Matlab toolbox testSerialization fails
Issue #398
closed
As mentioned in Issue #397, the matlab serialization test fails.
(Built develop 34cdd4f on Ubuntu 18.04.1 LTS (bionic) with Matlab2018b.)
The values serialization part of the test can be solved by adding GenericValue to gtsam.h:
#include <gtsam/base/GenericValue.h>
template<T = {Vector, gtsam::Point2, gtsam::Point3, gtsam::Pose2, gtsam::Pose3}>
virtual class GenericValue : gtsam::Value {
void serializable() const;
};
But to fix the graph serialization part of the test, the BearingRangeFactor serialization code needs to be written. It looks like this might be a known issue as it is already commented in the test:
% BearingRange Factors - FAIL: unregistered class
degrees = pi/180;
brNoise = noiseModel.Diagonal.Sigmas([0.1; 0.2]);
graph.add(BearingRangeFactor2D(i1, j1, Rot2(45*degrees), sqrt(4+4), brNoise));
graph.add(BearingRangeFactor2D(i2, j1, Rot2(90*degrees), 2, brNoise));
graph.add(BearingRangeFactor2D(i3, j2, Rot2(90*degrees), 2, brNoise));
Comments (20)
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reporter
Thanks for the reply. I am way from my desk for a few days but will give this a go once I am back.
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@crown_crobinso A fix just went in for the
HEADofdevelop. When you have time, please pull and let's see where you are with this and the other issues. Thanks! -
reporter
@mikesheffler I have built
HEADofdevelop. With the matlab toolbox disabled it builds correctly, howevertestConcurrentIncrementalFilterfails:Start 200: testConcurrentIncrementalFilter 200/230 Test #200: testConcurrentIncrementalFilter ........***Failed 0.00 sec Not equal: expected: Values with 2 values: Value 3: (N5gtsam5Pose3E) R: [ 0.0688475 0.997523 -0.0144056; -0.973888 0.0640709 -0.2178; -0.216338 0.0290244 0.975887 ] [1.85516, -1.13164, 0.281898]'; Value 4: (N5gtsam5Pose3E) R: [ -0.61921 0.773488 -0.135258; -0.729781 -0.630464 -0.264451; -0.289825 -0.0650426 0.954867 ] [1.74411, -2.45635, 0.241236]'; actual: Values with 2 values: Value 3: (N5gtsam5Pose3E) R: [ -0.228457 0.953607 -0.196062; -0.889242 -0.286376 -0.356705; -0.396304 0.0928549 0.913412 ] [2.00029, -2.32672, 0.18745]'; Value 4: (N5gtsam5Pose3E) R: [ -0.835982 0.411466 -0.363083; -0.324894 -0.904339 -0.276794; -0.442241 -0.113431 0.889694 ] [1.03001, -3.41891, -0.177638]'; /home/crobinso/projects/gtsam-gtborg/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp:554: Failure: "assert_equal(expectedValues, actualValues, 1e-12)" Not equal: expected: Values with 1 values: Value 3: (N5gtsam5Pose3E) R: [ 0.533824 0.845011 0.0314304; -0.829427 0.530489 -0.175021; -0.164568 0.067361 0.984063 ] [1.60673, -0.838999, 0.259172]'; actual: Values with 1 values: Value 3: (N5gtsam5Pose3E) R: [ -0.228457 0.953607 -0.196062; -0.889242 -0.286376 -0.356705; -0.396304 0.0928549 0.913412 ] [2.00029, -2.32672, 0.18745]'; /home/crobinso/projects/gtsam-gtborg/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp:1043: Failure: "assert_equal(expectedFilterSeparatorValues2, actualFilterSeparatorValues2, 1e-6)" Not equal: expected: Values with 4 values: Value 1: (N5gtsam5Pose3E) R: [ 1 2.37007e-16 -4.33681e-17; -2.02095e-16 1 -1.80411e-16; 4.51028e-17 1.84748e-16 1 ] [-1.11022e-16, 1.38778e-17, -5.55112e-17]'; Value 2: (N5gtsam5Pose3E) R: [ 0.729461 0.682997 0.0374457; -0.676466 0.728435 -0.108514; -0.101392 0.0538262 0.993389 ] [1.10578, -0.176194, 0.176412]'; Value 3: (N5gtsam5Pose3E) R: [ 0.0688475 0.997523 -0.0144056; -0.973888 0.0640709 -0.2178; -0.216338 0.0290244 0.975887 ] [1.85516, -1.13164, 0.281898]'; Value 4: (N5gtsam5Pose3E) R: [ -0.61921 0.773488 -0.135258; -0.729781 -0.630464 -0.264451; -0.289825 -0.0650426 0.954867 ] [1.74411, -2.45635, 0.241236]'; actual: Values with 4 values: Value 1: (N5gtsam5Pose3E) R: [ 0.994805 0.101321 0.00983263; -0.0998135 0.989834 -0.101321; -0.0199987 0.0998135 0.994805 ] [0.5, -0.05, 0.2]'; Value 2: (N5gtsam5Pose3E) R: [ 0.575027 0.817493 -0.0323996; -0.79046 0.544926 -0.279694; -0.210993 0.186442 0.959542 ] [1.76755, -0.848289, 0.353801]'; Value 3: (N5gtsam5Pose3E) R: [ -0.228457 0.953607 -0.196062; -0.889242 -0.286376 -0.356705; -0.396304 0.0928549 0.913412 ] [2.00029, -2.32672, 0.18745]'; Value 4: (N5gtsam5Pose3E) R: [ -0.835982 0.411466 -0.363083; -0.324894 -0.904339 -0.276794; -0.442241 -0.113431 0.889694 ] [1.03001, -3.41891, -0.177638]'; /home/crobinso/projects/gtsam-gtborg/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp:1414: Failure: "assert_equal(expectedValues, actualValues, 1e-6)" There were 3 failures 99% tests passed, 1 tests failed out of 230 Total Test time (real) = 3.32 sec The following tests FAILED: 200 - testConcurrentIncrementalFilter (Failed) Errors while running CTest CMakeFiles/check.dir/build.make:57: recipe for target 'CMakeFiles/check' failed make[3]: *** [CMakeFiles/check] Error 8 CMakeFiles/Makefile2:635: recipe for target 'CMakeFiles/check.dir/all' failed make[2]: *** [CMakeFiles/check.dir/all] Error 2 CMakeFiles/Makefile2:642: recipe for target 'CMakeFiles/check.dir/rule' failed make[1]: *** [CMakeFiles/check.dir/rule] Error 2 Makefile:223: recipe for target 'check' failed make: *** [check] Error 2With the matlab toolbox enabled, it still builds correctly, but lots of test fail:
