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City1000 script #2014

Merged
merged 30 commits into from
Jan 31, 2025
Merged

City1000 script #2014

merged 30 commits into from
Jan 31, 2025

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dellaert
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@dellaert dellaert commented Jan 30, 2025 •
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...and associated changes

New ordering optimizes 3000 iterations in 63 seconds (vs 147).

varunagrawal and others added 24 commits January 30, 2025 10:58
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@varunagrawal these tests are failing, I think related to the TableFactor. Tell me how to fix?

The following tests FAILED:
	 96 - testGaussianMixture (SEGFAULT)
	 98 - testHybridBayesTree (SEGFAULT)
	100 - testHybridEstimation (SEGFAULT)
	104 - testHybridGaussianFactorGraph (Failed)
	105 - testHybridGaussianISAM (SEGFAULT)
	107 - testHybridMotionModel (SEGFAULT)
	109 - testHybridNonlinearFactorGraph (SEGFAULT)
	110 - testHybridNonlinearISAM (SEGFAULT)

varunagrawal
varunagrawal approved these changes Jan 30, 2025
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LGTM with some comments.
I assume we'll remove all the comments to de-clog the output?

gtsam/hybrid/HybridSmoother.cpp Outdated Show resolved Hide resolved
gtsam/hybrid/HybridSmoother.cpp Outdated
namespace gtsam {

/* ************************************************************************* */
Ordering HybridSmoother::getOrdering(const HybridGaussianFactorGraph &factors,
const KeySet &newFactorKeys) {
const KeySet &continuousKeys) {
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continuousKeys can have keys involved in discrete factors as well, which is why we run the check on line 38.

gtsam/hybrid/HybridSmoother.cpp Show resolved Hide resolved
gtsam/hybrid/HybridSmoother.cpp Show resolved Hide resolved
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@varunagrawal these tests are failing, I think related to the TableFactor. Tell me how to fix?

The following tests FAILED:
	 96 - testGaussianMixture (SEGFAULT)
	 98 - testHybridBayesTree (SEGFAULT)
	100 - testHybridEstimation (SEGFAULT)
	104 - testHybridGaussianFactorGraph (Failed)
	105 - testHybridGaussianISAM (SEGFAULT)
	107 - testHybridMotionModel (SEGFAULT)
	109 - testHybridNonlinearFactorGraph (SEGFAULT)
	110 - testHybridNonlinearISAM (SEGFAULT)

In HybridGaussianFactorGraph.cpp, update

- #define GTSAM_HYBRID_WITH_TABLEFACTOR 0
+ #define GTSAM_HYBRID_WITH_TABLEFACTOR 1

@dellaert dellaert merged commit 0d4b0d7 into develop Jan 31, 2025
35 checks passed
@varunagrawal varunagrawal deleted the feature/new_city10000 branch January 31, 2025 13:26
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@varunagrawal varunagrawal varunagrawal approved these changes

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@dellaert @varunagrawal