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Merge pull request #1553 from borglab/fix/windows-tests

release/4.3a0
Varun Agrawal 2023-08-02 12:32:11 -04:00 committed by GitHub
parent eb0460a5dc 8b4fbb1d7b
commit e36590aa45
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GPG Key ID: 4AEE18F83AFDEB23
16 changed files with 70 additions and 73 deletions
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43
.github/workflows/build-windows.yml vendored
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@ -34,6 +34,7 @@ jobs:
Debug,
Release
]
build_unstable: [ON]
include:
- name: windows-2019-cl
@ -93,10 +94,15 @@ jobs:
- name: Checkout
uses: actions/checkout@v3
- name: Setup msbuild
uses: ilammy/msvc-dev-cmd@v1
with:
arch: x${{ matrix.platform }}
- name: Configuration
run: |
cmake -E remove_directory build
cmake -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DBOOST_ROOT="${env:BOOST_ROOT}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT}\lib"
cmake -G Ninja -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF -DBOOST_ROOT="${env:BOOST_ROOT}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT}\lib"
- name: Build
shell: bash
@ -106,9 +112,6 @@ jobs:
cmake --build build -j4 --config ${{ matrix.build_type }} --target gtsam
cmake --build build -j4 --config ${{ matrix.build_type }} --target gtsam_unstable
# Target doesn't exist
# cmake --build build -j4 --config ${{ matrix.build_type }} --target wrap
- name: Test
shell: bash
run: |
@ -116,50 +119,30 @@ jobs:
cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base
cmake --build build -j4 --config ${{ matrix.build_type }} --target check.basis
cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete
# Compilation error
# cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry
cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry
cmake --build build -j4 --config ${{ matrix.build_type }} --target check.inference
# Compile. Fail with exception
cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear
cmake --build build -j4 --config ${{ matrix.build_type }} --target check.navigation
cmake --build build -j4 --config ${{ matrix.build_type }} --target check.navigation
cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sam
cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sfm
cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sfm
cmake --build build -j4 --config ${{ matrix.build_type }} --target check.symbolic
# Compile. Fail with exception
cmake --build build -j4 --config ${{ matrix.build_type }} --target check.hybrid
# Compile. Fail with exception
# cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
# Compilation error
# cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
# Run GTSAM_UNSTABLE tests
cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base_unstable
# Compile. Fail with exception
# cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry_unstable
# Compile. Fail with exception
# cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear_unstable
# Compile. Fail with exception
# cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete_unstable
# Compile. Fail with exception
# cmake --build build -j4 --config ${{ matrix.build_type }} --target check.dynamics_unstable
# Compile. Fail with exception
# cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear_unstable
# Compilation error
# cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam_unstable
# Compilation error
# cmake --build build -j4 --config ${{ matrix.build_type }} --target check.partition
# cmake --build build -j4 --config ${{ matrix.build_type }} --target check.partition

9
gtsam/geometry/CameraSet.h
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@ -131,12 +131,15 @@ class CameraSet : public std::vector<CAMERA, Eigen::aligned_allocator<CAMERA>> {
return z;
}
/** An overload o the project2 function to accept
/** An overload of the project2 function to accept
* full matrices and vectors and pass it to the pointer
* version of the function
* version of the function.
*
* Use SFINAE to resolve overload ambiguity.
*/
template <class POINT, class... OptArgs>
ZVector project2(const POINT& point, OptArgs&... args) const {
typename std::enable_if<(sizeof...(OptArgs) != 0), ZVector>::type project2(
const POINT& point, OptArgs&... args) const {
// pass it to the pointer version of the function
return project2(point, (&args)...);
}

3
gtsam/geometry/PinholePose.h
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@ -332,7 +332,8 @@ public:
}
/// stream operator
friend std::ostream& operator<<(std::ostream &os, const PinholePose& camera) {
GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os,
const PinholePose& camera) {
os << "{R: " << camera.pose().rotation().rpy().transpose();
os << ", t: " << camera.pose().translation().transpose();
if (!camera.K_) os << ", K: none";

3
gtsam/geometry/Similarity2.h
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@ -76,7 +76,8 @@ class GTSAM_EXPORT Similarity2 : public LieGroup<Similarity2, 4> {
/// Print with optional string
void print(const std::string& s) const;
friend std::ostream& operator<<(std::ostream& os, const Similarity2& p);
GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os,
const Similarity2& p);
/// @}
/// @name Group

3
gtsam/geometry/Similarity3.h
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@ -77,7 +77,8 @@ class GTSAM_EXPORT Similarity3 : public LieGroup<Similarity3, 7> {
/// Print with optional string
void print(const std::string& s) const;
friend std::ostream& operator<<(std::ostream& os, const Similarity3& p);
GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os,
const Similarity3& p);
/// @}
/// @name Group

