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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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228
gtsam_unstable/partition/tests/testFindSeparator.cpp
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@ -23,164 +23,160 @@ using namespace gtsam::partition;
/* ************************************************************************* */ /* ************************************************************************* */
// x0 - x1 - x2 // x0 - x1 - x2
// l3 l4 // l3 l4
TEST ( Partition, separatorPartitionByMetis ) TEST ( Partition, separatorPartitionByMetis )
{ {
GenericGraph2D graph; GenericGraph2D graph;
graph.push_back(boost::make_shared<GenericFactor2D>(0, NODE_POSE_2D, 3, NODE_LANDMARK_2D)); graph.push_back(boost::make_shared<GenericFactor2D>(0, NODE_POSE_2D, 3, NODE_LANDMARK_2D));
graph.push_back(boost::make_shared<GenericFactor2D>(2, NODE_POSE_2D, 4, NODE_LANDMARK_2D)); graph.push_back(boost::make_shared<GenericFactor2D>(2, NODE_POSE_2D, 4, NODE_LANDMARK_2D));
graph.push_back(boost::make_shared<GenericFactor2D>(0, NODE_POSE_2D, 1, NODE_POSE_2D)); graph.push_back(boost::make_shared<GenericFactor2D>(0, NODE_POSE_2D, 1, NODE_POSE_2D));
graph.push_back(boost::make_shared<GenericFactor2D>(1, NODE_POSE_2D, 2, NODE_POSE_2D)); graph.push_back(boost::make_shared<GenericFactor2D>(1, NODE_POSE_2D, 2, NODE_POSE_2D));
std::vector<size_t> keys; keys += 0, 1, 2, 3, 4; std::vector<size_t> keys; keys += 0, 1, 2, 3, 4;
WorkSpace workspace(5); WorkSpace workspace(5);
boost::optional<MetisResult> actual = separatorPartitionByMetis<GenericGraph2D>(graph, keys, boost::optional<MetisResult> actual = separatorPartitionByMetis<GenericGraph2D>(graph, keys,
workspace, true); workspace, true);
CHECK(actual.is_initialized()); CHECK(actual.is_initialized());
vector<size_t> A_expected; A_expected += 0, 3; // frontal vector<size_t> A_expected; A_expected += 0, 3; // frontal
vector<size_t> B_expected; B_expected += 2, 4; // frontal vector<size_t> B_expected; B_expected += 2, 4; // frontal
vector<size_t> C_expected; C_expected += 1; // separator vector<size_t> C_expected; C_expected += 1; // separator
CHECK(A_expected == actual->A); CHECK(A_expected == actual->A);
CHECK(B_expected == actual->B); CHECK(B_expected == actual->B);
CHECK(C_expected == actual->C); CHECK(C_expected == actual->C);
} }
/* ************************************************************************* */ /* ************************************************************************* */
// x1 - x2 - x3, variable not used x0, x4, l7 // x1 - x2 - x3, variable not used x0, x4, l7
// l5 l6 // l5 l6
TEST ( Partition, separatorPartitionByMetis2 ) TEST ( Partition, separatorPartitionByMetis2 )
{ {
GenericGraph2D graph; GenericGraph2D graph;
graph.push_back(boost::make_shared<GenericFactor2D>(1, NODE_POSE_2D, 5, NODE_LANDMARK_2D)); graph.push_back(boost::make_shared<GenericFactor2D>(1, NODE_POSE_2D, 5, NODE_LANDMARK_2D));
graph.push_back(boost::make_shared<GenericFactor2D>(3, NODE_POSE_2D, 6, NODE_LANDMARK_2D)); graph.push_back(boost::make_shared<GenericFactor2D>(3, NODE_POSE_2D, 6, NODE_LANDMARK_2D));
graph.push_back(boost::make_shared<GenericFactor2D>(1, NODE_POSE_2D, 2, NODE_POSE_2D)); graph.push_back(boost::make_shared<GenericFactor2D>(1, NODE_POSE_2D, 2, NODE_POSE_2D));
graph.push_back(boost::make_shared<GenericFactor2D>(2, NODE_POSE_2D, 3, NODE_POSE_2D)); graph.push_back(boost::make_shared<GenericFactor2D>(2, NODE_POSE_2D, 3, NODE_POSE_2D));
