ Info: inp.sendmsgs[x8].inferdim=9.0
[ Info: inp.sendmsgs[x10].inferdim=9.0
State machine iter=5[ Info: inp.sendmsgs[x12].inferdim=9.0
[ Info: inp.sendmsgs[x10].inferdim=9.0
┌ Warning: deprecated, use prepCliqInitMsgsUp(subfg::FactorGraph, cliq::Graphs.ExVertex) instead
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/TreeBasedInitialization.jl:509
[ Info: ---------- successive fnc approx ------------x10,: x12,x8,
State machine iter=6[ Info: prepCliqInitMsgsUp, seps=Symbol[:x2, :l1]
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x10,: x12,x8,
[ Info: #1 --
State machine iter=9[ Info: fmcmc! -- solverData(vert=x12).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x8).inferdim=9.0
State machine iter=10[ Info: ---------- successive fnc approx ------------x10,: x12,x8,
[ Info: #1 --
[ Info: [2x0p,d3,N100],
State machine iter=6[ Info: fmcmc! -- solverData(vert=x10).inferdim=18.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x12, :x8]
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: up w 1 msgs
State machine iter=9[ Info: inp.sendmsgs[x5].inferdim=18.0
[ Info: inp.sendmsgs[x7].inferdim=9.0
State machine iter=10[ Info: inp.sendmsgs[l1].inferdim=6.0
[ Info: ---------- successive fnc approx ------------x7,: l1,x5,x8,
[ Info: #1 --
State machine iter=6[ Info: ---------- successive fnc approx ------------x7,: l1,x5,x8,
[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=l1).inferdim=6.0
[ Info: fmcmc! -- solverData(vert=x5).inferdim=18.0
[ Info: ---------- successive fnc approx ------------x7,: l1,x5,x8,
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: #2 --
State machine iter=9[ Info: [2x0p,d3,N100],
[ Info: #3 --
State machine iter=10[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x8).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x7).inferdim=18.0
[ Info: ---------- successive fnc approx ------------x7,: l1,x5,x8,
[ Info: #1 --
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:l1, :x5, :x8]
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: up w 1 msgs
[ Info: inp.sendmsgs[x5].inferdim=18.0
[ Info: inp.sendmsgs[x8].inferdim=9.0
[ Info: inp.sendmsgs[l1].inferdim=6.0
[ Info: ---------- successive fnc approx ------------x5,: l1,x8,x4,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x5,: l1,x8,x4,
[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=l1).inferdim=6.0
State machine iter=9[ Info: fmcmc! -- solverData(vert=x8).inferdim=9.0
[ Info: ---------- successive fnc approx ------------x5,: l1,x8,x4,
State machine iter=10
[ Info: #1 --
[ Info: #2 --
[ Info: #3 --
[ Info: fmcmc! -- solverData(vert=x4).inferdim=18.0
[ Info: fmcmc! -- solverData(vert=x5).inferdim=18.0
[ Info: ---------- successive fnc approx ------------x5,: l1,x8,x4,
[ Info: #1 --
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:l1, :x8, :x4]
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: up w 3 msgs
[ Info: inp.sendmsgs[x8].inferdim=9.0
[ Info: inp.sendmsgs[x4].inferdim=18.0
[ Info: inp.sendmsgs[l1].inferdim=6.0
[ Info: inp.sendmsgs[x2].inferdim=18.0
[ Info: inp.sendmsgs[l1].inferdim=6.0
[ Info: inp.sendmsgs[x2].inferdim=18.0
[ Info: inp.sendmsgs[x4].inferdim=18.0
[ Info: ---------- successive fnc approx ------------x2,l1,: x4,x8,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x2,l1,: x4,x8,
[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=x8).inferdim=9.0
State machine iter=9
[ Info: ---------- successive fnc approx ------------x2,l1,: x4,x8,
[ Info: #1 --
State machine iter=10
[ Info: fmcmc! -- solverData(vert=x2).inferdim=18.0
[ Info: fmcmc! -- solverData(vert=l1).inferdim=6.0
[ Info: fmcmc! -- solverData(vert=x4).inferdim=18.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x4, :x8]
State machine iter=5
State machine iter=6
[ Info: up w 2 msgs
[ Info: inp.sendmsgs[x8].inferdim=9.0
[ Info: inp.sendmsgs[x4].inferdim=18.0
State machine iter=9
State machine iter=10
[ Info: inp.sendmsgs[x12].inferdim=9.0
[ Info: inp.sendmsgs[x8].inferdim=9.0
[ Info: ---------- successive fnc approx ------------x12,x4,x8,:
[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=x12).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x4).inferdim=18.0
[ Info: ---------- successive fnc approx ------------x12,x4,x8,:
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: fmcmc! -- solverData(vert=x12).inferdim=9.0
[ Info: fmcmc! -- solverData(vert=x4).inferdim=18.0
[ Info: fmcmc! -- solverData(vert=x8).inferdim=18.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x12, :x4, :x8]
