cleanup and fixes

Author: dehann

Project.toml

@@ -35,7 +35,7 @@ ManifoldsBase = "0.11"
 Neo4j = "2"
 Pkg = "1.4, 1.5"
 Reexport = "0.2, 0.3, 0.4, 0.5, 1"
-Requires = "0.5, 0.6, 0.7, 0.8, 0.9, 0.10, 1"
+Requires = "0.5, 1"
 TensorCast = "0.3.3, 0.4"
 TimeZones = "1.3.1"
 Unmarshal = "0.4"

src/services/CompareUtils.jl

@@ -239,10 +239,19 @@ function compareFactor(A::DFGFactor,
   TP =  compareAll(A, B, skip=union([:attributes;:solverData;:_variableOrderSymbols],skip), show=show)
   # TP = TP & compareAll(A.attributes, B.attributes, skip=[:data;], show=show)
   TP = TP & compareAllSpecial(getSolverData(A), getSolverData(B), skip=union([:fnc], skip), show=show)
+  if :fnc in skip
+    return TP
+  end
   TP = TP & compareAllSpecial(getSolverData(A).fnc, getSolverData(B).fnc, skip=union([:cpt;:measurement;:params;:varidx;:threadmodel], skip), show=show)
+  if !(:measurement in skip)
   TP = TP & (skipsamples || compareAll(getSolverData(A).fnc.measurement, getSolverData(B).fnc.measurement, show=show, skip=skip))
-  TP = TP & (skipcompute || compareAll(getSolverData(A).fnc.params, getSolverData(B).fnc.params, show=show, skip=skip))
-  TP = TP & (skipcompute || compareAll(getSolverData(A).fnc.varidx, getSolverData(B).fnc.varidx, show=show, skip=skip))
+  end
+  if !(:params in skip)
+    TP = TP & (skipcompute || compareAll(getSolverData(A).fnc.params, getSolverData(B).fnc.params, show=show, skip=skip))
+  end
+  if !(:varidx in skip)
+    TP = TP & (skipcompute || compareAll(getSolverData(A).fnc.varidx, getSolverData(B).fnc.varidx, show=show, skip=skip))
+  end
 
   return TP
 end
@@ -339,11 +348,12 @@ Related:
 
 `compareFactorGraphs`, `compareSimilarVariables`, `compareAllVariables`, `ls`.
 """
-function compareSimilarFactors(fgA::G1,
-                               fgB::G2;
-                               skipsamples::Bool=true,
-                               skipcompute::Bool=true,
-                               show::Bool=true  )::Bool where {G1 <: AbstractDFG, G2 <: AbstractDFG}
+function compareSimilarFactors( fgA::G1,
+                                fgB::G2;
+                                skipsamples::Bool=true,
+                                skipcompute::Bool=true,
+                                skip::AbstractVector{Symbol}=Symbol[],
+                                show::Bool=true  ) where {G1 <: AbstractDFG, G2 <: AbstractDFG}
   #
   xlA = listFactors(fgA)
   xlB = listFactors(fgB)
@@ -354,7 +364,8 @@ function compareSimilarFactors(fgA::G1,
 
   # compare the common set
   for var in xlAB
-    TP = TP && compareFactor(getFactor(fgA, var), getFactor(fgB, var), skipsamples=skipsamples, skipcompute=skipcompute, show=show)
+    TP = TP && compareFactor( getFactor(fgA, var), getFactor(fgB, var), 
+                              skipsamples=skipsamples, skipcompute=skipcompute, skip=skip, show=show)
   end
 
