Ordering fixes
p-zach
parent
91924d92db
commit
d1e8fd3863
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@ -45,7 +45,7 @@
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},
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{
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"cell_type": "code",
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"execution_count": 1,
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"execution_count": 6,
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"metadata": {
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"id": "ordering_import_code"
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},
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@ -74,7 +74,7 @@
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},
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{
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"cell_type": "code",
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"execution_count": 2,
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"execution_count": 7,
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"metadata": {
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"colab": {
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"base_uri": "https://localhost:8080/"
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@ -99,7 +99,7 @@
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"execution_count": 12,
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"metadata": {
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"colab": {
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"base_uri": "https://localhost:8080/"
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@ -109,14 +109,11 @@
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},
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"outputs": [
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{
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"ename": "TypeError",
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"evalue": "Colamd(): incompatible function arguments. The following argument types are supported:\n 1. (variableIndex: gtsam::VariableIndex) -> gtsam.gtsam.Ordering\n\nInvoked with: kwargs: graph=SymbolicFactorGraph \nsize: 7\nfactor 0: x0\nfactor 1: x0 x1\nfactor 2: x1 x2\nfactor 3: x0 l1\nfactor 4: x1 l1\nfactor 5: x1 l2\nfactor 6: x2 l2\n",
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"output_type": "error",
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"traceback": [
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"\u001b[1;31m---------------------------------------------------------------------------\u001b[0m",
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"\u001b[1;31mTypeError\u001b[0m Traceback (most recent call last)",
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"Cell \u001b[1;32mIn[3], line 13\u001b[0m\n\u001b[0;32m 10\u001b[0m graph\u001b[38;5;241m.\u001b[39mpush_factor(X(\u001b[38;5;241m2\u001b[39m), L(\u001b[38;5;241m2\u001b[39m))\n\u001b[0;32m 12\u001b[0m \u001b[38;5;66;03m# COLAMD (Column Approximate Minimum Degree) ordering\u001b[39;00m\n\u001b[1;32m---> 13\u001b[0m colamd_ordering \u001b[38;5;241m=\u001b[39m \u001b[43mOrdering\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mColamd\u001b[49m\u001b[43m(\u001b[49m\u001b[43mgraph\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mgraph\u001b[49m\u001b[43m)\u001b[49m\n\u001b[0;32m 14\u001b[0m colamd_ordering\u001b[38;5;241m.\u001b[39mprint(\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mCOLAMD Ordering: \u001b[39m\u001b[38;5;124m\"\u001b[39m)\n\u001b[0;32m 16\u001b[0m \u001b[38;5;66;03m# Constrained COLAMD (force x0 and x2 to be eliminated last)\u001b[39;00m\n",
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"\u001b[1;31mTypeError\u001b[0m: Colamd(): incompatible function arguments. The following argument types are supported:\n 1. (variableIndex: gtsam::VariableIndex) -> gtsam.gtsam.Ordering\n\nInvoked with: kwargs: graph=SymbolicFactorGraph \nsize: 7\nfactor 0: x0\nfactor 1: x0 x1\nfactor 2: x1 x2\nfactor 3: x0 l1\nfactor 4: x1 l1\nfactor 5: x1 l2\nfactor 6: x2 l2\n"
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"COLAMD Ordering: Position 0: l1, x0, x1, l2, x2\n",
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"Constrained COLAMD (x0, x2 last): Position 0: l2, l1, x1, x2, x0\n"
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]
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}
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],
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@ -133,23 +130,12 @@
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"graph.push_factor(X(2), L(2))\n",
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"\n",
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"# COLAMD (Column Approximate Minimum Degree) ordering\n",
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"colamd_ordering = Ordering.Colamd(graph)\n",
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"colamd_ordering = Ordering.Colamd(VariableIndex(graph))\n",
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"colamd_ordering.print(\"COLAMD Ordering: \")\n",
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"\n",
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"# Constrained COLAMD (force x0 and x2 to be eliminated last)\n",
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"constrained_ordering = Ordering.ColamdConstrainedLast(graph, gtsam.KeyVector([X(0), X(2)]))\n",
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"constrained_ordering.print(\"Constrained COLAMD (x0, x2 last): \")\n",
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"\n",
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"# METIS ordering (if GTSAM was built with METIS support)\n",
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"try:\n",
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" metis_ordering = Ordering.Metis(graph)\n",
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" # metis_ordering.print(\"METIS Ordering: \")\n",