[ Info: sym=x12, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x4, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x8, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=11
State machine iter=11[ Info: [2x0p,d3,N100],
State machine iter=9
State machine iter=7
State machine iter=7
State machine iter=11
State machine iter=11
State machine iter=11[ Info: [2x0p,d3,N100],
State machine iter=7
[ Info: [2x0p,d3,N100],
State machine iter=12
State machine iter=11
State machine iter=12
[ Info: [2x0p,d3,N100],
State machine iter=8
State machine iter=8
State machine iter=12
State machine iter=12
State machine iter=8
State machine iter=12
State machine iter=11
State machine iter=12
State machine iter=12
[ Info: Finished tree based init-inference
┌ Warning: getData is deprecated, please use solverData()
└ @ DistributedFactorGraphs ~/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:188
┌ Warning: getData is deprecated, please use solverData()
└ @ DistributedFactorGraphs ~/.julia/packages/DistributedFactorGraphs/NMxiR/src/entities/DFGVariable.jl:188
Test Summary: | Pass Total
test basic fixed lag operations... | 6 6
[ Info: try doautoinit! of l1
[ Info: try doautoinit! of l2
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: [0x1p,d3,N100],
[ Info: try doautoinit! of l1
[ Info: allowing init from incomplete set of previously initialized hypotheses, fct=x0l1l2f1
[ Info: init with useinitfct Symbol[:x0l1l2f1, :l1f1]
[ Info: do init of l1
[ Info: not all hypotheses initialized, but at least one available -- see #427
[ Info: [2x0p,d2,N100],
[ Info: try doautoinit! of l2
[ Info: init with useinitfct Symbol[:x0l1l2f1, :l2f1]
[ Info: do init of l2
[ Info: [2x0p,d2,N100],
[ Info: [1x1p,d3,N100],
Test Summary: |
test standard multimodal range bearing factor setup... | No tests
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
Si = Symbol[:x0, :l1]
[ Info:
[ Info: Eliminating l2
[ Info: ===============
[ Info:
[ Info: - Removing l2
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x0l1f1
[ Info: - Breaking link x0l1f1->x0...
[ Info: - Original links: Symbol[:x0, :l1]
[ Info: - New links: Symbol[:l1]
[ Info: x0l1f1 still has links to other variables, readding it back...
Si = Symbol[:l1]
[ Info:
[ Info: Eliminating l1
[ Info: ===============
[ Info:
[ Info: - Removing l1
[ Info: Looking at l1f2
[ Info: - Breaking link l1f2->l1...
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f2 doesn't have any other links, not adding it back...
[ Info: Looking at l1f3
[ Info: - Breaking link l1f3->l1...
Find potential functions for each clique
[ Info: - Original links: Symbol[:l1]
[ Info: - New links: Symbol[]
[ Info: l1f3 doesn't have any other links, not adding it back...
[ Info: Get potentials l1,x0,l2,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
State machine iter=1
State machine iter=2
State machine iter=3
[ Info: Do tree based init-inference on tree
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------l1,x0,l2,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------l1,x0,l2,:
[ Info: #1 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: [1x1p,d3,N100],
[ Info: #2 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: [1x1p,d3,N100],
[ Info: #3 --
[ Info: [2x0p,d2,N100],
[ Info: [2x0p,d2,N100],
[ Info: [1x1p,d3,N100],
[ Info: fmcmc! -- solverData(vert=l1).inferdim=14.0
[ Info: fmcmc! -- solverData(vert=l2).inferdim=14.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=8.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:l1, :x0, :l2]
[ Info: sym=l1, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=l2, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
test multimodal bearing range factors calculate pose position properly... | 3 3
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of l1
[ Info: try doautoinit! of l2
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of l1
[ Info: allowing init from incomplete set of previously initialized hypotheses, fct=x0l1l2f1
[ Info: init with useinitfct Symbol[:x0l1l2f1, :l1f1]
[ Info: do init of l1
[ Info: not all hypotheses initialized, but at least one available -- see #427
[ Info: [2x0p,d2,N100],
[ Info: try doautoinit! of l2
[ Info: init with useinitfct Symbol[:x0l1l2f1, :l2f1]
[ Info: do init of l2
[ Info: [1x1p,d2,N100],
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating l1
[ Info: ===============
[ Info:
[ Info: - Removing l1
Si = Symbol[:x0, :l2]
[ Info:
[ Info: Eliminating l2
[ Info: ===============
[ Info:
[ Info: - Removing l2
[ Info: Looking at x0l2f1
[ Info: - Breaking link x0l2f1->l2...
