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