Fixed another serialization clash
Frank Dellaert
parent
7b124f4953
commit
311325cc2f
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@ -592,6 +592,76 @@ TEST (testSerializationSLAM, factors) {
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EXPECT(equalsBinary<GenericStereoFactor3D>(genericStereoFactor3D));
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}
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/* ************************************************************************* */
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// Read from XML file
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namespace {
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static GaussianFactorGraph read(const string& name) {
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auto inputFile = findExampleDataFile(name);
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ifstream is(inputFile);
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if (!is.is_open()) throw runtime_error("Cannot find file " + inputFile);
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boost::archive::xml_iarchive in_archive(is);
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GaussianFactorGraph Ab;
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in_archive >> boost::serialization::make_nvp("graph", Ab);
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return Ab;
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}
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} // namespace
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/* ************************************************************************* */
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// Read from XML file
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TEST(SubgraphSolver, Solves) {
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// Create preconditioner
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SubgraphPreconditioner system;
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// We test on three different graphs
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const auto Ab1 = planarGraph(3).first;
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const auto Ab2 = read("toy3D");
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const auto Ab3 = read("randomGrid3D");
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// For all graphs, test solve and solveTranspose
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for (const auto& Ab : {Ab1, Ab2, Ab3}) {
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// Call build, a non-const method needed to make solve work :-(
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KeyInfo keyInfo(Ab);
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std::map<Key, Vector> lambda;
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system.build(Ab, keyInfo, lambda);
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// Create a perturbed (non-zero) RHS
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const auto xbar = system.Rc1().optimize(); // merely for use in zero below
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auto values_y = VectorValues::Zero(xbar);
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auto it = values_y.begin();
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it->second.setConstant(100);
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++it;
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it->second.setConstant(-100);
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// Solve the VectorValues way
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auto values_x = system.Rc1().backSubstitute(values_y);
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// Solve the matrix way, this really just checks BN::backSubstitute
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// This only works with Rc1 ordering, not with keyInfo !
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// TODO(frank): why does this not work with an arbitrary ordering?
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const auto ord = system.Rc1().ordering();
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const Matrix R1 = system.Rc1().matrix(ord).first;
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auto ord_y = values_y.vector(ord);
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auto vector_x = R1.inverse() * ord_y;
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EXPECT(assert_equal(vector_x, values_x.vector(ord)));
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// Test that 'solve' does implement x = R^{-1} y
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// We do this by asserting it gives same answer as backSubstitute
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// Only works with keyInfo ordering:
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const auto ordering = keyInfo.ordering();
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auto vector_y = values_y.vector(ordering);
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const size_t N = R1.cols();
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Vector solve_x = Vector::Zero(N);
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system.solve(vector_y, solve_x);
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EXPECT(assert_equal(values_x.vector(ordering), solve_x));
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// Test that transposeSolve does implement x = R^{-T} y
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// We do this by asserting it gives same answer as backSubstituteTranspose
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auto values_x2 = system.Rc1().backSubstituteTranspose(values_y);
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Vector solveT_x = Vector::Zero(N);
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system.transposeSolve(vector_y, solveT_x);
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EXPECT(assert_equal(values_x2.vector(ordering), solveT_x));
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}
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}
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
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@ -29,10 +29,8 @@
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#include <CppUnitLite/TestHarness.h>
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#include <boost/archive/xml_iarchive.hpp>
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#include <boost/assign/std/list.hpp>
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#include <boost/range/adaptor/reversed.hpp>
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#include <boost/serialization/export.hpp>
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#include <boost/tuple/tuple.hpp>
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using namespace boost::assign;
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@ -197,75 +195,6 @@ TEST(SubgraphPreconditioner, system) {
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EXPECT(assert_equal(expected_g, vec(g)));
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}
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/* ************************************************************************* */
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BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "JacobianFactor")
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// Read from XML file
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static GaussianFactorGraph read(const string& name) {
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auto inputFile = findExampleDataFile(name);
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ifstream is(inputFile);
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if (!is.is_open()) throw runtime_error("Cannot find file " + inputFile);
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boost::archive::xml_iarchive in_archive(is);
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GaussianFactorGraph Ab;
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in_archive >> boost::serialization::make_nvp("graph", Ab);
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return Ab;
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}
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TEST(SubgraphSolver, Solves) {
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// Create preconditioner
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SubgraphPreconditioner system;
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// We test on three different graphs
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const auto Ab1 = planarGraph(3).first;
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const auto Ab2 = read("toy3D");
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const auto Ab3 = read("randomGrid3D");
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// For all graphs, test solve and solveTranspose
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for (const auto& Ab : {Ab1, Ab2, Ab3}) {
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// Call build, a non-const method needed to make solve work :-(
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KeyInfo keyInfo(Ab);
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std::map<Key, Vector> lambda;
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system.build(Ab, keyInfo, lambda);
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// Create a perturbed (non-zero) RHS
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const auto xbar = system.Rc1().optimize(); // merely for use in zero below
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auto values_y = VectorValues::Zero(xbar);
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auto it = values_y.begin();
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it->second.setConstant(100);
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++it;
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it->second.setConstant(-100);
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// Solve the VectorValues way
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auto values_x = system.Rc1().backSubstitute(values_y);
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// Solve the matrix way, this really just checks BN::backSubstitute
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// This only works with Rc1 ordering, not with keyInfo !
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// TODO(frank): why does this not work with an arbitrary ordering?
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const auto ord = system.Rc1().ordering();
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const Matrix R1 = system.Rc1().matrix(ord).first;
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auto ord_y = values_y.vector(ord);
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auto vector_x = R1.inverse() * ord_y;
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EXPECT(assert_equal(vector_x, values_x.vector(ord)));
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// Test that 'solve' does implement x = R^{-1} y
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// We do this by asserting it gives same answer as backSubstitute
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// Only works with keyInfo ordering:
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const auto ordering = keyInfo.ordering();
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auto vector_y = values_y.vector(ordering);
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const size_t N = R1.cols();
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Vector solve_x = Vector::Zero(N);
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system.solve(vector_y, solve_x);
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EXPECT(assert_equal(values_x.vector(ordering), solve_x));
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// Test that transposeSolve does implement x = R^{-T} y
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// We do this by asserting it gives same answer as backSubstituteTranspose
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auto values_x2 = system.Rc1().backSubstituteTranspose(values_y);
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Vector solveT_x = Vector::Zero(N);
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system.transposeSolve(vector_y, solveT_x);
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EXPECT(assert_equal(values_x2.vector(ordering), solveT_x));
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}
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}
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/* ************************************************************************* */
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TEST(SubgraphPreconditioner, conjugateGradients) {
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// Build a planar graph
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