[ Info: - Original links: Symbol[:x0, :l2]
[ Info: - New links: Symbol[:x0]
[ Info: x0l2f1 still has links to other variables, readding it back...
Si = Symbol[:x0]
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x0f2
[ Info: - Breaking link x0f2->x0...
[ Info: - Original links: Symbol[:x0]
[ Info: - New links: Symbol[]
[ Info: x0f2 doesn't have any other links, not adding it back...
[ Info: Looking at x0f3
[ Info: - Breaking link x0f3->x0...
[ Info: - Original links: Symbol[:x0]
[ Info: - New links: Symbol[]
[ Info: x0f3 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x0,l2,l1,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x0,l2,l1,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x0,l2,l1,:
[ Info: #1 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d2,N100],
[ Info: [1x1p,d2,N100],
[ Info: #2 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d2,N100],
[ Info: [1x1p,d2,N100],
[ Info: #3 --
[ Info: [2x0p,d3,N100],
[ Info: [2x0p,d2,N100],
[ Info: [1x1p,d2,N100],
[ Info: fmcmc! -- solverData(vert=x0).inferdim=11.0
[ Info: fmcmc! -- solverData(vert=l1).inferdim=14.0
[ Info: fmcmc! -- solverData(vert=l2).inferdim=12.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x0, :l2, :l1]
[ Info: sym=x0, mem size of val=(3, 100) and (3, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=l2, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=l1, mem size of val=(2, 100) and (2, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
test multimodal landmark locations are computed correclty... | 5 5
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
Si = Symbol[:x1]
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info: Looking at x1f1
[ Info: - Breaking link x1f1->x1...
[ Info: - Original links: Symbol[:x1]
[ Info: - New links: Symbol[]
[ Info: x1f1 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x1,x0,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
Bayes Tree
State machine iter=1
State machine iter=2
State machine iter=3
[ Info: Do tree based init-inference on tree
State machine iter=4
State machine iter=5
State machine iter=6
[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x1,x0,:
[ Info: #1 --
[ Info: [2x0p,d5,N100],
[ Info: #2 --
[ Info: [2x0p,d5,N100],
[ Info: #3 --
[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x1).inferdim=25.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=30.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x1, :x0]
[ Info: sym=x1, mem size of val=(5, 100) and (5, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x0, mem size of val=(5, 100) and (5, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=9
[ Info: Finished tree based init-inference
Test Summary: | Pass Total
test DynPose2 and velocity... | 5 5
Test Summary: | Pass Total
test distribution compare functions... | 3 3
Test Summary: | Pass Total
test DynPose2 packing converters... | 2 2
[ Info: try doautoinit! of x0
[ Info: try doautoinit! of x0
[ Info: init with useinitfct Symbol[:x0f1]
[ Info: do init of x0
[ Info: try doautoinit! of x1
[ Info: try doautoinit! of x1
[ Info: init with useinitfct Symbol[:x0x1f1]
[ Info: do init of x1
[ Info: try doautoinit! of x2
[ Info: try doautoinit! of x2
[ Info: init with useinitfct Symbol[:x1x2f1]
[ Info: do init of x2
[ Info: try doautoinit! of x3
[ Info: try doautoinit! of x3
[ Info: init with useinitfct Symbol[:x2x3f1]
[ Info: do init of x3
[ Info: try doautoinit! of x4
[ Info: try doautoinit! of x4
[ Info: init with useinitfct Symbol[:x3x4f1]
[ Info: do init of x4
[ Info: try doautoinit! of x5
[ Info: try doautoinit! of x5
[ Info: init with useinitfct Symbol[:x4x5f1]
[ Info: do init of x5
[ Info: try doautoinit! of x6
[ Info: try doautoinit! of x6
[ Info: init with useinitfct Symbol[:x5x6f1]
[ Info: do init of x6
[ Info: try doautoinit! of x7
[ Info: try doautoinit! of x7
[ Info: init with useinitfct Symbol[:x6x7f1]
[ Info: do init of x7
[ Info: try doautoinit! of x8
[ Info: try doautoinit! of x8
[ Info: init with useinitfct Symbol[:x7x8f1]
[ Info: do init of x8
[ Info: try doautoinit! of x9
[ Info: try doautoinit! of x9
[ Info: init with useinitfct Symbol[:x8x9f1]
[ Info: do init of x9
[ Info: try doautoinit! of x10
[ Info: x10 is not initialized, and will do so now...
[ Info: try doautoinit! of x10
[ Info: init with useinitfct Symbol[:x9x10f1]
[ Info: do init of x10
[ Info: Solving over the Bayes (Junction) tree.
Building Bayes net...