4
gtsam/geometry/SphericalCamera.h
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@ -238,9 +238,9 @@ class GTSAM_EXPORT SphericalCamera {
// end of class SphericalCamera
template <>
struct traits<SphericalCamera> : public internal::LieGroup<Pose3> {};
struct traits<SphericalCamera> : public internal::Manifold<SphericalCamera> {};
template <>
struct traits<const SphericalCamera> : public internal::LieGroup<Pose3> {};
struct traits<const SphericalCamera> : public internal::Manifold<SphericalCamera> {};
} // namespace gtsam

3
gtsam/geometry/Unit3.h
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@ -105,7 +105,8 @@ public:
/// @name Testable
/// @{
friend std::ostream& operator<<(std::ostream& os, const Unit3& pair);
GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os,
const Unit3& pair);
/// The print fuction
void print(const std::string& s = std::string()) const;

4
gtsam/geometry/triangulation.h
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@ -665,8 +665,8 @@ class TriangulationResult : public std::optional<Point3> {
return value();
}
// stream to output
friend std::ostream& operator<<(std::ostream& os,
const TriangulationResult& result) {
GTSAM_EXPORT friend std::ostream& operator<<(
std::ostream& os, const TriangulationResult& result) {
if (result)
os << "point = " << *result << std::endl;
else

4
gtsam/linear/IterativeSolver.h
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@ -72,8 +72,8 @@ public:
GTSAM_EXPORT virtual void print(std::ostream &os) const;
/* for serialization */
friend std::ostream& operator<<(std::ostream &os,
const IterativeOptimizationParameters &p);
GTSAM_EXPORT friend std::ostream &operator<<(
std::ostream &os, const IterativeOptimizationParameters &p);
GTSAM_EXPORT static Verbosity verbosityTranslator(const std::string &s);
GTSAM_EXPORT static std::string verbosityTranslator(Verbosity v);

2
gtsam/nonlinear/ISAM2.h
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@ -345,7 +345,7 @@ class GTSAM_EXPORT ISAM2 : public BayesTree<ISAM2Clique> {
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & boost::serialization::base_object<BayesTree<ISAM2Clique> >(*this);
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
ar & BOOST_SERIALIZATION_NVP(theta_);
ar & BOOST_SERIALIZATION_NVP(variableIndex_);
ar & BOOST_SERIALIZATION_NVP(delta_);

4
gtsam/nonlinear/tests/testSerializationNonlinear.cpp
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@ -183,7 +183,7 @@ TEST(Serialization, ISAM2) {
std::string binaryPath = "saved_solver.dat";
try {
std::ofstream outputStream(binaryPath);
std::ofstream outputStream(binaryPath, std::ios::out | std::ios::binary);
boost::archive::binary_oarchive outputArchive(outputStream);
outputArchive << solver;
} catch(...) {
@ -192,7 +192,7 @@ TEST(Serialization, ISAM2) {
gtsam::ISAM2 solverFromDisk;
try {
std::ifstream ifs(binaryPath);
std::ifstream ifs(binaryPath, std::ios::in | std::ios::binary);
boost::archive::binary_iarchive inputArchive(ifs);
inputArchive >> solverFromDisk;
} catch(...) {

14
gtsam/nonlinear/tests/testValues.cpp
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@ -581,7 +581,7 @@ TEST(Values, std_move) {
TEST(Values, VectorDynamicInsertFixedRead) {
Values values;
Vector v(3); v << 5.0, 6.0, 7.0;
values.insert(key1, v);
values.insert<Vector3>(key1, v);
Vector3 expected(5.0, 6.0, 7.0);
Vector3 actual = values.at<Vector3>(key1);
CHECK(assert_equal(expected, actual));
@ -629,7 +629,7 @@ TEST(Values, VectorFixedInsertFixedRead) {
TEST(Values, MatrixDynamicInsertFixedRead) {
Values values;
Matrix v(1,3); v << 5.0, 6.0, 7.0;
values.insert(key1, v);
values.insert<Matrix13>(key1, v);
Vector3 expected(5.0, 6.0, 7.0);
CHECK(assert_equal((Vector)expected, values.at<Matrix13>(key1)));
CHECK_EXCEPTION(values.at<Matrix23>(key1), exception);
@ -639,7 +639,15 @@ TEST(Values, Demangle) {
Values values;
Matrix13 v; v << 5.0, 6.0, 7.0;
values.insert(key1, v);
string expected = "Values with 1 values:\nValue v1: (Eigen::Matrix<double, 1, 3, 1, 1, 3>)\n[\n 5, 6, 7\n]\n\n";
#ifdef __GNUG__
string expected =
"Values with 1 values:\nValue v1: (Eigen::Matrix<double, 1, 3, 1, 1, "
"3>)\n[\n 5, 6, 7\n]\n\n";
#elif _WIN32
string expected =
"Values with 1 values:\nValue v1: "
"(class Eigen::Matrix<double,1,3,1,1,3>)\n[\n 5, 6, 7\n]\n\n";
#endif
EXPECT(assert_print_equal(expected, values));
}