Test project /home/crobinso/projects/gtsam-gtborg/build Start 1: testArgument 1/230 Test #1: testArgument ........................... Passed 0.00 sec Start 2: testClass 2/230 Test #2: testClass .............................. Passed 0.00 sec Start 3: testGlobalFunction 3/230 Test #3: testGlobalFunction ..................... Passed 0.00 sec Start 4: testMethod 4/230 Test #4: testMethod ............................. Passed 0.00 sec Start 5: testReturnValue 5/230 Test #5: testReturnValue ........................ Passed 0.00 sec Start 6: testSpirit 6/230 Test #6: testSpirit ............................. Passed 0.00 sec Start 7: testTemplate 7/230 Test #7: testTemplate ........................... Passed 0.00 sec Start 8: testType 8/230 Test #8: testType ............................... Passed 0.00 sec Start 9: testWrap 9/230 Test #9: testWrap ............................... Passed 0.01 sec Start 10: testCholesky 10/230 Test #10: testCholesky ........................... Passed 0.02 sec Start 11: testDSFVector 11/230 Test #11: testDSFVector .......................... Passed 0.00 sec Start 12: testDebug 12/230 Test #12: testDebug .............................. Passed 0.00 sec Start 13: testFastContainers 13/230 Test #13: testFastContainers ..................... Passed 0.00 sec Start 14: testGroup 14/230 Test #14: testGroup .............................. Passed 0.00 sec Start 15: testLieMatrix 15/230 Test #15: testLieMatrix .......................... Passed 0.00 sec Start 16: testLieScalar 16/230 Test #16: testLieScalar .......................... Passed 0.00 sec Start 17: testLieVector 17/230 Test #17: testLieVector .......................... Passed 0.00 sec Start 18: testMatrix 18/230 Test #18: testMatrix ............................. Passed 0.00 sec Start 19: testNumericalDerivative 19/230 Test #19: testNumericalDerivative ................ Passed 0.00 sec Start 20: testOptionalJacobian 20/230 Test #20: testOptionalJacobian ................... Passed 0.00 sec Start 21: testSerializationBase 21/230 Test #21: testSerializationBase .................. Passed 0.00 sec Start 22: testSymmetricBlockMatrix 22/230 Test #22: testSymmetricBlockMatrix ............... Passed 0.00 sec Start 23: testTestableAssertions 23/230 Test #23: testTestableAssertions ................. Passed 0.00 sec Start 24: testTreeTraversal 24/230 Test #24: testTreeTraversal ...................... Passed 0.00 sec Start 25: testVector 25/230 Test #25: testVector ............................. Passed 0.00 sec Start 26: testVerticalBlockMatrix 26/230 Test #26: testVerticalBlockMatrix ................ Passed 0.00 sec Start 27: testBearingRange 27/230 Test #27: testBearingRange ....................... Passed 0.00 sec Start 28: testCal3Bundler 28/230 Test #28: testCal3Bundler ........................ Passed 0.00 sec Start 29: testCal3DS2 29/230 Test #29: testCal3DS2 ............................ Passed 0.00 sec Start 30: testCal3Unified 30/230 Test #30: testCal3Unified ........................ Passed 0.00 sec Start 31: testCal3_S2 31/230 Test #31: testCal3_S2 ............................ Passed 0.00 sec Start 32: testCalibratedCamera 32/230 Test #32: testCalibratedCamera ................... Passed 0.00 sec Start 33: testCameraSet 33/230 Test #33: testCameraSet .......................... Passed 0.00 sec Start 34: testCyclic 34/230 Test #34: testCyclic ............................. Passed 0.00 sec Start 35: testEssentialMatrix 35/230 Test #35: testEssentialMatrix ....................***Failed 0.00 sec Not equal: expected: R: [ 1 6.12323e-17 0; 0 0 1; -1 0 0 ] d: :1 0 0 actual: R: [ 6.12323e-17 -1 0; 1 6.12323e-17 0; 0 0 1 ] d: :1 0 0 /home/crobinso/projects/gtsam-gtborg/gtsam/geometry/tests/testEssentialMatrix.cpp:39: Failure: "assert_equal( trueE, EssentialMatrix::FromRotationAndDirection(trueRotation, trueDirection, actualH1, actualH2), 1e-8)" not equal: expected = [ 2 0 0; 0 2 0; 0 0 1; 0 0 0; 0 0 0 ] actual = [ 1 0 0; 0 1 0; 0 0 1; 0 0 0; 0 0 0 ] actual - expected = [ -1 0 0; 0 -1 0; 0 0 1.11022e-16; 0 0 0; 0 0 0 ] /home/crobinso/projects/gtsam-gtborg/gtsam/geometry/tests/testEssentialMatrix.cpp:45: Failure: "assert_equal(expectedH1, actualH1, 1e-7)" Not equal: expected: R: [ 1 6.12323e-17 0; 0 0 1; -1 0 0 ] d: :1 0 0 actual: R: [ 6.12323e-17 -1 0; 1 6.12323e-17 0; 0 0 1 ] d: :1 0 0 /home/crobinso/projects/gtsam-gtborg/gtsam/geometry/tests/testEssentialMatrix.cpp:59: Failure: "assert_equal(expected, actual)" not equal: expected[0.1; 0.2; 0.3; 0; 0]; actual[0.2; 0.4; 0.31; 0; 0]; /home/crobinso/projects/gtsam-gtborg/gtsam/geometry/tests/testEssentialMatrix.cpp:83: Failure: "assert_equal(d.head(5), actual2, 1e-8)" not equal: expected = [ -1.69193449 -0.110259742 0.445618516 0.727812289 -0.770947066; -1.20177718 -0.809239784 0.82007435 -0.489461013 0.180362936; 0.363621268 -0.82007435 0 0.0823430334 0.553695821 ] actual = [ 0 2.12332916 -2.05555575 0.727812289 -0.770947066; -2.12332916 0 -0.491962574 -0.489461013 0.180362936; 2.05555575 0.491962574 0 -0.850454508 0.501768134 ] actual - expected = [ 1.69193449 2.2335889 -2.50117427 5.47195622e-12 -1.77449166e-11; -0.921551977 0.809239784 -1.31203692 -2.0384805e-12 -1.36642087e-11; 1.69193449 1.31203692 0 -0.932797542 -0.0519276873 ] /home/crobinso/projects/gtsam-gtborg/gtsam/geometry/tests/testEssentialMatrix.cpp:132: Failure: "assert_equal(expH1, actH1, 1e-8)" not equal: expected = [ 0.612372436 -0.707106781 -0.573223305; 0.73919892 0.353553391 0.73919892; 0.280330086 0.612372436 0 ] actual = [ 0.612372436 -0.707106781 -0.573223305; 0.73919892 0.353553391 0.73919892; 0.280330086 0.612372436 0.975845411 ] actual - expected = [ 2.56328292e-12 -2.8613778e-12 -2.69806399e-12; -1.2738699e-12 -1.52226565e-11 -1.27398092e-12; -3.79529741e-13 2.56328292e-12 0.975845411 ] /home/crobinso/projects/gtsam-gtborg/gtsam/geometry/tests/testEssentialMatrix.cpp:133: Failure: "assert_equal(expH2, actH2, 1e-8)" Not equal: expected: R: [ 0 1 0; 1 0 6.123234e-17; 0 -1 1 ] d: :1 0 0 actual: R: [ 1 0 6.123234e-17; 1 0 0; 0 -1 0 ] d: :1 0 0 /home/crobinso/projects/gtsam-gtborg/gtsam/geometry/tests/testEssentialMatrix.cpp:151: Failure: "assert_equal(bodyE, bRc * trueE, 1e-8)" Not equal: expected: R: [ 0 1 0; 1 0 6.123234e-17; 0 -1 1 ] d: :1 0 0 actual: R: [ 1 0 6.123234e-17; 1 0 0; 0 -1 0 ] d: :1 0 0 /home/crobinso/projects/gtsam-gtborg/gtsam/geometry/tests/testEssentialMatrix.cpp:152: Failure: "assert_equal(bodyE, trueE.rotate(bRc), 1e-8)" Not equal: expected: R: [ 1 6.123234e-17 0; 0 0 1; -1 0 0 ] d: :1 0 0 actual: R: [ 0 0 -1; 0 1 1; -1 -6.123234e-17 0 ] d: : 1 0 -0 /home/crobinso/projects/gtsam-gtborg/gtsam/geometry/tests/testEssentialMatrix.cpp:155: Failure: "assert_equal(trueE, cRb * bodyE, 1e-8)" Not equal: expected: R: [ 1 6.123234e-17 0; 0 0 1; -1 0 0 ] d: :1 0 0 actual: R: [ 0 0 -1; 0 1 1; -1 -6.123234e-17 0 ] d: : 1 0 -0 /home/crobinso/projects/gtsam-gtborg/gtsam/geometry/tests/testEssentialMatrix.cpp:156: Failure: "assert_equal(trueE, bodyE.rotate(cRb), 1e-8)" not equal: expected = [ -0.111111111 -0.666666667 0 0 0; 5.19536679e-311 -3.11722008e-310 0 0 0; -1.33333333 