Si = Symbol[:x6, :x4]
Si = Symbol[:x4, :x2]
Si = Symbol[:x10, :x8]
Si = Symbol[:x2, :x0]
Si = Symbol[:x6, :x8]
Si = Symbol[:x2]
[ Info:
[ Info: Eliminating x5
[ Info: ===============
[ Info:
[ Info: - Removing x5
[ Info:
[ Info: Eliminating x3
[ Info: ===============
[ Info:
[ Info: - Removing x3
[ Info:
[ Info: Eliminating x9
[ Info: ===============
[ Info:
[ Info: - Removing x9
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info:
[ Info: Eliminating x7
[ Info: ===============
[ Info:
[ Info: - Removing x7
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x2x0f1
[ Info: - Breaking link x2x0f1->x0...
[ Info: - Original links: Symbol[:x2, :x0]
[ Info: - New links: Symbol[:x2]
[ Info: x2x0f1 still has links to other variables, readding it back...
[ Info:
[ Info: Eliminating x4
[ Info: ===============
[ Info:
[ Info: - Removing x4
[ Info: Looking at x4x2f1
[ Info: - Breaking link x4x2f1->x4...
[ Info: - Original links: Symbol[:x4, :x2]
[ Info: - New links: Symbol[:x2]
[ Info: x4x2f1 still has links to other variables, readding it back...
[ Info: Looking at x6x4f1
[ Info: - Breaking link x6x4f1->x4...
[ Info: - Original links: Symbol[:x6, :x4]
[ Info: - New links: Symbol[:x6]
[ Info: x6x4f1 still has links to other variables, readding it back...
Si = Symbol[:x2, :x6]
Si = Symbol[:x10, :x6]
Si = Symbol[:x6]
Si = Symbol[:x10]
Find potential functions for each clique
[ Info:
[ Info: Eliminating x8
[ Info: ===============
[ Info:
[ Info: - Removing x8
[ Info: Looking at x10x8f1
[ Info: - Breaking link x10x8f1->x8...
[ Info: - Original links: Symbol[:x10, :x8]
[ Info: - New links: Symbol[:x10]
[ Info: x10x8f1 still has links to other variables, readding it back...
[ Info: Looking at x6x8f1
[ Info: - Breaking link x6x8f1->x8...
[ Info: - Original links: Symbol[:x6, :x8]
[ Info: - New links: Symbol[:x6]
[ Info: x6x8f1 still has links to other variables, readding it back...
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x2f3
[ Info: - Breaking link x2f3->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f3 doesn't have any other links, not adding it back...
[ Info: Looking at x2x6f1
[ Info: - Breaking link x2x6f1->x2...
[ Info: - Original links: Symbol[:x2, :x6]
[ Info: - New links: Symbol[:x6]
[ Info: x2x6f1 still has links to other variables, readding it back...
[ Info: Looking at x2f2
[ Info: - Breaking link x2f2->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f2 doesn't have any other links, not adding it back...
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
[ Info:
[ Info: Eliminating x6
[ Info: ===============
[ Info:
[ Info: - Removing x6
[ Info: Looking at x6f2
[ Info: - Breaking link x6f2->x6...
[ Info: - Original links: Symbol[:x6]
[ Info: - New links: Symbol[]
[ Info: x6f2 doesn't have any other links, not adding it back...
[ Info: Looking at x10x6f1
[ Info: - Breaking link x10x6f1->x6...
[ Info: - Original links: Symbol[:x10, :x6]
[ Info: - New links: Symbol[:x10]
[ Info: x10x6f1 still has links to other variables, readding it back...
[ Info: Looking at x6f4
[ Info: - Breaking link x6f4->x6...
[ Info: - Original links: Symbol[:x6]
[ Info: - New links: Symbol[]
[ Info: x6f4 doesn't have any other links, not adding it back...
[ Info: Looking at x6f1
[ Info: - Breaking link x6f1->x6...
[ Info: - Original links: Symbol[:x6]
[ Info: - New links: Symbol[]
[ Info: x6f1 doesn't have any other links, not adding it back...
[ Info: Looking at x6f3
[ Info: - Breaking link x6f3->x6...
[ Info: - Original links: Symbol[:x6]
[ Info: - New links: Symbol[]
[ Info: x6f3 doesn't have any other links, not adding it back...
[ Info:
[ Info: Eliminating x10
[ Info: ===============
[ Info:
[ Info: - Removing x10
[ Info: Looking at x10f1
[ Info: - Breaking link x10f1->x10...
[ Info: - Original links: Symbol[:x10]
[ Info: - New links: Symbol[]
[ Info: x10f1 doesn't have any other links, not adding it back...
[ Info: Looking at x10f3
[ Info: - Breaking link x10f3->x10...
[ Info: - Original links: Symbol[:x10]
[ Info: - New links: Symbol[]
[ Info: x10f3 doesn't have any other links, not adding it back...
[ Info: Looking at x10f2
[ Info: - Breaking link x10f2->x10...
