factor_graph_2d_eight_landmarks_high_noise.pyfg

gistfile1.txt

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EDGE_RANGE 26.000000000 X52 L0 3.864970102 0.01
EDGE_RANGE 26.000000000 X52 L1 3.998857386 0.01
EDGE_RANGE 26.000000000 X52 L6 1.578565077 0.01
EDGE_RANGE 26.000000000 X52 L7 1.713371938 0.01
VERTEX_SE2 0.000000000 X0 0.999435840 1.000000000 0.000000000
VERTEX_SE2 0.500000000 X1 1.450238976 1.000285191 0.000000000
VERTEX_SE2 1.000000000 X2 1.903626086 1.000000000 0.000000000
VERTEX_SE2 1.500000000 X3 2.333333333 1.000000000 0.000000000
VERTEX_SE2 2.000000000 X4 2.777777778 1.005994706 0.000000000
VERTEX_SE2 2.500000000 X5 3.222222222 1.007101102 0.000000000
VERTEX_SE2 3.000000000 X6 3.666666667 0.993020722 0.000000000
VERTEX_SE2 3.500000000 X7 4.111111111 1.000000000 0.000000000
VERTEX_SE2 4.000000000 X8 4.555555556 1.004206426 0.000000000
VERTEX_SE2 4.500000000 X9 5.000000000 0.979690817 0.000000000
VERTEX_SE2 5.000000000 X10 5.444444444 1.002264652 0.000000000
VERTEX_SE2 5.500000000 X11 5.882555001 1.002305340 0.000000000
VERTEX_SE2 6.000000000 X12 6.333333333 1.003305708 0.000000000
VERTEX_SE2 6.500000000 X13 6.780030631 0.991990044 0.000000000
VERTEX_SE2 7.000000000 X14 7.225984523 1.000000000 0.000000000
VERTEX_SE2 7.500000000 X15 7.666666667 0.991942783 0.000000000
VERTEX_SE2 8.000000000 X16 8.117930487 1.010950233 0.000000000
VERTEX_SE2 8.500000000 X17 8.545264793 1.000000000 0.000000000
VERTEX_SE2 9.000000000 X18 9.004260156 1.000000000 0.000000000
VERTEX_SE2 9.500000000 X19 8.990710456 1.166666667 0.000000000
VERTEX_SE2 10.000000000 X20 9.001249081 1.333333333 0.000000000
VERTEX_SE2 10.500000000 X21 9.008349702 1.500000000 0.000000000
VERTEX_SE2 11.000000000 X22 9.000000000 1.666666667 0.000000000
VERTEX_SE2 11.500000000 X23 9.000000000 1.833333333 0.000000000
VERTEX_SE2 12.000000000 X24 8.996367673 1.993764343 0.000000000
VERTEX_SE2 12.500000000 X25 9.000000000 2.166666667 0.000000000
VERTEX_SE2 13.000000000 X26 8.984286697 2.324617897 0.000000000
VERTEX_SE2 13.500000000 X27 9.000000000 2.500000000 0.000000000
VERTEX_SE2 14.000000000 X28 9.003354517 2.666666667 0.000000000
VERTEX_SE2 14.500000000 X29 9.000000000 2.833333333 0.000000000
VERTEX_SE2 15.000000000 X30 9.000000000 3.000000000 0.000000000
VERTEX_SE2 15.500000000 X31 8.975725231 3.167285929 0.000000000
VERTEX_SE2 16.000000000 X32 9.007520158 3.320078281 0.000000000
VERTEX_SE2 16.500000000 X33 9.000000000 3.509098762 0.000000000
VERTEX_SE2 17.000000000 X34 9.000000000 3.666666667 0.000000000
VERTEX_SE2 17.500000000 X35 9.019046846 3.824199269 0.000000000
VERTEX_SE2 18.000000000 X36 8.990142117 4.000000000 0.000000000
VERTEX_SE2 18.500000000 X37 8.557154611 4.000000000 0.000000000
VERTEX_SE2 19.000000000 X38 8.111111111 4.000000000 0.000000000
VERTEX_SE2 19.500000000 X39 7.663659622 4.000000000 0.000000000
VERTEX_SE2 20.000000000 X40 7.222222222 4.000000000 0.000000000
VERTEX_SE2 20.500000000 X41 6.777777778 4.000000000 0.000000000
VERTEX_SE2 21.000000000 X42 6.333333333 3.997105859 0.000000000
VERTEX_SE2 21.500000000 X43 5.888888889 4.000000000 0.000000000
VERTEX_SE2 22.000000000 X44 5.428991517 4.000000000 0.000000000
VERTEX_SE2 22.500000000 X45 4.989149751 4.000000000 0.000000000
VERTEX_SE2 23.000000000 X46 4.555555556 3.984689639 0.000000000
VERTEX_SE2 23.500000000 X47 4.107276409 4.000000000 0.000000000
VERTEX_SE2 24.000000000 X48 3.666666667 4.000000000 0.000000000
VERTEX_SE2 24.500000000 X49 3.229466915 4.000000000 0.000000000
VERTEX_SE2 25.000000000 X50 2.777777778 4.004008956 0.000000000
VERTEX_SE2 25.500000000 X51 2.339015674 4.000000000 0.000000000
VERTEX_SE2 26.000000000 X52 1.881427509 4.005241532 0.000000000
VERTEX_XY L0 0.250000000 0.500000000
VERTEX_XY L1 0.500000000 0.250000000
VERTEX_XY L2 9.500000000 0.250000000
VERTEX_XY L3 9.750000000 0.500000000
VERTEX_XY L4 9.750000000 4.500000000
VERTEX_XY L5 9.500000000 4.750000000
VERTEX_XY L6 0.500000000 4.750000000
VERTEX_XY L7 0.250000000 4.500000000

console log:

alex@alex:~/catkin_ws/src/cora-plus-plus/build/bin$ ./paper_experiments
Solving data/factor_graph.pyfg
attempting to open file through getDimFromPyfgFirstLine
WARNING: Logging iterates will slow down the optimization process.  This is intended for debugging and viz purposes only.

Solving problem at rank 3
Obtained solution with objective value: 0.187693
Result is certified: 0 with eta: 0.000001 and theta: -0.001876

Solving problem at rank 4
Obtained solution with objective value: 0.187692
Result is certified: 0 with eta: 0.000001 and theta: -0.044944

Solving problem at rank 5
Obtained solution with objective value: 0.187551
Result is certified: 0 with eta: 0.000001 and theta: -0.009317

Solving problem at rank 6
Obtained solution with objective value: 0.187532
Result is certified: 0 with eta: 0.000001 and theta: -0.000431

Solving problem at rank 7
Obtained solution with objective value: 0.187532
Result is certified: 0 with eta: 0.000001 and theta: -0.000092

Solving problem at rank 8
Obtained solution with objective value: 0.187532
Result is certified: 0 with eta: 0.000001 and theta: -0.000026

Solving problem at rank 9
Obtained solution with objective value: 0.187532
Result is certified: 0 with eta: 0.000001 and theta: -0.000072

Solving problem at rank 10
Obtained solution with objective value: 0.187532
Result is certified: 0 with eta: 0.000001 and theta: -0.000081

Projecting solution to rank 2 and refining.
Out of 53 blocks, 0 have positive determinant. This is 0.000000% of the total.
Obtained solution with objective value: 0.137364
Final solution is certified: 0 with eta: 0.000001 and theta: -0.009379
CORA took 0.10241 seconds