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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],