[ Info: - Original links: Symbol[:x10]
[ Info: - New links: Symbol[]
[ Info: x10f2 doesn't have any other links, not adding it back...
[ Info: Get potentials x0,x1,: x2,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x3,: x4,x2,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x5,: x6,x4,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x2,x4,: x6,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=2 adding factor that is no in separator, x3
[ Info: cliq=2 adding factor that is no in separator, x1
[ Info: cliq=2 adding factor that is no in separator, x3
[ Info: cliq=2 adding factor that is no in separator, x5
[ Info: Get potentials x7,: x6,x8,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x9,: x10,x8,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x10,x6,x8,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=1 adding factor that is no in separator, x9
[ Info: cliq=1 adding factor that is no in separator, x7
[ Info: cliq=1 adding factor that is no in separator, x5
[ Info: cliq=1 adding factor that is no in separator, x7
[ Info: cliq=1 adding factor that is no in separator, x9
Bayes Tree
[ Info: Do tree based init-inference on tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: up w 0 msgs
State machine iter=1[ Info: ---------- successive fnc approx ------------x0,x1,: x2,
[ Info: #1 --
State machine iter=2[ Info: ---------- successive fnc approx ------------x0,x1,: x2,
[ Info: #1 --
State machine iter=3[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=4
[ Info: #2 --
State machine iter=5[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: #3 --
State machine iter=6
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=7[ Info: fmcmc! -- solverData(vert=x2).inferdim=25.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=30.0
State machine iter=8[ Info: fmcmc! -- solverData(vert=x1).inferdim=50.0
[ Info: Outgoing msg density on:
[ Info: up w 0 msgs
State machine iter=1[ Info: prepCliqInitMsgsUp, seps=Symbol[:x2]
[ Info: ---------- successive fnc approx ------------x7,: x6,x8,
[ Info: #1 --
State machine iter=2
[ Info: ---------- successive fnc approx ------------x7,: x6,x8,
[ Info: #1 --
State machine iter=3[ Info: [2x0p,d5,N100],
State machine iter=4[ Info: #2 --
[ Info: [2x0p,d5,N100],
[ Info: #3 --
State machine iter=5[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x6).inferdim=25.0
State machine iter=6[ Info: fmcmc! -- solverData(vert=x8).inferdim=25.0
[ Info: fmcmc! -- solverData(vert=x7).inferdim=50.0
State machine iter=7
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x6, :x8]
State machine iter=8
State machine iter=9[ Info: up w 0 msgs
[ Info: ---------- successive fnc approx ------------x9,: x10,x8,
[ Info: #1 --
State machine iter=10[ Info: ---------- successive fnc approx ------------x9,: x10,x8,
[ Info: #1 --
[ Info: [2x0p,d5,N100],
State machine iter=1
[ Info: #2 --
[ Info: [2x0p,d5,N100],
State machine iter=2[ Info: #3 --
[ Info: [2x0p,d5,N100],
State machine iter=3[ Info: fmcmc! -- solverData(vert=x10).inferdim=25.0
[ Info: fmcmc! -- solverData(vert=x8).inferdim=25.0
State machine iter=4[ Info: fmcmc! -- solverData(vert=x9).inferdim=50.0
[ Info: Outgoing msg density on:
State machine iter=5[ Info: prepCliqInitMsgsUp, seps=Symbol[:x10, :x8]
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: up w 0 msgs
State machine iter=1
[ Info: ---------- successive fnc approx ------------x3,: x4,x2,
[ Info: #1 --
State machine iter=2[ Info: ---------- successive fnc approx ------------x3,: x4,x2,
[ Info: #1 --
State machine iter=3[ Info: [2x0p,d5,N100],
[ Info: #2 --
State machine iter=4[ Info: [2x0p,d5,N100],
State machine iter=5[ Info: #3 --
[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x4).inferdim=25.0
State machine iter=6
[ Info: fmcmc! -- solverData(vert=x2).inferdim=25.0
[ Info: fmcmc! -- solverData(vert=x3).inferdim=50.0
State machine iter=7[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x4, :x2]
State machine iter=8
[ Info: up w 0 msgs
State machine iter=9[ Info: ---------- successive fnc approx ------------x5,: x6,x4,
[ Info: #1 --
State machine iter=10[ Info: ---------- successive fnc approx ------------x5,: x6,x4,
[ Info: #1 --
State machine iter=9[ Info: [2x0p,d5,N100],
[ Info: #2 --
[ Info: [2x0p,d5,N100],
State machine iter=10[ Info: #3 --
[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x6).inferdim=25.0
State machine iter=9