   # return comparison result
@@ -376,12 +387,12 @@ Related:
 
 `compareSimilarVariables`, `compareSimilarFactors`, `compareAllVariables`, `ls`.
 """
-function compareFactorGraphs(fgA::G1,
-                             fgB::G2;
-                             skipsamples::Bool=true,
-                             skipcompute::Bool=true,
-                             skip::Vector{Symbol}=Symbol[],
-                             show::Bool=true  )::Bool where {G1 <: AbstractDFG, G2 <: AbstractDFG}
+function compareFactorGraphs( fgA::G1,
+                              fgB::G2;
+                              skipsamples::Bool=true,
+                              skipcompute::Bool=true,
+                              skip::Vector{Symbol}=Symbol[],
+                              show::Bool=true  ) where {G1 <: AbstractDFG, G2 <: AbstractDFG}
   #
   skiplist = Symbol[:g;:bn;:IDs;:fIDs;:id;:nodeIDs;:factorIDs;:fifo;:solverParams; :factorOperationalMemoryType]
   skiplist = union(skiplist, skip)

src/services/DFGVariable.jl

@@ -38,6 +38,9 @@ getLastUpdatedTimestamp(est::AbstractPointParametricEst) = est.lastUpdatedTimest
 
 Variable nodes `variableType` information holding a variety of meta data associated with the type of variable stored in that node of the factor graph.
 
+Notes
+- API Quirk in that this function returns and instance of `::T` not a `::Type{<:InferenceVariable}`.
+
 DevWork
 - TODO, see IncrementalInference.jl 1228
 
@@ -134,6 +137,9 @@ getPointType(::T) where {T <: InferenceVariable} = getPointType(T)
 """
     $SIGNATURES
 Interface function to return the user provided identity point for this InferenceVariable manifold, extend this function for all Types<:InferenceVariable.
+
+Notes
+- Used in transition period for Serialization.  This function will likely be changed or deprecated entirely.
 """
 function getPointIdentity end
 getPointIdentity(::T) where {T <: InferenceVariable} = getPointIdentity(T)
@@ -145,31 +151,39 @@ getPointIdentity(::T) where {T <: InferenceVariable} = getPointIdentity(T)
 Default escalzation from coordinates to a group representation point.  Override if defaults are not correct.
 E.g. coords -> se(2) -> SE(2).
 
+DevNotes
+- TODO Likely remove as part of serialization updates, see #590
+- Used in transition period for Serialization.  This function will likely be changed or deprecated entirely.
+
 Related
 
 [`getCoordinates`](@ref)
 """
 function getPoint(::Type{T}, v::AbstractVector) where {T <: InferenceVariable}
     M = getManifold(T)
     p0 = getPointIdentity(T)
-    X = get_vector(M, p0, v, DefaultOrthonormalBasis())
-    exp(M, p0, X)
+    X = ManifoldsBase.get_vector(M, p0, v, ManifoldsBase.DefaultOrthonormalBasis())
+    ManifoldsBase.exp(M, p0, X)
 end
 
 """
     $SIGNATURES
 
 Default reduction of a variable point value (a group element) into coordinates as `Vector`.  Override if defaults are not correct.
 
+DevNotes
+- TODO Likely remove as part of serialization updates, see #590
+- Used in transition period for Serialization.  This function will likely be changed or deprecated entirely.
+
 Related
 
 [`getPoint`](@ref)
 """
 function getCoordinates(::Type{T}, p) where {T <: InferenceVariable}
     M = getManifold(T)
     p0 = getPointIdentity(T)
-    X = log(M, p0, p)
-    get_coordinates(M, p0, X, DefaultOrthonormalBasis())
+    X = ManifoldsBase.log(M, p0, p)
+    ManifoldsBase.get_coordinates(M, p0, X, ManifoldsBase.DefaultOrthonormalBasis())
 end
 
 

src/services/Serialization.jl

@@ -252,7 +252,7 @@ function unpackVariableNodeData(dfg::G, d::PackedVariableNodeData) where G <: Ab
     @cast val_[j][i] := M3[i,j]
     vals = Vector{getPointType(T)}(undef, length(val_))
     # vals = getPoint.(T, val_)
-    for v in val_
+    for (i,v) in enumerate(val_)
       vals[i] = getPoint(T, v)
     end