Merge pull request #658 from JuliaRobotics/23Q1/enh/dfg20

updates for DFG v0.20 and IIF v0.33
JuliaRobotics · Mar 11, 2023 · ee5b195 · ee5b195
2 parents 7353ae1 + 5a79f48
commit ee5b195
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Showing 4 changed files with 13 additions and 5 deletions.
diff --git a/Project.toml b/Project.toml
@@ -36,11 +36,11 @@ TransformUtils = "9b8138ad-1b09-5408-aa39-e87ed6d21b63"
 [compat]
 ApproxManifoldProducts = "0.6.2"
 CoordinateTransformations = "0.5, 0.6"
-DistributedFactorGraphs = "0.19, 0.20"
+DistributedFactorGraphs = "0.20"
 Distributions = "0.24, 0.25"
 DocStringExtensions = "0.8, 0.9"
 FileIO = "1"
-IncrementalInference = "0.32"
+IncrementalInference = "0.33"
 JLD2 = "0.3, 0.4"
 KernelDensityEstimate = "0.5.1, 0.6"
 Manifolds = "0.8.11"
@@ -62,9 +62,8 @@ Flux = "587475ba-b771-5e3f-ad9e-33799f191a9c"
 ImageCore = "a09fc81d-aa75-5fe9-8630-4744c3626534"
 ImageIO = "82e4d734-157c-48bb-816b-45c225c6df19"
 Interpolations = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59"
-JSON2 = "2535ab7d-5cd8-5a07-80ac-9b1792aadce3"
 JSON3 = "0f8b85d8-7281-11e9-16c2-39a750bddbf1"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [targets]
-test = ["Flux", "ImageCore", "ImageIO", "Interpolations", "JSON2", "JSON3", "Test"]
+test = ["Flux", "ImageCore", "ImageIO", "Interpolations", "JSON3", "Test"]
diff --git a/test/testPoint2Point2.jl b/test/testPoint2Point2.jl
@@ -126,6 +126,15 @@ point2point2rangeString = """
 jback = JSON3.read(point2point2rangeString, PackedFactor)
 f = unpackFactor(fg, jback)
 
+# f1 = addFactor!(fg, [:x0, :l3], Point2Point2Range(Normal(89.44271909999159, 3.0)); inflation=5, graphinit=false)
+# pf = DFG.packFactor(fg, f1)
+# jstr = JSON3.write(pf)
+point2point2rangeString = "{\"label\":\"x0l3f1\",\"tags\":[\"FACTOR\"],\"_variableOrderSymbols\":[\"x0\",\"l3\"],\"timestamp\":\"2023-03-10T17:28:37.230-08:00\",\"nstime\":0,\"fnctype\":\"Point2Point2Range\",\"solvable\":1,\"data\":\"{\\\"eliminated\\\":false,\\\"potentialused\\\":false,\\\"edgeIDs\\\":[],\\\"fnc\\\":{\\\"Z\\\":{\\\"_type\\\":\\\"IncrementalInference.PackedNormal\\\",\\\"mu\\\":89.44271909999159,\\\"sigma\\\":3.0}},\\\"multihypo\\\":[],\\\"certainhypo\\\":[1,2],\\\"nullhypo\\\":0.0,\\\"solveInProgress\\\":0,\\\"inflation\\\":5.0}\",\"metadata\":\"e30=\",\"_version\":\"0.20.0\"}"
+
+f_ = JSON3.read(point2point2rangeString, DFG.PackedFactor)
+f = DFG.unpackFactor(fg, f_)
+
+addFactor!(fg, f)
 
 ##
 end

diff --git a/test/testdata/g2otest.tar.gz b/test/testdata/g2otest.tar.gz
diff --git a/test/testpackingconverters.jl b/test/testpackingconverters.jl
@@ -177,7 +177,7 @@ global unpackeddata = reconstFactorData(fg, getVariableOrder(f1), IncrementalInf
 # @test compareAll(DFG.getSolverData(f1).fnc.cpt[1], unpackeddata.fnc.cpt[1], skip=[:factormetadata;:activehypo])
 
 # @test compareAll(DFG.getSolverData(f1).fnc.params, unpackeddata.fnc.params)
-@warn "threadmodel is not defined, fix with DFG"
+@warn "threadmodel is obsolete"
 # @test compareAll(DFG.getSolverData(f1).fnc.threadmodel, unpackeddata.fnc.threadmodel)
 
 # TODO: Ref above