[ Info: fmcmc! -- solverData(vert=x4).inferdim=25.0
[ Info: fmcmc! -- solverData(vert=x5).inferdim=50.0
[ Info: Outgoing msg density on:
State machine iter=10
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x6, :x4]
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: up w 3 msgs
[ Info: inp.sendmsgs[x2].inferdim=25.0
[ Info: inp.sendmsgs[x2].inferdim=25.0
[ Info: inp.sendmsgs[x4].inferdim=25.0
[ Info: inp.sendmsgs[x6].inferdim=25.0
[ Info: inp.sendmsgs[x4].inferdim=25.0
[ Info: ---------- successive fnc approx ------------x2,x4,: x6,
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x2,x4,: x6,
[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=x6).inferdim=25.0
State machine iter=9[ Info: ---------- successive fnc approx ------------x2,x4,: x6,
[ Info: #1 --
State machine iter=10[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x2).inferdim=50.0
[ Info: fmcmc! -- solverData(vert=x4).inferdim=50.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x6]
State machine iter=5
State machine iter=6
[ Info: up w 3 msgs
[ Info: inp.sendmsgs[x6].inferdim=25.0
[ Info: inp.sendmsgs[x6].inferdim=25.0
[ Info: inp.sendmsgs[x8].inferdim=25.0
[ Info: inp.sendmsgs[x8].inferdim=25.0
[ Info: inp.sendmsgs[x10].inferdim=25.0
[ Info: ---------- successive fnc approx ------------x10,x6,x8,:
[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=x10).inferdim=25.0
State machine iter=9[ Info: ---------- successive fnc approx ------------x10,x6,x8,:
[ Info: #1 --
State machine iter=10[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x10).inferdim=25.0
[ Info: fmcmc! -- solverData(vert=x6).inferdim=50.0
[ Info: fmcmc! -- solverData(vert=x8).inferdim=50.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x10, :x6, :x8]
[ Info: sym=x10, mem size of val=(5, 100) and (5, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x6, mem size of val=(5, 100) and (5, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x8, mem size of val=(5, 100) and (5, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=11
State machine iter=11[ Info: [2x0p,d5,N100],
State machine iter=11[ Info: [2x0p,d5,N100],
State machine iter=9[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=12
State machine iter=12
State machine iter=11
[ Info: [2x0p,d5,N100],
State machine iter=11[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=11[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=12[ Info: [2x0p,d5,N100],
State machine iter=12
State machine iter=12
State machine iter=12
[ Info: Finished tree based init-inference
┌ Warning: deprecated batchSolve! in favor of new solveTree! interface with the same and more functionality.
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/SolverAPI.jl:228
Building Bayes net...
[ Info:
[ Info: Eliminating x5
[ Info: ===============
[ Info:
[ Info: - Removing x5
Si = Symbol[:x6, :x4]
Si = Symbol[:x9]
Si = Symbol[:x4, :x2]
Si = Symbol[:x9, :x7]
Si = Symbol[:x2, :x0]
Si = Symbol[:x7, :x4]
Si = Symbol[:x2]
[ Info:
[ Info: Eliminating x10
[ Info: ===============
[ Info:
[ Info: - Removing x10
[ Info:
[ Info: Eliminating x3
[ Info: ===============
[ Info:
[ Info: - Removing x3
[ Info:
[ Info: Eliminating x8
[ Info: ===============
[ Info:
[ Info: - Removing x8
[ Info:
[ Info: Eliminating x1
[ Info: ===============
[ Info:
[ Info: - Removing x1
[ Info:
[ Info: Eliminating x6
[ Info: ===============
[ Info:
[ Info: - Removing x6
[ Info: Looking at x6x4f1
[ Info: - Breaking link x6x4f1->x6...
[ Info: - Original links: Symbol[:x6, :x4]
[ Info: - New links: Symbol[:x4]
[ Info: x6x4f1 still has links to other variables, readding it back...
[ Info:
[ Info: Eliminating x0
[ Info: ===============
[ Info:
[ Info: - Removing x0
[ Info: Looking at x2x0f1
[ Info: - Breaking link x2x0f1->x0...
[ Info: - Original links: Symbol[:x2, :x0]
[ Info: - New links: Symbol[:x2]
[ Info: x2x0f1 still has links to other variables, readding it back...
[ Info:
[ Info: Eliminating x9
[ Info: ===============
[ Info:
[ Info: - Removing x9
[ Info: Looking at x9f1
[ Info: - Breaking link x9f1->x9...
[ Info: - Original links: Symbol[:x9]
[ Info: - New links: Symbol[]
[ Info: x9f1 doesn't have any other links, not adding it back...
[ Info: Looking at x9x7f1
[ Info: - Breaking link x9x7f1->x9...
[ Info: - Original links: Symbol[:x9, :x7]
[ Info: - New links: Symbol[:x7]
[ Info: x9x7f1 still has links to other variables, readding it back...
