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Unit tests pass using GenericGraph 2D, use of GenericGraph 3D causes heap corruption during prepare graph for some unknown reason

release/4.3a0
Andrew Melim 2014-02-23 16:37:09 -05:00
parent 0aa32a748f
commit 2c5c38c855
4 changed files with 40 additions and 32 deletions
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4
gtsam/3rdparty/metis-5.1.0/libmetis/pmetis.c vendored
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@ -256,8 +256,9 @@ idx_t MultilevelBisect(ctrl_t *ctrl, graph_t *graph, real_t *tpwgts)
icopy(graph->nvtxs, graph->where, bestwhere);
}
if (bestobj == 0)
if (bestobj == 0){
break;
}
if (i < ctrl->ncuts-1)
FreeRData(graph);
@ -269,7 +270,6 @@ idx_t MultilevelBisect(ctrl_t *ctrl, graph_t *graph, real_t *tpwgts)
}
WCOREPOP;
return bestobj;
}

19
gtsam_unstable/partition/FindSeparator-inl.h
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@ -202,19 +202,22 @@ namespace gtsam { namespace partition {
if (index1 >= 0 && index2 >= 0) {
pair<Neighbors, Weights>& adjancyMap1 = adjancyMap[index1];
pair<Neighbors, Weights>& adjancyMap2 = adjancyMap[index2];
cout << adjancyMap1.first.size() << endl;
adjancyMap1.first .push_back(index2);
adjancyMap1.second.push_back(factor->weight);
adjancyMap2.first .push_back(index1);
adjancyMap2.second.push_back(factor->weight);
try{
adjancyMap1.first.push_back(index2);
adjancyMap1.second.push_back(factor->weight);
adjancyMap2.first.push_back(index1);
adjancyMap2.second.push_back(factor->weight);
}catch(std::exception& e){
cout << e.what() << endl;
}
numEdges++;
}
}
// prepare for {xadj}, {adjncy}, and {adjwgt}
*ptr_xadj = sharedInts(new int[numNodes+1]);
*ptr_adjncy = sharedInts(new int[numEdges*2]);
*ptr_adjwgt = sharedInts(new int[numEdges*2]);
*ptr_xadj = sharedInts(new idx_t[numNodes+1]);
*ptr_adjncy = sharedInts(new idx_t[numEdges*2]);
*ptr_adjwgt = sharedInts(new idx_t[numEdges*2]);
sharedInts& xadj = *ptr_xadj;
sharedInts& adjncy = *ptr_adjncy;
sharedInts& adjwgt = *ptr_adjwgt;

3
gtsam_unstable/partition/PartitionWorkSpace.h
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@ -22,7 +22,8 @@ namespace gtsam { namespace partition {
PartitionTable partitionTable; // a mapping from a key to the submap index, 0 means the separator, i means the ith submap
// constructor
WorkSpace(const size_t numNodes) : dictionary(numNodes,0), dsf(new std::vector<size_t>(numNodes, 0)), partitionTable(numNodes, -1) { }
WorkSpace(const size_t numNodes) : dictionary(numNodes,0),
dsf(new std::vector<size_t>(numNodes, 0)), partitionTable(numNodes, -1) { }
// set up dictionary: -1: no such key, none-zero: the corresponding 0-based index
inline void prepareDictionary(const std::vector<size_t>& keys) {

