Merge branch 'master' into 24Q3/enh/localchanges

dehann · dehann · commit 90b5aeee5136 · 2024-11-27T05:24:28.000-08:00
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -16,7 +16,7 @@ jobs:
       fail-fast: false
       matrix:
         version:
-          - '1.10'
+          - '1.11'
         os:
           - ubuntu-latest
         arch:
@@ -54,7 +54,7 @@ jobs:
         arch: 
           - x64
         version:
-          - '1.10'
+          - '1.11'
         group:
           - 'basic_functional_group'
     steps:
@@ -96,7 +96,7 @@ jobs:
         arch: 
           - x64
         version:
-          - '1.10'
+          - '1.11'
         group:
           - 'test_cases_group'
     steps:
@@ -139,7 +139,7 @@ jobs:
         os:
           - ubuntu-latest
         version:
-          - '1.10'
+          - '1.11'
         arch:
           - x64
         group:
diff --git a/Project.toml b/Project.toml
@@ -2,7 +2,7 @@ name = "IncrementalInference"
 uuid = "904591bb-b899-562f-9e6f-b8df64c7d480"
 keywords = ["MM-iSAMv2", "Bayes tree", "junction tree", "Bayes network", "variable elimination", "graphical models", "SLAM", "inference", "sum-product", "belief-propagation"]
 desc = "Implements the Multimodal-iSAMv2 algorithm."
-version = "0.35.4"
+version = "0.35.5"
 
 [deps]
 ApproxManifoldProducts = "9bbbb610-88a1-53cd-9763-118ce10c1f89"
@@ -65,13 +65,13 @@ IncrInfrInterpolationsExt = "Interpolations"
 
 [compat]
 AMD = "0.5"
-ApproxManifoldProducts = "0.7, 0.8"
+ApproxManifoldProducts = "0.9"
 BSON = "0.2, 0.3"
 Combinatorics = "1.0"
 DataStructures = "0.16, 0.17, 0.18"
 DelimitedFiles = "1"
 DifferentialEquations = "7"
-DistributedFactorGraphs = "0.23, 0.24"
+DistributedFactorGraphs = "0.25"
 Distributions = "0.24, 0.25"
 DocStringExtensions = "0.8, 0.9"
 FileIO = "1"
@@ -85,15 +85,15 @@ JSON3 = "1"
 KernelDensityEstimate = "0.5.6"
 LinearAlgebra = "1.10"
 ManifoldDiff = "0.3"
-Manifolds = "0.9.12"
+Manifolds = "0.10"
 ManifoldsBase = "0.15"
-Manopt = "0.4.40"
-MetaGraphs = "0.7"
+Manopt = "0.4.40, 0.5"
+MetaGraphs = "0.7, 0.8"
 Optim = "1"
 OrderedCollections = "1"
 PrecompileTools = "1"
 ProgressMeter = "1"
-RecursiveArrayTools = "2.31.1, 3"
+RecursiveArrayTools = "3"
 Reexport = "1"
 SparseDiffTools = "2"
 StaticArrays = "1"
diff --git a/src/Serialization/services/SerializingDistributions.jl b/src/Serialization/services/SerializingDistributions.jl
@@ -24,7 +24,8 @@ function unpackDistribution(dtr::PackedZeroMeanDiagNormal)
   return MvNormal(LinearAlgebra.Diagonal(map(abs2, sqrt.(dtr.diag))))
 end # sqrt.(dtr.diag)
 function unpackDistribution(dtr::PackedZeroMeanFullNormal)
-  return MvNormal(reshape(dtr.cov, length(dtr.mu), :))
+  d = round(Int,sqrt(size(dtr.cov)[1]))
+  return MvNormal(reshape(dtr.cov, d, d))
 end
 unpackDistribution(dtr::PackedDiagNormal) = MvNormal(dtr.mu, sqrt.(dtr.diag))
 function unpackDistribution(dtr::PackedFullNormal)
diff --git a/src/parametric/services/ParametricManopt.jl b/src/parametric/services/ParametricManopt.jl
@@ -259,7 +259,7 @@ function getSparsityPattern(fg, varLabels, factLabels)
 
   vdims = getDimension.(getVariable.(fg, biadj.varLabels))
   fdims = getDimension.(getFactor.(fg, biadj.facLabels))
- 
+
   c_end = cumsum(vdims)
   r_end = cumsum(fdims)
 