std::vector<size_t> keys; keys += 1, 2, 3, 5, 6; std::vector<size_t> keys; keys += 1, 2, 3, 5, 6;
WorkSpace workspace(8); WorkSpace workspace(8);
boost::optional<MetisResult> actual = separatorPartitionByMetis<GenericGraph2D>(graph, keys, boost::optional<MetisResult> actual = separatorPartitionByMetis<GenericGraph2D>(graph, keys,
workspace, true); workspace, true);
CHECK(actual.is_initialized()); CHECK(actual.is_initialized());
vector<size_t> A_expected; A_expected += 1, 5; // frontal vector<size_t> A_expected; A_expected += 1, 5; // frontal
vector<size_t> B_expected; B_expected += 3, 6; // frontal vector<size_t> B_expected; B_expected += 3, 6; // frontal
vector<size_t> C_expected; C_expected += 2; // separator vector<size_t> C_expected; C_expected += 2; // separator
CHECK(A_expected == actual->A); CHECK(A_expected == actual->A);
CHECK(B_expected == actual->B); CHECK(B_expected == actual->B);
CHECK(C_expected == actual->C); CHECK(C_expected == actual->C);
} }
/* *************************************************************************/ /* *************************************************************************/
// 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);
CHECK(C_expected == actual->C); CHECK(C_expected == actual->C);
} }
/* *************************************************************************/ /* *************************************************************************/
// 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)); std::vector<size_t> keys; keys += 0, 1, 2, 3, 4;
//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(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, 4; // frontal vector<size_t> B_expected; B_expected += 2, 3, 4; // frontal
vector<size_t> C_expected; // separator vector<size_t> C_expected; // separator
CHECK(A_expected == actual->A); CHECK(A_expected == actual->A);
CHECK(B_expected == actual->B); CHECK(B_expected == actual->B);
CHECK(C_expected == actual->C); CHECK(C_expected == actual->C);
} }
/* ************************************************************************* */ /* ************************************************************************* */
// x0 - x1 - x2 // x0 - x1 - x2
// l3 l4 // l3 l4
TEST ( Partition, findSeparator ) TEST ( Partition, findSeparator )
{ {
GenericGraph2D graph; GenericGraph2D graph;
graph.push_back(boost::make_shared<GenericFactor2D>(0, NODE_POSE_2D, 3, NODE_LANDMARK_2D)); graph.push_back(boost::make_shared<GenericFactor2D>(0, NODE_POSE_2D, 3, NODE_LANDMARK_2D));
graph.push_back(boost::make_shared<GenericFactor2D>(2, NODE_POSE_2D, 4, NODE_LANDMARK_2D)); graph.push_back(boost::make_shared<GenericFactor2D>(2, NODE_POSE_2D, 4, NODE_LANDMARK_2D));
graph.push_back(boost::make_shared<GenericFactor2D>(0, NODE_POSE_2D, 1, NODE_POSE_2D)); graph.push_back(boost::make_shared<GenericFactor2D>(0, NODE_POSE_2D, 1, NODE_POSE_2D));
graph.push_back(boost::make_shared<GenericFactor2D>(1, NODE_POSE_2D, 2, NODE_POSE_2D)); graph.push_back(boost::make_shared<GenericFactor2D>(1, NODE_POSE_2D, 2, NODE_POSE_2D));
std::vector<size_t> keys; keys += 0, 1, 2, 3, 4; std::vector<size_t> keys; keys += 0, 1, 2, 3, 4;
WorkSpace workspace(5); WorkSpace workspace(5);
int minNodesPerMap = -1; int minNodesPerMap = -1;
bool reduceGraph = false; bool reduceGraph = false;