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"except RuntimeError as e:\n",
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" print(f\"\\nSkipping METIS: {e}\")\n",
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"\n",
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"# Natural ordering (based on key magnitude)\n",
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"natural_ordering = Ordering.Natural(graph)\n",
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"# natural_ordering.print(\"Natural Ordering: \")"
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"constrained_ordering = Ordering.ColamdConstrainedLastSymbolicFactorGraph(graph, gtsam.KeyVector([X(0), X(2)]))\n",
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"constrained_ordering.print(\"Constrained COLAMD (x0, x2 last): \")"
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]
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},
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{
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@ -165,7 +151,7 @@
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},
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{
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"cell_type": "code",
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"execution_count": 11,
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"execution_count": 14,
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"metadata": {
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"colab": {
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"base_uri": "https://localhost:8080/"
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@ -181,17 +167,6 @@
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"Ordering size: 5\n",
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"Key at position 0: l1\n"
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]
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},
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{
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"ename": "AttributeError",
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"evalue": "'gtsam.gtsam.Ordering' object has no attribute 'invert'",
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"output_type": "error",
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"traceback": [
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"\u001b[1;31m---------------------------------------------------------------------------\u001b[0m",
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"\u001b[1;31mAttributeError\u001b[0m Traceback (most recent call last)",
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"Cell \u001b[1;32mIn[11], line 8\u001b[0m\n\u001b[0;32m 5\u001b[0m \u001b[38;5;28mprint\u001b[39m(\u001b[38;5;124mf\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mKey at position 0: \u001b[39m\u001b[38;5;132;01m{\u001b[39;00mgtsam\u001b[38;5;241m.\u001b[39mDefaultKeyFormatter(key_at_0)\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m\"\u001b[39m)\n\u001b[0;32m 7\u001b[0m \u001b[38;5;66;03m# Invert the ordering (map from Key to its position)\u001b[39;00m\n\u001b[1;32m----> 8\u001b[0m inverted \u001b[38;5;241m=\u001b[39m \u001b[43mcolamd_ordering\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43minvert\u001b[49m()\n\u001b[0;32m 9\u001b[0m \u001b[38;5;28mprint\u001b[39m(\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mInverted map (Key -> Position):\u001b[39m\u001b[38;5;124m\"\u001b[39m)\n\u001b[0;32m 10\u001b[0m \u001b[38;5;28;01mfor\u001b[39;00m key, pos \u001b[38;5;129;01min\u001b[39;00m inverted\u001b[38;5;241m.\u001b[39mitems():\n",
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"\u001b[1;31mAttributeError\u001b[0m: 'gtsam.gtsam.Ordering' object has no attribute 'invert'"
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]
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}
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],
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"source": [
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@ -199,13 +174,7 @@
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"\n",
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"# Access by index\n",
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"key_at_0 = colamd_ordering.at(0)\n",
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"print(f\"Key at position 0: {gtsam.DefaultKeyFormatter(key_at_0)}\")\n",
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"\n",
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"# Invert the ordering (map from Key to its position)\n",
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"inverted = colamd_ordering.invert()\n",
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"print(\"Inverted map (Key -> Position):\")\n",
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"for key, pos in inverted.items():\n",
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" print(f\" {gtsam.DefaultKeyFormatter(key)} -> {pos}\")"
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"print(f\"Key at position 0: {gtsam.DefaultKeyFormatter(key_at_0)}\")"
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]
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},
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{
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@ -216,7 +185,7 @@
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"source": [
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"## Appending Keys\n",
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"\n",
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"You can append keys using `push_back`, `+=`, or `,`."
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"You can append keys using `push_back`."
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]
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},
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{
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