0 0.666666667 0 0; 0 0 0 0 1; 0 0 0 -1 0 ] actual = [ 1 0 0 0 0; 0 0 1 0 0; -0 -1 -0 0 0; 0 0 0 0 1; 0 0 0 -1 0 ] actual - expected = [ 1.11111111 0.666666667 0 0 0; -5.19536679e-311 3.11722008e-310 1 0 0; 1.33333333 -1 -0.666666667 0 0; 0 0 0 0 1.25001121e-11; 0 0 0 -1.25001121e-11 0 ] /home/crobinso/projects/gtsam-gtborg/gtsam/geometry/tests/testEssentialMatrix.cpp:166: Failure: "assert_equal(expH1, actH1, 1e-7)" Not equal: expected: R: [ 1 6.123234e-17 0; 0 0 1; -1 0 0 ] d: :1 0 0 actual: R: [ 6.123234e-17 -1 0; 1 6.123234e-17 0; 0 0 1 ] d: :1 0 0 /home/crobinso/projects/gtsam-gtborg/gtsam/geometry/tests/testEssentialMatrix.cpp:174: Failure: "assert_equal(trueE, EssentialMatrix::FromPose3(pose, actualH), 1e-8)" not equal: expected = [ 2 0 0 0 0 0; 0 2 0 0 0 0; 0 0 1 0 0 0; 0 0 0 0 0 9.99999995; 0 0 0 -9.99999995 -6.12323406e-16 0 ] actual = [ 1 0 0 0 0 0; 0 1 0 0 0 0; 0 0 1 0 0 0; 0 0 0 0 0 10; 0 0 0 -10 -6.123234e-16 0 ] actual - expected = [ -1 0 0 0 0 0; 0 -1 0 0 0 0; 0 0 1.11022302e-16 0 0 0; 0 0 0 0 0 4.58333336e-08; 0 0 0 -4.58333336e-08 6.1232339e-24 0 ] /home/crobinso/projects/gtsam-gtborg/gtsam/geometry/tests/testEssentialMatrix.cpp:177: Failure: "assert_equal(expectedH, actualH, 1e-7)" Not equal: expected: R: [ 0.097843395 0.944702486 -0.312991826; 0.198669331 0.289629478 0.936293364; -0.153791998 -0.159345079 6.95293642e-310 ] d: :0.455842306 0.569802882 0.683763459 actual: R: [ 0.975170327 -0.153791998 -0.159345079; 0.097843395 0.944702486 -0.312991826; 0.198669331 0.289629478 0.936293364 ] d: :0.455842306 0.569802882 0.683763459 /home/crobinso/projects/gtsam-gtborg/gtsam/geometry/tests/testEssentialMatrix.cpp:187: Failure: "assert_equal(E, EssentialMatrix::FromPose3(pose, actualH), 1e-8)" not equal: expected = [ 1.17767602 0.0861905953 -0.0863674987 0 0 0; 0.162356421 1.67293677 -0.212177331 0 0 0; -0.123687211 0.258566133 0.933694233 0 0 0; 0 0 0 -0.0592818681 0.615756664 -0.957094922; 0 0 0 -0.877309668 0.585751583 0.431189203 ] actual = [ 1 0 0 0 0 0; 0 1 0 0 0 0; 0 0 1 0 0 0; 0 0 0 -0.0592818681 0.615756664 -0.957094922; 0 0 0 -0.877309668 0.585751583 0.431189203 ] actual - expected = [ -0.17767602 -0.0861905953 0.0863674987 0 0 0; -0.162356421 -0.672936775 0.212177331 0 0 0; 0.123687211 -0.258566133 0.0663057669 0 0 0; 0 0 0 4.83599272e-12 -1.82104332e-11 -2.59630095e-11; 0 0 0 1.41365808e-11 -1.17228449e-11 1.21530008e-11 ] /home/crobinso/projects/gtsam-gtborg/gtsam/geometry/tests/testEssentialMatrix.cpp:190: Failure: "assert_equal(expectedH, actualH, 1e-5)" Not equal: expected: R: [ 1 6.123234e-17 0; 0 0 1; -1 0 6.95293642e-310 ] d: :1 0 0 actual: R: [ 4.20674164e-20 -1 -2.05103429e-10; -2.05103429e-10 -2.05103429e-10 1; -1 -0 -2.05103429e-10 ] d: :1 0 0 /home/crobinso/projects/gtsam-gtborg/gtsam/geometry/tests/testEssentialMatrix.cpp:199: Failure: "assert_equal(expected, actual)" There were 16 failures Start 36: testOrientedPlane3 36/230 Test #36: testOrientedPlane3 ..................... Passed 0.01 sec Start 37: testPinholeCamera 37/230 Test #37: testPinholeCamera ...................... Passed 0.00 sec Start 38: testPinholePose 38/230 Test #38: testPinholePose ........................ Passed 0.00 sec Start 39: testPinholeSet 39/230 Test #39: testPinholeSet ......................... Passed 0.00 sec Start 40: testPoint2 40/230 Test #40: testPoint2 ............................. Passed 0.00 sec Start 41: testPoint3 41/230 Test #41: testPoint3 ............................. Passed 0.00 sec Start 42: testPose2 42/230 Test #42: testPose2 .............................. Passed 0.00 sec Start 43: testPose3 43/230 Test #43: testPose3 .............................. Passed 0.00 sec Start 44: testQuaternion 44/230 Test #44: testQuaternion ......................... Passed 0.00 sec Start 45: testRot2 45/230 Test #45: testRot2 ............................... Passed 0.00 sec Start 46: testRot3 46/230 Test #46: testRot3 ............................... Passed 0.00 sec Start 47: testRot3M 47/230 Test #47: testRot3M .............................. Passed 0.00 sec Start 48: testRot3Q 48/230 Test #48: testRot3Q .............................. Passed 0.00 sec Start 49: testSO3 49/230 Test #49: testSO3 ................................ Passed 0.00 sec Start 50: testSerializationGeometry 50/230 Test #50: testSerializationGeometry .............. Passed 0.00 sec Start 51: testSimpleCamera 51/230 Test #51: testSimpleCamera ....................... Passed 0.00 sec Start 52: testStereoCamera 52/230 Test #52: testStereoCamera ....................... Passed 0.00 sec Start 53: testStereoPoint2 53/230 Test #53: testStereoPoint2 ....................... Passed 0.00 sec Start 54: testTriangulation 54/230 Test #54: testTriangulation ...................... Passed 0.00 sec Start 55: testUnit3 55/230 Test #55: testUnit3 .............................. Passed 0.01 sec Start 56: testKey 56/230 Test #56: testKey ................................ Passed 0.00 sec Start 57: testLabeledSymbol 57/230 Test #57: testLabeledSymbol ...................... Passed 0.00 sec Start 58: testOrdering 58/230 Test #58: testOrdering ...........................***Exception: SegFault 0.66 sec Start 59: testVariableSlots 59/230 Test #59: testVariableSlots ...................... Passed 0.00 sec Start 60: testSerializationSymbolic 60/230 Test #60: testSerializationSymbolic .............. Passed 0.00 sec Start 61: testSymbolicBayesNet 61/230 Test #61: testSymbolicBayesNet ................... Passed 0.00 sec Start 62: testSymbolicBayesTree 62/230 Test #62: testSymbolicBayesTree ..................***Failed 0.00 sec /home/crobinso/projects/gtsam-gtborg/build/gtsam/symbolic/tests/testSymbolicBayesTree: symbol lookup error: /home/crobinso/projects/gtsam-gtborg/build/gtsam/symbolic/tests/testSymbolicBayesTree: undefined symbol: _ZN5gtsam9BayesTreeINS_23SymbolicBayesTreeCliqueEE9removeTopERKSt6vectorImSaImEERNS_16SymbolicBayesNetERNS_8FastListIN5boost10shared_ptrIS1_EEEE Start 63: testSymbolicConditional 63/230 Test #63: testSymbolicConditional ................ Passed 0.00 sec Start 64: testSymbolicEliminationTree 64/230 Test #64: testSymbolicEliminationTree ............ Passed 0.00 sec Start 65: testSymbolicFactor 65/230 Test #65: testSymbolicFactor ..................... Passed 0.00 sec Start 66: testSymbolicFactorGraph 66/230 Test #66: testSymbolicFactorGraph ................ Passed 0.00 sec Start 67: testSymbolicISAM 67/230 Test #67: testSymbolicISAM ....................... Passed 0.00 sec Start 68: testSymbolicJunctionTree 68/230 Test #68: testSymbolicJunctionTree ............... Passed 0.00 sec Start 69: testVariableIndex 69/230 Test #69: testVariableIndex ...................... Passed 0.00 sec Start 70: testAlgebraicDecisionTree 70/230 Test #70: testAlgebraicDecisionTree .............. Passed 0.00 sec Start 71: testDecisionTree 71/230 Test #71: testDecisionTree ....................... Passed 0.00 sec Start 72: testDecisionTreeFactor 72/230 Test #72: testDecisionTreeFactor ................. Passed 0.00 sec Start 73: testDiscreteBayesNet 73/230 Test #73: testDiscreteBayesNet ................... Passed 0.00 sec Start 74: testDiscreteBayesTree 74/230 Test #74: testDiscreteBayesTree .................. Passed 0.00 sec Start 75: testDiscreteConditional 75/230 Test #75: testDiscreteConditional ................ Passed 0.00 sec Start 76: testDiscreteFactor 76/230 Test #76: testDiscreteFactor ..................... Passed 0.00 sec Start 77: testDiscreteFactorGraph 77/230 Test #77: testDiscreteFactorGraph ................ Passed 0.00 sec Start 78: testDiscreteMarginals 78/230 Test #78: testDiscreteMarginals .................. Passed 0.00 sec Start 79: testSignature 79/230 Test #79: testSignature .......................... Passed 0.00 sec Start 80: testErrors 80/230 Test #80: testErrors ............................. Passed 0.00 sec Start 81: testGaussianBayesNet 81/230 Test #81: testGaussianBayesNet ................... Passed 0.00 sec Start 82: testGaussianBayesTree 82/230 Test #82: testGaussianBayesTree .................. Passed 0.00 sec Start 83: testGaussianConditional 83/230 Test #83: testGaussianConditional ................ Passed 0.00 sec Start 84: testGaussianDensity 84/230 Test #84: testGaussianDensity .................... Passed 0.00 sec Start 85: testGaussianFactorGraph 85/230 Test #85: testGaussianFactorGraph ................ Passed 0.00 sec Start 86: testHessianFactor 86/230 Test #86: testHessianFactor ...................... Passed 0.00 sec Start 87: testJacobianFactor 87/230 Test #87: testJacobianFactor ..................... Passed 0.00 sec Start 88: testKalmanFilter 88/230 Test #88: testKalmanFilter ....................... Passed 0.00 sec Start 89: testNoiseModel 89/230 Test #89: testNoiseModel ......................... Passed 0.00 sec Start 90: testRegularHessianFactor 90/230 Test #90: testRegularHessianFactor ...............***Failed 0.00 sec /home/crobinso/projects/gtsam-gtborg/build/gtsam/linear/tests/testRegularHessianFactor: symbol lookup error: /home/crobinso/projects/gtsam-gtborg/build/gtsam/linear/tests/testRegularHessianFactor: undefined symbol: _ZNK5gtsam14JacobianFactor13updateHessianERKSt6vectorImSaImEEPNS_20SymmetricBlockMatrixE Start 91: testRegularJacobianFactor 91/230 Test #91: testRegularJacobianFactor ..............***Failed 0.00 sec /home/crobinso/projects/gtsam-gtborg/build/gtsam/linear/tests/testRegularJacobianFactor: symbol lookup error: /home/crobinso/projects/gtsam-gtborg/build/gtsam/linear/tests/testRegularJacobianFactor: undefined symbol: _ZNK5gtsam14JacobianFactor13updateHessianERKSt6vectorImSaImEEPNS_20SymmetricBlockMatrixE Start 92: testSampler 92/230 Test #92: testSampler ............................ Passed 0.00 sec Start 93: testScatter 93/230 Test #93: testScatter ............................ Passed 0.00 sec Start 94: testSerializationLinear 94/230 Test #94: testSerializationLinear ................ Passed 0.00 sec Start 95: testVectorValues 95/230 Test #95: testVectorValues ....................... Passed 0.00 sec Start 96: testAdaptAutoDiff 96/230 Test #96: testAdaptAutoDiff ...................... Passed 0.00 sec Start 97: testCallRecord 97/230 Test #97: testCallRecord ......................... Passed 0.00 sec Start 98: testExecutionTrace 98/230 Test #98: testExecutionTrace ..................... Passed 0.00 sec Start 99: testExpression 99/230 Test #99: testExpression ......................... Passed 0.00 sec Start 100: testLinearContainerFactor 100/230 Test #100: testLinearContainerFactor .............. Passed 0.00 sec Start 101: testSerializationNonlinear 101/230 Test #101: testSerializationNonlinear ............. Passed 0.00 sec Start 102: testValues 102/230 Test #102: testValues ............................. Passed 0.00 sec Start 103: testWhiteNoiseFactor 103/230 Test #103: testWhiteNoiseFactor ................... Passed 0.00 sec Start 104: testBearingFactor 104/230 Test #104: testBearingFactor ...................... Passed 0.00 sec Start 105: testBearingRangeFactor 105/230 Test #105: testBearingRangeFactor ................. Passed 0.00 sec Start 106: testRangeFactor 106/230 Test #106: testRangeFactor ........................ Passed 0.00 sec Start 107: testAntiFactor 107/230 Test #107: testAntiFactor ......................... Passed 0.00 sec Start 108: testBetweenFactor 108/230 Test #108: testBetweenFactor ...................... Passed 0.00 sec Start 109: testDataset 109/230 Test #109: testDataset ............................ Passed 0.11 sec Start 110: testEssentialMatrixConstraint 110/230 Test #110: testEssentialMatrixConstraint ..........***Failed 0.00 sec not equal: expected[0; 0; 0; 0; 0]; actual[0.116395271; 1.13817832; 2.73898487; -1.63958436e-09; 1.7237383e-10]; /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixConstraint.cpp:50: Failure: "assert_equal(expected, actual, 1e-8)" There were 1 failures Start 111: testEssentialMatrixFactor 111/230 Test #111: testEssentialMatrixFactor ..............