Si = Symbol[:x7]
[ Info:
[ Info: Eliminating x2
[ Info: ===============
[ Info:
[ Info: - Removing x2
[ Info: Looking at x2f2
[ Info: - Breaking link x2f2->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f2 doesn't have any other links, not adding it back...
[ Info: Looking at x4x2f1
[ Info: - Breaking link x4x2f1->x2...
[ Info: - Original links: Symbol[:x4, :x2]
[ Info: - New links: Symbol[:x4]
[ Info: x4x2f1 still has links to other variables, readding it back...
[ Info: Looking at x2f1
[ Info: - Breaking link x2f1->x2...
[ Info: - Original links: Symbol[:x2]
[ Info: - New links: Symbol[]
[ Info: x2f1 doesn't have any other links, not adding it back...
Si = Symbol[:x4]
[ Info:
[ Info: Eliminating x7
[ Info: ===============
[ Info:
[ Info: - Removing x7
[ Info: Looking at x7x4f1
[ Info: - Breaking link x7x4f1->x7...
[ Info: - Original links: Symbol[:x7, :x4]
[ Info: - New links: Symbol[:x4]
[ Info: x7x4f1 still has links to other variables, readding it back...
[ Info: Looking at x7f1
[ Info: - Breaking link x7f1->x7...
[ Info: - Original links: Symbol[:x7]
[ Info: - New links: Symbol[]
[ Info: x7f1 doesn't have any other links, not adding it back...
[ Info: Looking at x7f2
[ Info: - Breaking link x7f2->x7...
[ Info: - Original links: Symbol[:x7]
[ Info: - New links: Symbol[]
[ Info: x7f2 doesn't have any other links, not adding it back...
[ Info:
[ Info: Eliminating x4
[ Info: ===============
[ Info:
[ Info: - Removing x4
[ Info: Looking at x4f2
[ Info: - Breaking link x4f2->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f2 doesn't have any other links, not adding it back...
[ Info: Looking at x4f1
[ Info: - Breaking link x4f1->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f1 doesn't have any other links, not adding it back...
[ Info: Looking at x4f4
[ Info: - Breaking link x4f4->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f4 doesn't have any other links, not adding it back...
[ Info: Looking at x4f5
[ Info: - Breaking link x4f5->x4...
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f5 doesn't have any other links, not adding it back...
[ Info: Looking at x4f3
[ Info: - Breaking link x4f3->x4...
Si = Symbol[:x4]
[ Info: - Original links: Symbol[:x4]
[ Info: - New links: Symbol[]
[ Info: x4f3 doesn't have any other links, not adding it back...
Find potential functions for each clique
[ Info: Get potentials x0,x1,: x2,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x2,x3,: x4,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=2 adding factor that is no in separator, x1
[ Info: Get potentials x10,: x9,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x9,x8,: x7,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=3 adding factor that is no in separator, x10
[ Info: Get potentials x5,: x6,x4,
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: Get potentials x4,x7,x6,:
[ Info: using all factors among cliq variables
[ Info: finding all frontals for down WIP
[ Info: cliq=1 adding factor that is no in separator, x3
[ Info: cliq=1 adding factor that is no in separator, x5
[ Info: cliq=1 adding factor that is no in separator, x8
[ Info: cliq=1 adding factor that is no in separator, x5
[ Info: Solving over the Bayes (Junction) tree.
[ Info: Do tree based init-inference on tree
Bayes Tree
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=1
State machine iter=2
State machine iter=3
State machine iter=4
State machine iter=5
State machine iter=6
State machine iter=7
State machine iter=8
[ Info: up w 0 msgs
State machine iter=1[ Info: ---------- successive fnc approx ------------x0,x1,: x2,
[ Info: #1 --
State machine iter=2[ Info: ---------- successive fnc approx ------------x0,x1,: x2,
[ Info: #1 --
State machine iter=3[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=4[ Info: #2 --
[ Info: [2x0p,d5,N100],
State machine iter=5
[ Info: [2x0p,d5,N100],
[ Info: #3 --
State machine iter=6[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=7[ Info: fmcmc! -- solverData(vert=x2).inferdim=25.0
[ Info: fmcmc! -- solverData(vert=x0).inferdim=30.0
State machine iter=8[ Info: fmcmc! -- solverData(vert=x1).inferdim=50.0
[ Info: Outgoing msg density on:
[ Info: up w 0 msgs
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x2]
