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Issues with key index versus graph index is source of the problem re heap trashing. Need to verify GenericGraph but seems that properly odering the keys fixes the issues.

release/4.3a0
Andrew Melim 2014-02-23 17:42:21 -05:00
parent 2c5c38c855
commit 46c52bc957
1 changed files with 112 additions and 116 deletions
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38
gtsam_unstable/partition/tests/testFindSeparator.cpp
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@ -75,26 +75,26 @@ TEST ( Partition, separatorPartitionByMetis2 )
// x0 - x1 - x2 - x3 // x0 - x1 - x2 - x3
TEST ( Partition, edgePartitionByMetis ) TEST ( Partition, edgePartitionByMetis )
{ {
GenericGraph2D graph; GenericGraph3D graph;
graph.push_back(boost::make_shared<GenericFactor2D>(0, NODE_POSE_2D, 1, NODE_POSE_2D, 1)); graph.push_back(boost::make_shared<GenericFactor3D>(0, 1, 0, NODE_POSE_3D, NODE_POSE_3D));
graph.push_back(boost::make_shared<GenericFactor2D>(1, NODE_POSE_2D, 2, NODE_POSE_2D, 1)); graph.push_back(boost::make_shared<GenericFactor3D>(1, 2, 1, NODE_POSE_3D, NODE_POSE_3D));
graph.push_back(boost::make_shared<GenericFactor2D>(2, NODE_POSE_2D, 3, NODE_POSE_2D, 1)); graph.push_back(boost::make_shared<GenericFactor3D>(2, 3, 2, NODE_POSE_3D, NODE_POSE_3D));
std::vector<size_t> keys; keys += 0, 1, 2, 3; std::vector<size_t> keys; keys += 0, 1, 2, 3;
WorkSpace workspace(6); WorkSpace workspace(6);
boost::optional<MetisResult> actual = edgePartitionByMetis<GenericGraph2D>(graph, keys, boost::optional<MetisResult> actual = edgePartitionByMetis<GenericGraph3D>(graph, keys,
workspace, true); workspace, true);
CHECK(actual.is_initialized()); CHECK(actual.is_initialized());
vector<size_t> A_expected; A_expected += 0, 1; // frontal vector<size_t> A_expected; A_expected += 0, 1; // frontal
vector<size_t> B_expected; B_expected += 2, 3; // frontal vector<size_t> B_expected; B_expected += 2, 3; // frontal
vector<size_t> C_expected; // separator vector<size_t> C_expected; // separator
BOOST_FOREACH(const size_t a, actual->A) // BOOST_FOREACH(const size_t a, actual->A)
cout << a << " "; // cout << a << " ";
cout << endl; // cout << endl;
BOOST_FOREACH(const size_t b, actual->B) // BOOST_FOREACH(const size_t b, actual->B)
cout << b << " "; // cout << b << " ";
cout << endl; // cout << endl;
CHECK(A_expected == actual->A || A_expected == actual->B); CHECK(A_expected == actual->A || A_expected == actual->B);
CHECK(B_expected == actual->B || B_expected == actual->A); CHECK(B_expected == actual->B || B_expected == actual->A);
@ -105,19 +105,15 @@ TEST ( Partition, edgePartitionByMetis )
// x0 - x1 - x2 - x3 - x4 // x0 - x1 - x2 - x3 - x4
TEST ( Partition, edgePartitionByMetis2 ) TEST ( Partition, edgePartitionByMetis2 )
{ {
GenericGraph2D graph; GenericGraph3D graph;
graph.push_back(boost::make_shared<GenericFactor2D>(0, NODE_POSE_2D, 1, NODE_POSE_2D, 20)); graph.push_back(boost::make_shared<GenericFactor3D>(0, 1, 0, NODE_POSE_3D, NODE_POSE_3D, 1));
graph.push_back(boost::make_shared<GenericFactor2D>(1, NODE_POSE_2D, 2, NODE_POSE_2D, 1)); graph.push_back(boost::make_shared<GenericFactor3D>(1, 2, 1, NODE_POSE_3D, NODE_POSE_3D, 1));
graph.push_back(boost::make_shared<GenericFactor2D>(2, NODE_POSE_2D, 3, NODE_POSE_2D, 1)); graph.push_back(boost::make_shared<GenericFactor3D>(2, 3, 2, NODE_POSE_3D, NODE_POSE_3D, 20));
graph.push_back(boost::make_shared<GenericFactor2D>(3, NODE_POSE_2D, 4, NODE_POSE_2D, 1)); graph.push_back(boost::make_shared<GenericFactor3D>(3, 4, 3, NODE_POSE_3D, NODE_POSE_3D, 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; std::vector<size_t> keys; keys += 0, 1, 2, 3, 4;
WorkSpace workspace(6); WorkSpace workspace(6);
boost::optional<MetisResult> actual = edgePartitionByMetis<GenericGraph2D>(graph, keys, boost::optional<MetisResult> actual = edgePartitionByMetis<GenericGraph3D>(graph, keys,
workspace, true); workspace, true);
CHECK(actual.is_initialized()); CHECK(actual.is_initialized());
vector<size_t> A_expected; A_expected += 0, 1; // frontal vector<size_t> A_expected; A_expected += 0, 1; // frontal