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Merge pull request #1138 from borglab/various-fixes

release/4.3a0
Varun Agrawal 2022-03-20 11:47:47 -04:00 committed by GitHub
parent e3d68e772e 8c55ac729b
commit 4acbaa26e9
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 13 additions and 5 deletions
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2
cmake/GtsamBuildTypes.cmake
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@ -191,7 +191,7 @@ endif()
if (NOT MSVC) if (NOT MSVC)
option(GTSAM_BUILD_WITH_MARCH_NATIVE "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" ON) option(GTSAM_BUILD_WITH_MARCH_NATIVE "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" ON)
if(GTSAM_BUILD_WITH_MARCH_NATIVE) if(GTSAM_BUILD_WITH_MARCH_NATIVE AND (APPLE AND NOT CMAKE_SYSTEM_PROCESSOR STREQUAL "arm64"))
# Add as public flag so all dependant projects also use it, as required # Add as public flag so all dependant projects also use it, as required
# by Eigen to avid crashes due to SIMD vectorization: # by Eigen to avid crashes due to SIMD vectorization:
list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-march=native") list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-march=native")

1
gtsam/discrete/DecisionTree-inl.h
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@ -786,7 +786,6 @@ namespace gtsam {
template <typename L, typename Y> template <typename L, typename Y>
DecisionTree<L, Y> DecisionTree<L, Y>::apply( DecisionTree<L, Y> DecisionTree<L, Y>::apply(
const UnaryAssignment& op) const { const UnaryAssignment& op) const {
std::cout << "Calling the correct apply" << std::endl;
// It is unclear what should happen if tree is empty: // It is unclear what should happen if tree is empty:
if (empty()) { if (empty()) {
throw std::runtime_error( throw std::runtime_error(

14
gtsam/discrete/tests/testDecisionTree.cpp
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@ -462,7 +462,7 @@ TEST(DecisionTree, ApplyWithAssignment) {
DecisionTree<string, double> probTree( DecisionTree<string, double> probTree(
keys, "0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08"); keys, "0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08");
double threshold = 0.035; double threshold = 0.045;
// We test pruning one tree by indexing into another. // We test pruning one tree by indexing into another.
auto pruner = [&](const Assignment<string>& choices, const int& x) { auto pruner = [&](const Assignment<string>& choices, const int& x) {
@ -475,8 +475,18 @@ TEST(DecisionTree, ApplyWithAssignment) {
}; };
DT prunedTree = tree.apply(pruner); DT prunedTree = tree.apply(pruner);
DT expectedTree(keys, "0 0 0 4 5 6 7 8"); DT expectedTree(keys, "0 0 0 0 5 6 7 8");
EXPECT(assert_equal(expectedTree, prunedTree)); EXPECT(assert_equal(expectedTree, prunedTree));
size_t count = 0;
auto counter = [&](const Assignment<string>& choices, const int& x) {
count += 1;
return x;
};
DT prunedTree2 = prunedTree.apply(counter);
// Check if apply doesn't enumerate all leaves.
EXPECT_LONGS_EQUAL(5, count);
} }
/* ************************************************************************* */ /* ************************************************************************* */

1
gtsam/sfm/SfmData.cpp
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@ -426,7 +426,6 @@ NonlinearFactorGraph SfmData::generalSfmFactors(
NonlinearFactorGraph SfmData::sfmFactorGraph( NonlinearFactorGraph SfmData::sfmFactorGraph(
const SharedNoiseModel &model, boost::optional<size_t> fixedCamera, const SharedNoiseModel &model, boost::optional<size_t> fixedCamera,
boost::optional<size_t> fixedPoint) const { boost::optional<size_t> fixedPoint) const {
using ProjectionFactor = GeneralSFMFactor<SfmCamera, Point3>;
NonlinearFactorGraph graph = generalSfmFactors(model); NonlinearFactorGraph graph = generalSfmFactors(model);
using noiseModel::Constrained; using noiseModel::Constrained;
if (fixedCamera) { if (fixedCamera) {