Merged in fix/gtsam_unstable/partition (pull request #354)

Make gtsam_unstable/partition compile again

gtsam_unstable/CMakeLists.txt

@@ -10,9 +10,9 @@ set (gtsam_unstable_subdirs
     slam
 )
 
-if(GTSAM_BUILD_METIS) # Only build partition if metis is built
+if(GTSAM_SUPPORT_NESTED_DISSECTION) # Only build partition if metis is built
     set (gtsam_unstable_subdirs ${gtsam_unstable_subdirs} partition)
-endif(GTSAM_BUILD_METIS)
+endif(GTSAM_SUPPORT_NESTED_DISSECTION)
 
 set(GTSAM_UNSTABLE_BOOST_LIBRARIES ${GTSAM_BOOST_LIBRARIES})
 
@@ -55,9 +55,9 @@ set(gtsam_unstable_srcs
     ${slam_srcs}
 )
 
-if(GTSAM_BUILD_METIS) # Only build partition if metis is built
+if(GTSAM_SUPPORT_NESTED_DISSECTION) # Only build partition if metis is built
     set (gtsam_unstable_srcs ${gtsam_unstable_srcs} ${partition_srcs})
-endif(GTSAM_BUILD_METIS)
+endif(GTSAM_SUPPORT_NESTED_DISSECTION)
 
 # Versions - same as core gtsam library
 set(gtsam_unstable_version   ${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH})

gtsam_unstable/partition/CMakeLists.txt

@@ -1,5 +1,5 @@
 # Install headers
 file(GLOB partition_headers "*.h")
-install(FILES ${partition_headers} DESTINATION include/gtsam_unstable/parition)
+install(FILES ${partition_headers} DESTINATION include/gtsam_unstable/partition)
 
 add_subdirectory(tests)

gtsam_unstable/partition/FindSeparator-inl.h

@@ -284,7 +284,7 @@ namespace gtsam { namespace partition {
       throw std::runtime_error("separatorPartitionByMetis: invalid sepsize from Metis ND!");
     }
 
-    return boost::make_optional<MetisResult >(result);
+    return result;
   }
 
   /* *************************************************************************/ 
@@ -359,7 +359,7 @@ namespace gtsam { namespace partition {
       std::cout << "edgeCut: " << edgeCut << std::endl;
     }
 
-    return boost::make_optional<MetisResult >(result);
+    return result;
   }
 
   /* ************************************************************************* */
@@ -474,7 +474,7 @@ namespace gtsam { namespace partition {
 
     if (!result.is_initialized()) {
       std::cout << "metis failed!" << std::endl;
-      return 0;
+      return boost::none;
     }
 
     if (reduceGraph) {

gtsam_unstable/partition/GenericGraph.cpp

@@ -6,7 +6,6 @@
  *  Description: generic graph types used in partitioning
  */
 #include <iostream>
-#include <boost/tuple/tuple.hpp>
 #include <boost/make_shared.hpp>
 #include <boost/lexical_cast.hpp>
 
@@ -105,9 +104,8 @@ namespace gtsam { namespace partition {
 
     list<vector<size_t> > islands;
     map<size_t, vector<size_t> > arrays = dsf.arrays();
-    size_t key; vector<size_t> array;
+    for(const auto& kv : arrays)
-    for(boost::tie(key, array): arrays)
+      islands.push_back(kv.second);
-      islands.push_back(array);
     return islands;
   }
 
@@ -305,7 +303,8 @@ namespace gtsam { namespace partition {
     // regenerating islands
     map<size_t, vector<size_t> > labelIslands = dsf.arrays();
     size_t label; vector<size_t> island;
-    for(boost::tie(label, island): labelIslands) {
+    for(const auto& li: labelIslands) {
+      tie(label, island) = li;
       vector<size_t> filteredIsland; // remove singular cameras from array
       filteredIsland.reserve(island.size());
       for(const size_t key: island) {

gtsam_unstable/partition/GenericGraph.h

@@ -8,6 +8,7 @@
 
 #pragma once
 
+#include <set>
 #include <list>
 #include <vector>
 #include <stdexcept>

gtsam_unstable/partition/tests/testFindSeparator.cpp

@@ -179,9 +179,11 @@ TEST ( Partition, findSeparator2 )
 }
 
 /* *************************************************************************/
-//  l1-l8   l9-l16    l17-l24
+/**
-//   / |     /    \    |  \
+ *  l1-l8   l9-l16    l17-l24
-// x25 x26             x27 x28
+ *   / |     /    \    |  \
+ * x25 x26             x27 x28
+ */
 TEST ( Partition, findSeparator3_with_reduced_camera )
 {
   GenericGraph3D graph;

package_scripts/toolbox_package_unix.sh

@@ -42,7 +42,7 @@ cmake -DCMAKE_BUILD_TYPE=Release \
 -DGTSAM_BUILD_TIMING:BOOL=OFF \
 -DGTSAM_BUILD_EXAMPLES_ALWAYS:BOOL=OFF \
 -DGTSAM_WITH_TBB:BOOL=OFF \
--DGTSAM_BUILD_METIS:BOOL=OFF \
+-DGTSAM_SUPPORT_NESTED_DISSECTION:BOOL=OFF \
 -DGTSAM_INSTALL_GEOGRAPHICLIB:BOOL=OFF \
 -DGTSAM_BUILD_UNSTABLE:BOOL=OFF \
 -DGTSAM_MEX_BUILD_STATIC_MODULE:BOOL=ON ..