@@ -272,7 +272,7 @@ function getSparsityPattern(fg, varLabels, factLabels)
     vec(CartesianIndices((R_range[R], C_range[C])))
   end)
 
-  vec(CartesianIndices((R_range[2], C_range[1])))
+  # vec(CartesianIndices((R_range[2], C_range[1])))
 
   return sparse(getindex.(iter,1), getindex.(iter,2), ones(Bool, length(iter)))
 end
diff --git a/src/services/FGOSUtils.jl b/src/services/FGOSUtils.jl
@@ -119,7 +119,7 @@ function manikde!(
   variableType::Union{InstanceType{<:InferenceVariable}, InstanceType{<:AbstractFactor}},
   pts::AbstractVector{P};
   kw...,
-) where {P <: Union{<:AbstractArray, <:Number, <:Manifolds.ArrayPartition}}
+) where {P <: Union{<:AbstractArray, <:Number, <: ArrayPartition}}
   #
   M = getManifold(variableType)
   # @info "pts" P typeof(pts[1]) pts[1]
diff --git a/src/services/FactorGraph.jl b/src/services/FactorGraph.jl
@@ -104,7 +104,7 @@ end
 function setVal!(
   vd::VariableNodeData,
   val::AbstractVector{P},
-  bw::Array{Float64, 2},
+  bw::AbstractMatrix{Float64},
 ) where {P}
   setVal!(vd, val)
   setBW!(vd, bw)
@@ -113,7 +113,7 @@ end
 function setVal!(
   v::DFGVariable,
   val::AbstractVector{P},
-  bw::Array{Float64, 2};
+  bw::AbstractMatrix{Float64};
   solveKey::Symbol = :default,
 ) where {P}
   setVal!(v, val; solveKey = solveKey)
@@ -123,15 +123,15 @@ end
 function setVal!(
   vd::VariableNodeData,
   val::AbstractVector{P},
-  bw::Vector{Float64},
+  bw::AbstractVector{Float64},
 ) where {P}
   setVal!(vd, val, reshape(bw, length(bw), 1))
   return nothing
 end
 function setVal!(
   v::DFGVariable,
   val::AbstractVector{P},
-  bw::Vector{Float64};
+  bw::AbstractVector{Float64};
   solveKey::Symbol = :default,
 ) where {P}
   setVal!(getSolverData(v, solveKey), val, bw)
diff --git a/src/services/GraphInit.jl b/src/services/GraphInit.jl
@@ -391,7 +391,7 @@ function initVariable!(
   # TODO ArrayPartition inputs
   _prodrepr(pt) = pt
   # _prodrepr(pt::Tuple) = Manifolds.ProductRepr(pt...)
-  _prodrepr(pt::Tuple) = Manifolds.ArrayPartition(pt...)
+  _prodrepr(pt::Tuple) = ArrayPartition(pt...)
 
   M = getManifold(vari)
   pp = manikde!(M, _prodrepr.(pts); bw)
diff --git a/test/basicGraphsOperations.jl b/test/basicGraphsOperations.jl
@@ -30,7 +30,7 @@ varT = LinearRelative{1}
 manikde!(varT, pts)
 
 
-DFG.@defVariable _TestManiKde IIF.Manifolds.SpecialEuclidean(2) ArrayPartition([0;0.], [1 0; 0 1.])
+DFG.@defVariable _TestManiKde IIF.Manifolds.SpecialEuclidean(2; vectors=HybridTangentRepresentation()) ArrayPartition([0;0.], [1 0; 0 1.])
 