3
gtsam/slam/SmartFactorBase.h
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@ -162,8 +162,9 @@ protected:
/// Collect all cameras: important that in key order.
virtual Cameras cameras(const Values& values) const {
Cameras cameras;
for(const Key& k: this->keys_)
for(const Key& k: this->keys_) {
cameras.push_back(values.at<CAMERA>(k));
}
return cameras;
}

2
gtsam_unstable/linear/LP.h
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@ -29,7 +29,7 @@ namespace gtsam {
using namespace std;
/// Mapping between variable's key and its corresponding dimensionality
using KeyDimMap = std::map<Key, size_t>;
using KeyDimMap = std::map<Key, uint32_t>;
/*
* Iterates through every factor in a linear graph and generates a
* mapping between every factor key and it's corresponding dimensionality.

4
gtsam_unstable/linear/LPInitSolver.cpp
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@ -65,9 +65,7 @@ GaussianFactorGraph::shared_ptr LPInitSolver::buildInitOfInitGraph() const {
new GaussianFactorGraph(lp_.equalities));
// create factor ||x||^2 and add to the graph
const KeyDimMap& constrainedKeyDim = lp_.constrainedKeyDimMap();
for (const auto& [key, _] : constrainedKeyDim) {
size_t dim = constrainedKeyDim.at(key);
for (const auto& [key, dim] : lp_.constrainedKeyDimMap()) {
initGraph->push_back(
JacobianFactor(key, Matrix::Identity(dim, dim), Vector::Zero(dim)));
}

38
gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
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@ -201,10 +201,9 @@ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP
}
/// linearize and return a Hessianfactor that is an approximation of error(p)
std::shared_ptr<RegularHessianFactor<DimPose> > createHessianFactor(
const Values& values, const double lambda = 0.0, bool diagonalDamping =
false) const {
std::shared_ptr<RegularHessianFactor<DimPose>> createHessianFactor(
const Values& values, const double lambda = 0.0,
bool diagonalDamping = false) const {
// we may have multiple cameras sharing the same extrinsic cals, hence the number
// of keys may be smaller than 2 * nrMeasurements (which is the upper bound where we
// have a body key and an extrinsic calibration key for each measurement)
@ -212,23 +211,22 @@ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP
// Create structures for Hessian Factors
KeyVector js;
std::vector < Matrix > Gs(nrUniqueKeys * (nrUniqueKeys + 1) / 2);
std::vector<Matrix> Gs(nrUniqueKeys * (nrUniqueKeys + 1) / 2);
std::vector<Vector> gs(nrUniqueKeys);
if (this->measured_.size() != cameras(values).size())
throw std::runtime_error("SmartStereoProjectionHessianFactor: this->"
"measured_.size() inconsistent with input");
"measured_.size() inconsistent with input");
// triangulate 3D point at given linearization point
triangulateSafe(cameras(values));
if (!result_) { // failed: return "empty/zero" Hessian
for (Matrix& m : Gs)
m = Matrix::Zero(DimPose, DimPose);
for (Vector& v : gs)
v = Vector::Zero(DimPose);
return std::make_shared < RegularHessianFactor<DimPose>
> (keys_, Gs, gs, 0.0);
// failed: return "empty/zero" Hessian
if (!result_) {
for (Matrix& m : Gs) m = Matrix::Zero(DimPose, DimPose);
for (Vector& v : gs) v = Vector::Zero(DimPose);
return std::make_shared<RegularHessianFactor<DimPose>>(keys_, Gs, gs,
0.0);
}
// compute Jacobian given triangulated 3D Point
@ -239,12 +237,13 @@ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP
// Whiten using noise model
noiseModel_->WhitenSystem(E, b);
for (size_t i = 0; i < Fs.size(); i++)
for (size_t i = 0; i < Fs.size(); i++) {
Fs[i] = noiseModel_->Whiten(Fs[i]);
}
// build augmented Hessian (with last row/column being the information vector)
Matrix3 P;
Cameras::ComputePointCovariance <3> (P, E, lambda, diagonalDamping);
Cameras::ComputePointCovariance<3>(P, E, lambda, diagonalDamping);
// these are the keys that correspond to the blocks in augmentedHessian (output of SchurComplement)
KeyVector nonuniqueKeys;
@ -254,11 +253,12 @@ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP
}
// but we need to get the augumented hessian wrt the unique keys in key_
SymmetricBlockMatrix augmentedHessianUniqueKeys =
Cameras::SchurComplementAndRearrangeBlocks<3,DimBlock,DimPose>(Fs,E,P,b,
nonuniqueKeys, keys_);
Base::Cameras::template SchurComplementAndRearrangeBlocks<3, DimBlock,
DimPose>(
Fs, E, P, b, nonuniqueKeys, keys_);
return std::make_shared < RegularHessianFactor<DimPose>
> (keys_, augmentedHessianUniqueKeys);
return std::make_shared<RegularHessianFactor<DimPose>>(
keys_, augmentedHessianUniqueKeys);
}
/**