46
gtsam_unstable/partition/tests/testFindSeparator.cpp
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@ -72,22 +72,22 @@ TEST ( Partition, separatorPartitionByMetis2 )
}
/* *************************************************************************/
// x0 - x2 - x3 - x5
// x0 - x1 - x2 - x3
TEST ( Partition, edgePartitionByMetis )
{
GenericGraph3D graph;
graph.push_back(boost::make_shared<GenericFactor3D>(0, 2, 0, NODE_POSE_3D, NODE_POSE_3D));
graph.push_back(boost::make_shared<GenericFactor3D>(2, 3, 1, NODE_POSE_3D, NODE_POSE_3D));
graph.push_back(boost::make_shared<GenericFactor3D>(3, 5, 2, NODE_POSE_3D, NODE_POSE_3D));
std::vector<size_t> keys; keys += 0, 2, 3, 5;
GenericGraph2D graph;
graph.push_back(boost::make_shared<GenericFactor2D>(0, NODE_POSE_2D, 1, NODE_POSE_2D, 1));
graph.push_back(boost::make_shared<GenericFactor2D>(1, NODE_POSE_2D, 2, NODE_POSE_2D, 1));
graph.push_back(boost::make_shared<GenericFactor2D>(2, NODE_POSE_2D, 3, NODE_POSE_2D, 1));
std::vector<size_t> keys; keys += 0, 1, 2, 3;
WorkSpace workspace(6);
boost::optional<MetisResult> actual = edgePartitionByMetis<GenericGraph3D>(graph, keys,
boost::optional<MetisResult> actual = edgePartitionByMetis<GenericGraph2D>(graph, keys,
workspace, true);
CHECK(actual.is_initialized());
vector<size_t> A_expected; A_expected += 0, 2; // frontal
vector<size_t> B_expected; B_expected += 3, 5; // frontal
vector<size_t> A_expected; A_expected += 0, 1; // frontal
vector<size_t> B_expected; B_expected += 2, 3; // frontal
vector<size_t> C_expected; // separator
BOOST_FOREACH(const size_t a, actual->A)
cout << a << " ";
@ -102,22 +102,26 @@ TEST ( Partition, edgePartitionByMetis )
}
/* *************************************************************************/
// x0 - x2 - x3 - x5 - x6
// x0 - x1 - x2 - x3 - x4
TEST ( Partition, edgePartitionByMetis2 )
{
GenericGraph3D graph;
graph.push_back(boost::make_shared<GenericFactor3D>(0, 2, 0, NODE_POSE_3D, NODE_POSE_3D, 1));
graph.push_back(boost::make_shared<GenericFactor3D>(2, 3, 1, NODE_POSE_3D, NODE_POSE_3D, 1));
graph.push_back(boost::make_shared<GenericFactor3D>(3, 5, 2, NODE_POSE_3D, NODE_POSE_3D, 20));
graph.push_back(boost::make_shared<GenericFactor3D>(5, 6, 3, NODE_POSE_3D, NODE_POSE_3D, 1));
std::vector<size_t> keys; keys += 0, 2, 3, 5, 6;
GenericGraph2D graph;
graph.push_back(boost::make_shared<GenericFactor2D>(0, NODE_POSE_2D, 1, NODE_POSE_2D, 20));
graph.push_back(boost::make_shared<GenericFactor2D>(1, NODE_POSE_2D, 2, NODE_POSE_2D, 1));
graph.push_back(boost::make_shared<GenericFactor2D>(2, NODE_POSE_2D, 3, NODE_POSE_2D, 1));
graph.push_back(boost::make_shared<GenericFactor2D>(3, NODE_POSE_2D, 4, NODE_POSE_2D, 1));
//graph.push_back(boost::make_shared<GenericFactor3D>(0, 2, 0, NODE_POSE_3D, NODE_POSE_3D, 1));
//graph.push_back(boost::make_shared<GenericFactor3D>(2, 3, 1, NODE_POSE_3D, NODE_POSE_3D, 1));
//graph.push_back(boost::make_shared<GenericFactor3D>(3, 5, 2, NODE_POSE_3D, NODE_POSE_3D, 20));
//graph.push_back(boost::make_shared<GenericFactor3D>(5, 6, 3, NODE_POSE_3D, NODE_POSE_3D, 1));
std::vector<size_t> keys; keys += 0, 1, 2, 3, 4;
WorkSpace workspace(5);
boost::optional<MetisResult> actual = edgePartitionByMetis<GenericGraph3D>(graph, keys,
workspace, false);
WorkSpace workspace(6);
boost::optional<MetisResult> actual = edgePartitionByMetis<GenericGraph2D>(graph, keys,
workspace, true);
CHECK(actual.is_initialized());
vector<size_t> A_expected; A_expected += 0, 2; // frontal
vector<size_t> B_expected; B_expected += 3, 5, 6; // frontal
vector<size_t> A_expected; A_expected += 0, 1; // frontal
vector<size_t> B_expected; B_expected += 2, 3, 4; // frontal
vector<size_t> C_expected; // separator
CHECK(A_expected == actual->A);
CHECK(B_expected == actual->B);