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Work in progress on correcting bug with key casting to int32. Causes overflow on cast, causing bad array indexing in metis

release/4.3a0
Andrew Melim 2014-11-21 15:23:01 -05:00
parent 9c2dcfb70c
commit b19ed67545
4 changed files with 46 additions and 13 deletions
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4
examples/StereoVOExample_large.cpp
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@ -103,7 +103,9 @@ int main(int argc, char** argv){
cout << "Optimizing" << endl;
//create Levenberg-Marquardt optimizer to optimize the factor graph
LevenbergMarquardtOptimizer optimizer = LevenbergMarquardtOptimizer(graph, initial_estimate);
LevenbergMarquardtParams params;
params.orderingType = OrderingType::METIS;
LevenbergMarquardtOptimizer optimizer = LevenbergMarquardtOptimizer(graph, initial_estimate, params);
Values result = optimizer.optimize();
cout << "Final result sample:" << endl;

4
gtsam/inference/MetisIndex-inl.h
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@ -27,8 +27,8 @@ namespace gtsam {
template<class FACTOR>
void MetisIndex::augment(const FactorGraph<FACTOR>& factors)
{
std::map<int, FastSet<int> > adjMap;
std::map<int, FastSet<int> >::iterator adjMapIt;
std::map<Key, FastSet<Key> > adjMap;
std::map<Key, FastSet<Key> >::iterator adjMapIt;
std::set<Key> keySet;
/* ********** Convert to CSR format ********** */

8
gtsam/inference/MetisIndex.h
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@ -40,8 +40,8 @@ public:
typedef boost::shared_ptr<MetisIndex> shared_ptr;
private:
FastVector<int> xadj_; // Index of node's adjacency list in adj
FastVector<int> adj_; // Stores ajacency lists of all nodes, appended into a single vector
FastVector<Key> xadj_; // Index of node's adjacency list in adj
FastVector<Key> adj_; // Stores ajacency lists of all nodes, appended into a single vector
size_t nFactors_; // Number of factors in the original factor graph
size_t nKeys_; //
size_t minKey_;
@ -69,8 +69,8 @@ public:
template<class FACTOR>
void augment(const FactorGraph<FACTOR>& factors);
std::vector<int> xadj() const { return xadj_; }
std::vector<int> adj() const { return adj_; }
std::vector<Key> xadj() const { return xadj_; }
std::vector<Key> adj() const { return adj_; }
size_t nValues() const { return nKeys_; }
size_t minKey() const { return minKey_; }

43
gtsam/inference/Ordering.cpp
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@ -204,12 +204,43 @@ namespace gtsam {
{
gttic(Ordering_METIS);
vector<idx_t> xadj = met.xadj();
vector<idx_t> adj = met.adj();
size_t minKey = met.minKey();
vector<Key> xadj = met.xadj();
vector<Key> adj = met.adj();
Key minKey = met.minKey();
// TODO(Andrew): Debug
Key min = std::numeric_limits<Key>::max();
for (int i = 0; i < adj.size(); i++)
{
if (adj[i] < min)
min = adj[i];
}
std::cout << "Min: " << min << " minkey: " << minKey << std::endl;
// Normalize, subtract the smallest key
std::transform(adj.begin(), adj.end(), adj.begin(), std::bind2nd(std::minus<size_t>(), minKey));
//std::transform(adj.begin(), adj.end(), adj.begin(), std::bind2nd(std::minus<Key>(), minKey));
for (vector<Key>::iterator it = adj.begin(); it != adj.end(); ++it)
*it = *it - minKey;
// Cast the adjacency formats into idx_t (int32)
// NOTE: Keys can store quite large values and hence may overflow during conversion to int
// It's important that the normalization is performed first.
vector<idx_t> adj_idx;
for (vector<Key>::iterator it = adj.begin(); it != adj.end(); ++it)
adj_idx.push_back(static_cast<int>(*it));
vector<idx_t> xadj_idx;
for (vector<Key>::iterator it = xadj.begin(); it != xadj.end(); ++it)
xadj_idx.push_back(static_cast<int>(*it));
// TODO(Andrew): Debug
for (int i = 0; i < adj.size(); i++)
{
assert(adj[i] >= 0);
if (adj[i] < 0)
std::cout << adj[i] << std::endl;
}
vector<idx_t> perm, iperm;
@ -222,7 +253,7 @@ namespace gtsam {
int outputError;
outputError = METIS_NodeND(&size, &xadj[0], &adj[0], NULL, NULL, &perm[0], &iperm[0]);
outputError = METIS_NodeND(&size, &xadj_idx[0], &adj_idx[0], NULL, NULL, &perm[0], &iperm[0]);
Ordering result;
if (outputError != METIS_OK)
@ -234,7 +265,7 @@ namespace gtsam {
result.resize(size);
for (size_t j = 0; j < size; ++j){
// We have to add the minKey value back to obtain the original key in the Values
result[j] = perm[j] + minKey;
result[j] = (Key)perm[j] + minKey;
}
return result;
}