State machine iter=1[ Info: ---------- successive fnc approx ------------x10,: x9,
State machine iter=2
State machine iter=3[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x10,: x9,
[ Info: #1 --
[ Info: [2x0p,d5,N100],
[ Info: #2 --
State machine iter=4[ Info: [2x0p,d5,N100],
[ Info: #3 --
State machine iter=5[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x9).inferdim=25.0
State machine iter=6
[ Info: fmcmc! -- solverData(vert=x10).inferdim=30.0
[ Info: Outgoing msg density on:
State machine iter=7[ Info: prepCliqInitMsgsUp, seps=Symbol[:x9]
State machine iter=8
[ Info: up w 0 msgs
State machine iter=5
[ Info: ---------- successive fnc approx ------------x5,: x6,x4,
[ Info: #1 --
State machine iter=6[ Info: ---------- successive fnc approx ------------x5,: x6,x4,
[ Info: #1 --
State machine iter=7[ Info: [2x0p,d5,N100],
[ Info: #2 --
State machine iter=8[ Info: [2x0p,d5,N100],
[ Info: #3 --
[ Info: up w 1 msgs
[ Info: [2x0p,d5,N100],
State machine iter=5[ Info: inp.sendmsgs[x2].inferdim=25.0
[ Info: fmcmc! -- solverData(vert=x6).inferdim=25.0
[ Info: ---------- successive fnc approx ------------x2,x3,: x4,
[ Info: fmcmc! -- solverData(vert=x4).inferdim=25.0
State machine iter=6[ Info: #1 --
[ Info: fmcmc! -- solverData(vert=x5).inferdim=50.0
[ Info: ---------- successive fnc approx ------------x2,x3,: x4,
[ Info: Outgoing msg density on:
State machine iter=7[ Info: #1 --
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x6, :x4]
[ Info: [2x0p,d5,N100],
State machine iter=8[ Info: [2x0p,d5,N100],
[ Info: #2 --
[ Info: up w 1 msgs
State machine iter=9
[ Info: [2x0p,d5,N100],
[ Info: inp.sendmsgs[x9].inferdim=25.0
[ Info: [2x0p,d5,N100],
[ Info: ---------- successive fnc approx ------------x9,x8,: x7,
State machine iter=10[ Info: #3 --
[ Info: #1 --
[ Info: [2x0p,d5,N100],
[ Info: ---------- successive fnc approx ------------x9,x8,: x7,
[ Info: [2x0p,d5,N100],
[ Info: #1 --
State machine iter=9[ Info: fmcmc! -- solverData(vert=x4).inferdim=25.0
[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x3).inferdim=50.0
[ Info: [2x0p,d5,N100],
State machine iter=10[ Info: fmcmc! -- solverData(vert=x2).inferdim=50.0
[ Info: #2 --
[ Info: Outgoing msg density on:
[ Info: [2x0p,d5,N100],
[ Info: prepCliqInitMsgsUp, seps=Symbol[:x4]
[ Info: [2x0p,d5,N100],
State machine iter=9[ Info: #3 --
[ Info: [2x0p,d5,N100],
State machine iter=10[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x7).inferdim=25.0
[ Info: fmcmc! -- solverData(vert=x8).inferdim=50.0
State machine iter=9[ Info: fmcmc! -- solverData(vert=x9).inferdim=50.0
[ Info: Outgoing msg density on:
State machine iter=10[ Info: prepCliqInitMsgsUp, seps=Symbol[:x7]
State machine iter=5
State machine iter=6
[ Info: up w 3 msgs
[ Info: inp.sendmsgs[x4].inferdim=25.0
[ Info: inp.sendmsgs[x7].inferdim=25.0
[ Info: inp.sendmsgs[x6].inferdim=25.0
[ Info: inp.sendmsgs[x4].inferdim=25.0
[ Info: ---------- successive fnc approx ------------x4,x7,x6,:
[ Info: #1 --
[ Info: ---------- successive fnc approx ------------x4,x7,x6,:
[ Info: #1 --
[ Info: [2x0p,d5,N100],
State machine iter=9
[ Info: [2x0p,d5,N100],
[ Info: #2 --
State machine iter=10[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: #3 --
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x7).inferdim=50.0
[ Info: fmcmc! -- solverData(vert=x6).inferdim=50.0
[ Info: ---------- successive fnc approx ------------x4,x7,x6,:
[ Info: #1 --
[ Info: [2x0p,d5,N100],
[ Info: fmcmc! -- solverData(vert=x4).inferdim=50.0
[ Info: Outgoing msg density on:
[ Info: prepCliqInitMsgsUp, seps=Symbol[]
State machine iter=7
State machine iter=8
[ Info: transferUpdateSubGraph! -- syms=Symbol[:x4, :x7, :x6]
[ Info: sym=x4, mem size of val=(5, 100) and (5, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x7, mem size of val=(5, 100) and (5, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
[ Info: sym=x6, mem size of val=(5, 100) and (5, 100)
┌ Warning: Deprecated
└ @ IncrementalInference ~/.julia/packages/IncrementalInference/FweX2/src/FactorGraphTypes.jl:362
State machine iter=11
State machine iter=11
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=11[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
State machine iter=9[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],
[ Info: [2x0p,d5,N100],