 # construct directly with ArrayPartition
 pts = [ArrayPartition(randn(2), [1 0; 0 1.]) for _ in 1:100]
diff --git a/test/manifolds/factordiff.jl b/test/manifolds/factordiff.jl
@@ -83,7 +83,7 @@ end
 ##
 
 
-M = SpecialEuclidean(2)
+M = SpecialEuclidean(2; vectors=HybridTangentRepresentation())
 z = ArrayPartition(SA[10.0; 0.0], SMatrix{2,2}(0.0, -1.0, 1.0, 0.0))
 
 p1 = ArrayPartition(SA[0.0; 0.0], SMatrix{2,2}(1, 0, 0, 1.))
diff --git a/test/manifolds/manifolddiff.jl b/test/manifolds/manifolddiff.jl
@@ -119,10 +119,10 @@ sol = Optim.optimize(f, g_FD!, x0, Optim.ConjugateGradient(; manifold=ManifoldWr
 end
 
 
-@testset "Modified Manifolds.jl ManifoldWrapper <: Optim.Manifold for SpecialEuclidean(2)" begin
+@testset "Modified Manifolds.jl ManifoldWrapper <: Optim.Manifold for SpecialEuclidean(2; vectors=HybridTangentRepresentation())" begin
 ##
 
-M = Manifolds.SpecialEuclidean(2)
+M = Manifolds.SpecialEuclidean(2; vectors=HybridTangentRepresentation())
 e0 = ArrayPartition([0,0.], [1 0; 0 1.])
 
 x0 = deepcopy(e0)
@@ -171,7 +171,7 @@ end
 ##
 
 
-M = Manifolds.SpecialEuclidean(3)
+M = Manifolds.SpecialEuclidean(3; vectors=HybridTangentRepresentation())
 e0 = ArrayPartition([0,0,0.], Matrix(_Rot.RotXYZ(0,0,0.)))
 
 x0 = deepcopy(e0)
@@ -217,7 +217,7 @@ end
 @testset "Optim.Manifolds, SpecialEuclidean(3), using IIF.optimizeManifold_FD" begin
 ##
 
-M = Manifolds.SpecialEuclidean(3)
+M = Manifolds.SpecialEuclidean(3; vectors=HybridTangentRepresentation())
 e0 = ArrayPartition([0,0,0.], Matrix(_Rot.RotXYZ(0,0,0.)))
 
 x0 = deepcopy(e0)
diff --git a/test/testBasicManifolds.jl b/test/testBasicManifolds.jl
@@ -11,7 +11,7 @@ using Test
 
 w = [-0.0;-0.78;-0.18]
 
-M = SpecialEuclidean(3)
+M = SpecialEuclidean(3; vectors=HybridTangentRepresentation())
 Mr = M.manifold[2]
 pPq = ArrayPartition(zeros(3), exp(Mr, Identity(Mr), hat(Mr, Identity(Mr), w)))
 rPc_ = exp(M, Identity(M), hat(M, Identity(M), [zeros(3);w]))
diff --git a/test/testCompareVariablesFactors.jl b/test/testCompareVariablesFactors.jl
@@ -109,8 +109,7 @@ sfg = buildSubgraph(fg, [:x0;:x1], 1) # distance=1 to include factors
 
 #FIXME JT - this doesn't make sense to pass, it is a subgraph so should it not rather be ⊂ [subset]?
 # compareDFG(fg1, fg2, by=⊂, skip=...)
-@test fg.sessionLabel == sfg.sessionLabel[1:length(fg.sessionLabel)]
-@test compareFactorGraphs(fg, sfg, skip=[:labelDict;:addHistory;:logpath;:sessionLabel; :particleidx; :varidx])
+@test_broken compareFactorGraphs(fg, sfg, skip=[:labelDict;:addHistory;:logpath;:sessionLabel; :particleidx; :varidx])
 
 # drawGraph(sfg)
 
diff --git a/test/testSpecialEuclidean2Mani.jl b/test/testSpecialEuclidean2Mani.jl

Original file line number	Diff line number	Diff line change
`@@ -119,7 +119,7 @@ function manikde!(`
`119`	`119`	`variableType::Union{InstanceType{<:InferenceVariable}, InstanceType{<:AbstractFactor}},`
`120`	`120`	`pts::AbstractVector{P};`
`121`	`121`	`kw...,`
`122`		`-) where {P <: Union{<:AbstractArray, <:Number, <:Manifolds.ArrayPartition}}`
	`122`	`+) where {P <: Union{<:AbstractArray, <:Number, <: ArrayPartition}}`
`123`	`123`	`#`
`124`	`124`	`M = getManifold(variableType)`
`125`	`125`	`# @info "pts" P typeof(pts[1]) pts[1]`