***Failed 0.01 sec not equal: expected = [ 3.82603e-09 1 -0.1 -1.46378e-15 -0.1 ] actual = [ 3.82603e-09 1 -0.1 -3.82603e-08 3.82603e-08 ] actual - expected = [ 2.47013e-19 2.50001e-11 -2.50001e-12 -3.82603e-08 0.1 ] /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:110: Failure: "assert_equal(Hexpected, Hactual, 1e-8)" not equal: expected = [ 7.65206e-09 1 -0.2 3.82603e-09 -0.1 ] actual = [ 7.65206e-09 1 -0.2 0.1 3.74951e-08 ] actual - expected = [ 8.25852e-19 2.50002e-11 -5e-12 0.1 0.1 ] /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:110: Failure: "assert_equal(Hexpected, Hactual, 1e-8)" not equal: expected = [ -6.15422e-17 1 0 -3.82603e-09 -0.1 ] actual = [ -6.12323e-17 1 0 -0.1 3.82603e-08 ] actual - expected = [ 3.099e-19 2.50002e-11 0 -0.1 0.1 ] /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:110: Failure: "assert_equal(Hexpected, Hactual, 1e-8)" not equal: expected = [ -0.2 2 -0.2 -0.2 -0.2 ] actual = [ -0.2 2 -0.2 1 1 ] actual - expected = [ -2.01225e-12 4.24076e-11 -1.70547e-12 1.2 1.2 ] /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:110: Failure: "assert_equal(Hexpected, Hactual, 1e-8)" not equal: expected = [ 0.2 2 -0.2 0.2 -0.2 ] actual = [ 0.2 2 -0.2 1 -1 ] actual - expected = [ 7.25681e-12 5.35101e-11 -7.56317e-12 0.8 -0.8 ] /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:110: Failure: "assert_equal(Hexpected, Hactual, 1e-8)" Not equal: expected: A[1] = [ 3.82603e-09 1 -0.1 -1.46378e-15 -0.1 ] b = [ 0 ] No noise model actual: A[1] = [ 3.82603e-09 1 -0.1 -3.82603e-08 3.82603e-08 ] b = [ 0 ] No noise model not equal: expected = [ 3.82603e-09 1 -0.1 -1.46378e-15 -0.1 ] actual = [ 3.82603e-09 1 -0.1 -3.82603e-08 3.82603e-08 ] actual - expected = [ 2.47013e-19 2.50001e-11 -2.50001e-12 -3.82603e-08 0.1 ] Mismatch in Jacobian 1 (base 1), as shown above /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:126: Failure: "gtsam::internal::testExpressionJacobians(name_, expr, values, 1e-5, 1e-9)" Not equal: expected: A[1] = [ 7.65206e-09 1 -0.2 3.82603e-09 -0.1 ] b = [ 0 ] No noise model actual: A[1] = [ 7.65206e-09 1 -0.2 0.1 3.74951e-08 ] b = [ 0 ] No noise model not equal: expected = [ 7.65206e-09 1 -0.2 3.82603e-09 -0.1 ] actual = [ 7.65206e-09 1 -0.2 0.1 3.74951e-08 ] actual - expected = [ 8.25852e-19 2.50002e-11 -5e-12 0.1 0.1 ] Mismatch in Jacobian 1 (base 1), as shown above /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:126: Failure: "gtsam::internal::testExpressionJacobians(name_, expr, values, 1e-5, 1e-9)" Not equal: expected: A[1] = [ -6.15422e-17 1 0 -3.82603e-09 -0.1 ] b = [ 0 ] No noise model actual: A[1] = [ -6.12323e-17 1 0 -0.1 3.82603e-08 ] b = [ 0 ] No noise model not equal: expected = [ -6.15422e-17 1 0 -3.82603e-09 -0.1 ] actual = [ -6.12323e-17 1 0 -0.1 3.82603e-08 ] actual - expected = [ 3.099e-19 2.50002e-11 0 -0.1 0.1 ] Mismatch in Jacobian 1 (base 1), as shown above /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:126: Failure: "gtsam::internal::testExpressionJacobians(name_, expr, values, 1e-5, 1e-9)" Not equal: expected: A[1] = [ -0.2 2 -0.2 -0.2 -0.2 ] b = [ 0 ] No noise model actual: A[1] = [ -0.2 2 -0.2 1 1 ] b = [ 0 ] No noise model not equal: expected = [ -0.2 2 -0.2 -0.2 -0.2 ] actual = [ -0.2 2 -0.2 1 1 ] actual - expected = [ -2.01225e-12 4.24076e-11 -1.70547e-12 1.2 1.2 ] Mismatch in Jacobian 1 (base 1), as shown above /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:126: Failure: "gtsam::internal::testExpressionJacobians(name_, expr, values, 1e-5, 1e-9)" Not equal: expected: A[1] = [ 0.2 2 -0.2 0.2 -0.2 ] b = [ 0 ] No noise model actual: A[1] = [ 0.2 2 -0.2 1 -1 ] b = [ 0 ] No noise model not equal: expected = [ 0.2 2 -0.2 0.2 -0.2 ] actual = [ 0.2 2 -0.2 1 -1 ] actual - expected = [ 7.25681e-12 5.35101e-11 -7.56317e-12 0.8 -0.8 ] Mismatch in Jacobian 1 (base 1), as shown above /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:126: Failure: "gtsam::internal::testExpressionJacobians(name_, expr, values, 1e-5, 1e-9)" Not equal: expected: R: [ 1 -4.44089e-16 3.82603e-08; -3.82603e-08 -3.82603e-08 1; -1 -3.82603e-08 0 ] d: : 1 5.05322e-16 3.82603e-08 actual: R: [ 0.996072 0.0021271 0.0885239; -0.0885231 -0.000477 0.996074; -0.999998 -0.000286829 4.68679e-310 ] d: : 0.751877 -0.659181 0.0126933 /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:206: Failure: "assert_equal(trueE, actual, 1e-1)" /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:209: Failure: "expected 0 but was: 0.037300236308596239" /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:213: Failure: "expected 0 but was: 0.00061206833224342993" /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:213: Failure: "expected 0 but was: 0.00061998071497838814" /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:213: Failure: "expected 0 but was: 0.00059840736323708843" /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:213: Failure: "expected 0 but was: 0.00039225546500087916" /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:213: Failure: "expected 0 but was: 0.0024877877339595234" not equal: expected = [ -1 3.82603e-09 0 9.5953e-18 0.1; 3.82541e-09 -0.01 0 0.01 -3.83721e-10 ] actual = [ -3.82603e-09 -0.1 -1 9.58528e-18 0.1; 1.01 -3.82603e-08 3.82603e-09 0.01 -3.82603e-10 ] actual - expected = [ 1 -0.1 -1 -1.00155e-20 1.66672e-12; 1.01 0.00999997 3.82603e-09 -2.10863e-13 1.11804e-12 ] /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:314: Failure: "assert_equal(Hexpected1, Hactual1, 1e-8)" not equal: expected = [ -1 7.65206e-09 0 2.38228e-17 0.1; 7.65221e-09 -0.04 0 0.02 -7.66054e-10 ] actual = [ -7.65206e-09 -0.2 -1 2.42238e-17 0.1; 1.04 -3.82603e-08 7.65206e-09 0.02 -7.65206e-10 ] actual - expected = [ 1 -0.2 -1 4.0098e-19 1.66675e-12; 1.04 0.04 7.65206e-09 -1.75238e-12 8.48154e-13 ] /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:314: Failure: "assert_equal(Hexpected1, Hactual1, 1e-8)" not equal: expected = [ -1 -5.691e-17 0 -5.29396e-18 0.1; -5.72409e-17 4.30134e-18 0 -3.97562e-09 -3.87121e-17 ] actual = [ 1.52086e-15 3.97504e-08 -1 -5.05322e-18 0.1; 1 -3.82603e-08 -1.52086e-15 -3.97504e-09 1.58209e-16 ] actual - expected = [ 1 3.97504e-08 -1 2.40734e-19 1.66672e-12; 1 -3.82603e-08 -1.52086e-15 5.76668e-13 1.96922e-16 ] /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:314: Failure: "assert_equal(Hexpected1, Hactual1, 1e-8)" not equal: expected = [ -1 -0.2 -1 0.2 0.2; 4.59119e-08 0.96 -0.2 0.04 -1.53072e-09 ] actual = [ 0.2 -0.2 -2 0.2 0.2; 1.04 1 -0.2 0.04 -1.53041e-09 ] actual - expected = [ 1.2 2.29642e-08 -1 1.12104e-11 5.65922e-12; 1.04 0.04 4.59164e-08 5.17145e-12 3.08645e-13 ] /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:314: Failure: "assert_equal(Hexpected1, Hactual1, 1e-8)" not equal: expected = [ -1 0.2 -1 -0.2 0.2; -3.06088e-08 -1.04 0.2 0.04 -1.53211e-09 ] actual = [ -0.2 -0.2 -2 -0.2 0.2; 1.04 -1 0.2 0.04 -1.53041e-09 ] actual - expected = [ 0.8 -0.4 -1 -5.04594e-12 -5.05235e-13; 1.04 0.04 -3.06115e-08 2.54979e-12 1.69619e-12 ] /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:314: Failure: "assert_equal(Hexpected1, Hactual1, 1e-8)" Not equal: expected: R: [ 1 -4.44089e-16 3.82603e-08; -3.82603e-08 -3.82603e-08 1; -1 -3.82603e-08 0 ] d: : 1 5.05322e-16 3.82603e-08 actual: R: [ 0.996072 0.0021271 0.0885239; -0.0885231 -0.000477 0.996074; -0.999998 -0.000286829 1.97626e-322 ] d: : 0.751877 -0.659181 0.0126933 /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:420: Failure: "assert_equal(trueE, actual, 1e-1)" /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:423: Failure: "expected 0 but was: 0.03730023545779796" /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:427: Failure: "expected 0 but was: 0.0006120683130666309" /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:427: Failure: "expected 0 but was: 0.00061998069770924369" /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:427: Failure: "expected 0 but was: 0.00059840734244789862" /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:427: Failure: "expected 0 but was: 0.00039225543122034523" /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:427: Failure: "expected 0 but was: 0.0024877877191090692" not equal: expected = [ -500 1.91301e-06 0 4.74338e-15 50; 1.91271e-06 -5 0 5 -1.9186e-07 ] actual = [ -1.91301e-06 -50 -500 4.79264e-15 50; 505 -1.91301e-05 1.91301e-06 5 -1.91301e-07 ] actual - expected = [ 500 -50 -500 4.92554e-17 8.33374e-10; 505 4.99998 1.91301e-06 -1.05431e-10 5.59021e-10 ] /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:523: Failure: "assert_equal(Hexpected1, Hactual1, 1e-6)" not equal: expected = [ -500 3.82603e-06 0 1.23667e-14 50; 3.82541e-06 -20 0 10 -3.83027e-07 ] actual = [ -3.82603e-06 -100 -500 1.21119e-14 50; 520 -1.91301e-05 3.82603e-06 10 -3.82603e-07 ] actual - expected = [ 500 -100 -500 -2.5479e-16 8.3336e-10; 520 20 3.82603e-06 2.51948e-10 4.2408e-10 ] /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:523: Failure: "assert_equal(Hexpected1, Hactual1, 1e-6)" not equal: expected = [ -500 0 0 -2.5411e-15 50; 0 -2.5411e-14 0 -1.9133e-06 -2.21923e-14 ] actual = [ 7.31925e-13 1.91301e-05 -500 -2.52661e-15 50; 500 -1.91301e-05 -7.31925e-13 -1.91301e-06 7.62541e-14 ] actual - expected = [ 500 1.91301e-05 -500 1.44877e-17 8.33381e-10; 500 -1.91301e-05 -7.31925e-13 2.88334e-10 9.84464e-14 ] /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:523: Failure: "assert_equal(Hexpected1, Hactual1, 1e-6)" not equal: expected = [ -500 -100 -500 100 100; 2.29559e-05 480 -100 20 -7.6536e-07 ] actual = [ 100 -100 -1000 100 100; 520 500 -100 20 -7.65206e-07 ] actual - expected = [ 600 1.14821e-05 -500 5.60523e-09 2.82962e-09; 520 20 2.29582e-05 2.58572e-09 1.54323e-10 ] /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:523: Failure: "assert_equal(Hexpected1, Hactual1, 1e-6)" not equal: expected = [ -500 100 -500 -100 100; -1.53044e-05 -520 100 20 -7.66054e-07 ] actual = [ -100 -100 -1000 -100 100; 520 -500 100 20 -7.65206e-07 ] actual - expected = [ 400 -200 -500 -2.52297e-09 -2.52612e-10; 520 20 -1.53058e-05 1.27489e-09 8.48095e-10 ] /home/crobinso/projects/gtsam-gtborg/gtsam/slam/tests/testEssentialMatrixFactor.cpp:523: Failure: "assert_equal(Hexpected1, Hactual1, 1e-6)" There were 34 failures Start 112: testGeneralSFMFactor 112/230 Test #112: testGeneralSFMFactor ................... Passed 0.01 sec Start 113: testGeneralSFMFactor_Cal3Bundler 113/230 Test #113: testGeneralSFMFactor_Cal3Bundler ....... Passed 0.01 sec Start 114: testInitializePose3 114/230 Test #114: testInitializePose3 .................... Passed 0.01 sec Start 115: testLago 115/230 Test #115: testLago ............................... Passed 0.00 sec Start 116: testOrientedPlane3Factor 116/230 Test #116: testOrientedPlane3Factor ...............***Failed 0.00 sec /home/crobinso/projects/gtsam-gtborg/build/gtsam/slam/tests/testOrientedPlane3Factor: symbol lookup error: /home/crobinso/projects/gtsam-gtborg/build/gtsam/slam/tests/testOrientedPlane3Factor: undefined symbol: _ZN5gtsam5ISAM26updateERKNS_20NonlinearFactorGraphERKNS_6ValuesERKSt6vectorImSaImEERKN5boost8optionalINS_7FastMapImiEEEERKNSD_INS_8FastListImEEEESN_b Start 117: testPoseRotationPrior 117/230 Test #117: testPoseRotationPrior .................. Passed 0.00 sec Start 118: testPoseTranslationPrior 118/230 Test #118: testPoseTranslationPrior ............... Passed 0.00 sec Start 119: testPriorFactor 119/230 Test #119: testPriorFactor ........................ Passed 0.00 sec Start 120: testProjectionFactor 120/230 Test #120: testProjectionFactor ................... Passed 0.00 sec Start 121: testReferenceFrameFactor 121/230 Test #121: testReferenceFrameFactor ............... Passed 0.00 sec Start 122: testRegularImplicitSchurFactor 122/230 Test #122: testRegularImplicitSchurFactor .........***Failed 0.00 sec /home/crobinso/projects/gtsam-gtborg/build/gtsam/slam/tests/testRegularImplicitSchurFactor: symbol lookup error: /home/crobinso/projects/gtsam-gtborg/build/gtsam/slam/tests/testRegularImplicitSchurFactor: undefined symbol: _ZNK5gtsam14JacobianFactor13updateHessianERKSt6vectorImSaImEEPNS_20SymmetricBlockMatrixE Start 123: testRotateFactor 123/230 Test #123: testRotateFactor ....................... Passed 0.00 sec Start 124: testSlamExpressions 124/230 Test #124: testSlamExpressions .................... Passed 0.00 sec Start 125: testSmartFactorBase 125/230 Test #125: testSmartFactorBase .................... Passed 0.00 sec Start 126: testSmartProjectionCameraFactor 126/230 Test #126: testSmartProjectionCameraFactor ........***Failed 0.00 sec /home/crobinso/projects/gtsam-gtborg/build/gtsam/slam/tests/testSmartProjectionCameraFactor: symbol lookup error: /home/crobinso/projects/gtsam-gtborg/build/gtsam/slam/tests/testSmartProjectionCameraFactor: undefined symbol: _ZNK5gtsam13HessianFactor13updateHessianERKSt6vectorImSaImEEPNS_20SymmetricBlockMatrixE Start 127: testSmartProjectionPoseFactor 127/230 Test #127: testSmartProjectionPoseFactor ..........