int numSubmaps = findSeparator<GenericGraph2D>(graph, keys, minNodesPerMap, workspace, int numSubmaps = findSeparator<GenericGraph2D>(graph, keys, minNodesPerMap, workspace,
false, boost::none, reduceGraph, 0, 0); false, boost::none, reduceGraph, 0, 0);
LONGS_EQUAL(2, numSubmaps); LONGS_EQUAL(2, numSubmaps);
LONGS_EQUAL(5, workspace.partitionTable.size()); LONGS_EQUAL(5, workspace.partitionTable.size());
LONGS_EQUAL(1, workspace.partitionTable[0]); LONGS_EQUAL(1, workspace.partitionTable[0]);
LONGS_EQUAL(0, workspace.partitionTable[1]); LONGS_EQUAL(0, workspace.partitionTable[1]);
LONGS_EQUAL(2, workspace.partitionTable[2]); LONGS_EQUAL(2, workspace.partitionTable[2]);
LONGS_EQUAL(1, workspace.partitionTable[3]); LONGS_EQUAL(1, workspace.partitionTable[3]);
LONGS_EQUAL(2, workspace.partitionTable[4]); LONGS_EQUAL(2, workspace.partitionTable[4]);
} }
/* ************************************************************************* */ /* ************************************************************************* */
// x1 - x2 - x3, variable not used x0, x4, l7 // x1 - x2 - x3, variable not used x0, x4, l7
// l5 l6 // l5 l6
TEST ( Partition, findSeparator2 ) TEST ( Partition, findSeparator2 )
{ {
GenericGraph2D graph; GenericGraph2D graph;
graph.push_back(boost::make_shared<GenericFactor2D>(1, NODE_POSE_2D, 5, NODE_LANDMARK_2D)); graph.push_back(boost::make_shared<GenericFactor2D>(1, NODE_POSE_2D, 5, NODE_LANDMARK_2D));
graph.push_back(boost::make_shared<GenericFactor2D>(3, NODE_POSE_2D, 6, NODE_LANDMARK_2D)); graph.push_back(boost::make_shared<GenericFactor2D>(3, NODE_POSE_2D, 6, NODE_LANDMARK_2D));
graph.push_back(boost::make_shared<GenericFactor2D>(1, NODE_POSE_2D, 2, NODE_POSE_2D)); graph.push_back(boost::make_shared<GenericFactor2D>(1, NODE_POSE_2D, 2, NODE_POSE_2D));
graph.push_back(boost::make_shared<GenericFactor2D>(2, NODE_POSE_2D, 3, NODE_POSE_2D)); graph.push_back(boost::make_shared<GenericFactor2D>(2, NODE_POSE_2D, 3, NODE_POSE_2D));
std::vector<size_t> keys; keys += 1, 2, 3, 5, 6; std::vector<size_t> keys; keys += 1, 2, 3, 5, 6;
WorkSpace workspace(8); WorkSpace workspace(8);
int minNodesPerMap = -1; int minNodesPerMap = -1;
bool reduceGraph = false; bool reduceGraph = false;
int numSubmaps = findSeparator<GenericGraph2D>(graph, keys, minNodesPerMap, workspace, int numSubmaps = findSeparator<GenericGraph2D>(graph, keys, minNodesPerMap, workspace,
false, boost::none, reduceGraph, 0, 0); false, boost::none, reduceGraph, 0, 0);
LONGS_EQUAL(2, numSubmaps); LONGS_EQUAL(2, numSubmaps);
LONGS_EQUAL(8, workspace.partitionTable.size()); LONGS_EQUAL(8, workspace.partitionTable.size());
LONGS_EQUAL(-1,workspace.partitionTable[0]); LONGS_EQUAL(-1,workspace.partitionTable[0]);
LONGS_EQUAL(1, workspace.partitionTable[1]); LONGS_EQUAL(1, workspace.partitionTable[1]);
LONGS_EQUAL(0, workspace.partitionTable[2]); LONGS_EQUAL(0, workspace.partitionTable[2]);
LONGS_EQUAL(2, workspace.partitionTable[3]); LONGS_EQUAL(2, workspace.partitionTable[3]);
LONGS_EQUAL(-1,workspace.partitionTable[4]); LONGS_EQUAL(-1,workspace.partitionTable[4]);
LONGS_EQUAL(1, workspace.partitionTable[5]); LONGS_EQUAL(1, workspace.partitionTable[5]);
LONGS_EQUAL(2, workspace.partitionTable[6]); LONGS_EQUAL(2, workspace.partitionTable[6]);
LONGS_EQUAL(-1,workspace.partitionTable[7]); LONGS_EQUAL(-1,workspace.partitionTable[7]);
} }
/* ************************************************************************* /* *************************************************************************