***Failed 0.00 sec /home/crobinso/projects/gtsam-gtborg/build/gtsam/slam/tests/testSmartProjectionPoseFactor: symbol lookup error: /home/crobinso/projects/gtsam-gtborg/build/gtsam/slam/tests/testSmartProjectionPoseFactor: undefined symbol: _ZNK5gtsam13HessianFactor13updateHessianERKSt6vectorImSaImEEPNS_20SymmetricBlockMatrixE Start 128: testStereoFactor 128/230 Test #128: testStereoFactor ....................... Passed 0.00 sec Start 129: testTriangulationFactor 129/230 Test #129: testTriangulationFactor ................ Passed 0.00 sec Start 130: testAHRSFactor 130/230 Test #130: testAHRSFactor ......................... Passed 0.00 sec Start 131: testAttitudeFactor 131/230 Test #131: testAttitudeFactor ..................... Passed 0.00 sec Start 132: testCombinedImuFactor 132/230 Test #132: testCombinedImuFactor .................. Passed 0.01 sec Start 133: testImuBias 133/230 Test #133: testImuBias ............................ Passed 0.00 sec Start 134: testImuFactor 134/230 Test #134: testImuFactor .......................... Passed 0.07 sec Start 135: testImuFactorSerialization 135/230 Test #135: testImuFactorSerialization ............. Passed 0.00 sec Start 136: testManifoldPreintegration 136/230 Test #136: testManifoldPreintegration ............. Passed 0.00 sec Start 137: testNavState 137/230 Test #137: testNavState ........................... Passed 0.00 sec Start 138: testPoseVelocityBias 138/230 Test #138: testPoseVelocityBias ................... Passed 0.00 sec Start 139: testScenario 139/230 Test #139: testScenario ........................... Passed 0.00 sec Start 140: testScenarios 140/230 Test #140: testScenarios .......................... Passed 1.09 sec Start 141: testTangentPreintegration 141/230 Test #141: testTangentPreintegration .............. Passed 0.01 sec Start 142: testBoundingConstraint 142/230 Test #142: testBoundingConstraint ................. Passed 0.00 sec Start 143: testDoglegOptimizer 143/230 Test #143: testDoglegOptimizer .................... Passed 0.00 sec Start 144: testExpressionFactor 144/230 Test #144: testExpressionFactor ................... Passed 0.00 sec Start 145: testExtendedKalmanFilter 145/230 Test #145: testExtendedKalmanFilter ............... Passed 0.00 sec Start 146: testGaussianBayesTreeB 146/230 Test #146: testGaussianBayesTreeB ................. Passed 0.00 sec Start 147: testGaussianFactorGraphB 147/230 Test #147: testGaussianFactorGraphB ............... Passed 0.00 sec Start 148: testGaussianISAM 148/230 Test #148: testGaussianISAM ....................... Passed 0.00 sec Start 149: testGaussianISAM2 149/230 Test #149: testGaussianISAM2 ......................***Failed 0.00 sec /home/crobinso/projects/gtsam-gtborg/build/tests/testGaussianISAM2: symbol lookup error: /home/crobinso/projects/gtsam-gtborg/build/tests/testGaussianISAM2: undefined symbol: _ZN5gtsam5ISAM26updateERKNS_20NonlinearFactorGraphERKNS_6ValuesERKSt6vectorImSaImEERKN5boost8optionalINS_7FastMapImiEEEERKNSD_INS_8FastListImEEEESN_b Start 150: testGaussianJunctionTreeB 150/230 Test #150: testGaussianJunctionTreeB .............. Passed 0.00 sec Start 151: testGeneralSFMFactorB 151/230 Test #151: testGeneralSFMFactorB .................. Passed 0.01 sec Start 152: testGradientDescentOptimizer 152/230 Test #152: testGradientDescentOptimizer ........... Passed 0.00 sec Start 153: testGraph 153/230 Test #153: testGraph .............................. Passed 0.00 sec Start 154: testIterative 154/230 Test #154: testIterative .......................... Passed 0.00 sec Start 155: testLie 155/230 Test #155: testLie ................................ Passed 0.00 sec Start 156: testManifold 156/230 Test #156: testManifold ........................... Passed 0.00 sec Start 157: testMarginals 157/230 Test #157: testMarginals .......................... Passed 0.00 sec Start 158: testNonlinearEquality 158/230 Test #158: testNonlinearEquality .................. Passed 0.00 sec Start 159: testNonlinearFactor 159/230 Test #159: testNonlinearFactor .................... Passed 0.00 sec Start 160: testNonlinearFactorGraph 160/230 Test #160: testNonlinearFactorGraph ............... Passed 0.00 sec Start 161: testNonlinearISAM 161/230 Test #161: testNonlinearISAM ...................... Passed 0.01 sec Start 162: testNonlinearOptimizer 162/230 Test #162: testNonlinearOptimizer ................. Passed 0.00 sec Start 163: testPCGSolver 163/230 Test #163: testPCGSolver .......................... Passed 0.00 sec Start 164: testPreconditioner 164/230 Test #164: testPreconditioner ..................... Passed 0.00 sec Start 165: testRot3Optimization 165/230 Test #165: testRot3Optimization ................... Passed 0.00 sec Start 166: testSerializationSLAM 166/230 Test #166: testSerializationSLAM .................. Passed 0.00 sec Start 167: testSimulated2D 167/230 Test #167: testSimulated2D ........................ Passed 0.00 sec Start 168: testSimulated2DOriented 168/230 Test #168: testSimulated2DOriented ................ Passed 0.00 sec Start 169: testSimulated3D 169/230 Test #169: testSimulated3D ........................ Passed 0.00 sec Start 170: testSubgraphPreconditioner 170/230 Test #170: testSubgraphPreconditioner ............. Passed 0.00 sec Start 171: testSubgraphSolver 171/230 Test #171: testSubgraphSolver ..................... Passed 0.00 sec Start 172: testBTree 172/230 Test #172: testBTree .............................. Passed 0.00 sec Start 173: testDSF 173/230 Test #173: testDSF ................................ Passed 0.00 sec Start 174: testDSFMap 174/230 Test #174: testDSFMap ............................. Passed 0.00 sec Start 175: testFixedVector 175/230 Test #175: testFixedVector ........................ Passed 0.00 sec Start 176: testBearingS2 176/230 Test #176: testBearingS2 .......................... Passed 0.01 sec Start 177: testEvent 177/230 Test #177: testEvent .............................. Passed 0.00 sec Start 178: testInvDepthCamera3 178/230 Test #178: testInvDepthCamera3 .................... Passed 0.00 sec Start 179: testPose3Upright 179/230 Test #179: testPose3Upright ....................... Passed 0.00 sec Start 180: testSimPolygon2D 180/230 Test #180: testSimPolygon2D ....................... Passed 0.00 sec Start 181: testSimWall2D 181/230 Test #181: testSimWall2D .......................... Passed 0.00 sec Start 182: testSimilarity3 182/230 Test #182: testSimilarity3 ........................ Passed 0.01 sec Start 183: testLPSolver 183/230 Test #183: testLPSolver ...........................***Failed 0.00 sec /home/crobinso/projects/gtsam-gtborg/build/gtsam_unstable/linear/tests/testLPSolver: symbol lookup error: /home/crobinso/projects/gtsam-gtborg/build/gtsam_unstable/linear/tests/testLPSolver: undefined symbol: _ZNK5gtsam14JacobianFactor13updateHessianERKSt6vectorImSaImEEPNS_20SymmetricBlockMatrixE Start 184: testLinearEquality 184/230 Test #184: testLinearEquality .....................***Failed 0.00 sec /home/crobinso/projects/gtsam-gtborg/build/gtsam_unstable/linear/tests/testLinearEquality: symbol lookup error: /home/crobinso/projects/gtsam-gtborg/build/gtsam_unstable/linear/tests/testLinearEquality: undefined symbol: _ZNK5gtsam14JacobianFactor13updateHessianERKSt6vectorImSaImEEPNS_20SymmetricBlockMatrixE Start 185: testQPSolver 185/230 Test #185: testQPSolver ...........................***Failed 0.00 sec /home/crobinso/projects/gtsam-gtborg/build/gtsam_unstable/linear/tests/testQPSolver: symbol lookup error: /home/crobinso/projects/gtsam-gtborg/build/gtsam_unstable/linear/tests/testQPSolver: undefined symbol: _ZNK5gtsam14JacobianFactor13updateHessianERKSt6vectorImSaImEEPNS_20SymmetricBlockMatrixE Start 186: testCSP 186/230 Test #186: testCSP ................................ Passed 0.00 sec Start 187: testLoopyBelief 187/230 Test #187: testLoopyBelief ........................ Passed 0.00 sec Start 188: testPlanning 188/230 Test #188: testPlanning ........................... Passed 0.00 sec Start 189: testScheduler 189/230 Test #189: testScheduler .......................... Passed 0.00 sec Start 190: testSudoku 190/230 Test #190: testSudoku ............................. Passed 0.02 sec Start 191: testIMUSystem 191/230 Test #191: testIMUSystem .......................... Passed 0.00 sec Start 192: testPendulumFactors 192/230 Test #192: testPendulumFactors .................... Passed 0.00 sec Start 193: testPoseRTV 193/230 Test #193: testPoseRTV ............................ Passed 0.00 sec Start 194: testSimpleHelicopter 194/230 Test #194: testSimpleHelicopter ................... Passed 0.00 sec Start 195: testVelocityConstraint 195/230 Test #195: testVelocityConstraint ................. Passed 0.00 sec Start 196: testVelocityConstraint3 196/230 Test #196: testVelocityConstraint3 ................ Passed 0.00 sec Start 197: testBatchFixedLagSmoother 197/230 Test #197: testBatchFixedLagSmoother .............. Passed 0.01 sec Start 198: testConcurrentBatchFilter 198/230 Test #198: testConcurrentBatchFilter .............. Passed 0.01 sec Start 199: testConcurrentBatchSmoother 199/230 Test #199: testConcurrentBatchSmoother ............ Passed 0.00 sec Start 200: testConcurrentIncrementalFilter 200/230 Test #200: testConcurrentIncrementalFilter ........***Failed 0.00 sec /home/crobinso/projects/gtsam-gtborg/build/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter: symbol lookup error: /home/crobinso/projects/gtsam-gtborg/build/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter: undefined symbol: _ZN5gtsam5ISAM26updateERKNS_20NonlinearFactorGraphERKNS_6ValuesERKSt6vectorImSaImEERKN5boost8optionalINS_7FastMapImiEEEERKNSD_INS_8FastListImEEEESN_b Start 201: testConcurrentIncrementalSmootherDL 201/230 Test #201: testConcurrentIncrementalSmootherDL ....***Failed 0.00 sec /home/crobinso/projects/gtsam-gtborg/build/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL: symbol lookup error: /home/crobinso/projects/gtsam-gtborg/build/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL: undefined symbol: _ZN5gtsam29ConcurrentIncrementalSmoother6updateERKNS_20NonlinearFactorGraphERKNS_6ValuesERKN5boost8optionalISt6vectorImSaImEEEE Start 202: testConcurrentIncrementalSmootherGN 202/230 Test #202: testConcurrentIncrementalSmootherGN ....***Failed 0.00 sec /home/crobinso/projects/gtsam-gtborg/build/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN: symbol lookup error: /home/crobinso/projects/gtsam-gtborg/build/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN: undefined symbol: _ZN5gtsam29ConcurrentIncrementalSmoother6updateERKNS_20NonlinearFactorGraphERKNS_6ValuesERKN5boost8optionalISt6vectorImSaImEEEE Start 203: testIncrementalFixedLagSmoother 203/230 Test #203: testIncrementalFixedLagSmoother ........ Passed 0.01 sec Start 204: testLinearizedFactor 204/230 Test #204: testLinearizedFactor ................... Passed 0.00 sec Start 205: testNonlinearClusterTree 205/230 Test #205: testNonlinearClusterTree ...............***Failed 0.00 sec /home/crobinso/projects/gtsam-gtborg/build/gtsam_unstable/nonlinear/tests/testNonlinearClusterTree: symbol lookup error: /home/crobinso/projects/gtsam-gtborg/build/gtsam_unstable/nonlinear/tests/testNonlinearClusterTree: undefined symbol: _ZN5gtsam14PrintKeyVectorERKSt6vectorImSaImEERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKN5boost8functionIFSA_mEEE Start 206: testParticleFactor 206/230 Test #206: testParticleFactor ..................... Passed 0.00 sec Start 207: testAHRS 207/230 Test #207: testAHRS ............................... Passed 0.00 sec Start 208: testBetweenFactorEM 208/230 Test #208: testBetweenFactorEM .................... Passed 0.00 sec Start 209: testBiasedGPSFactor 209/230 Test #209: testBiasedGPSFactor .................... Passed 0.00 sec Start 210: testDummyFactor 210/230 Test #210: testDummyFactor ........................ Passed 0.00 sec Start 211: testEquivInertialNavFactor_GlobalVel 211/230 Test #211: testEquivInertialNavFactor_GlobalVel ... Passed 0.00 sec Start 212: testGaussMarkov1stOrderFactor 212/230 Test #212: testGaussMarkov1stOrderFactor .......... Passed 0.00 sec Start 213: testInertialNavFactor_GlobalVelocity 213/230 Test #213: testInertialNavFactor_GlobalVelocity ... Passed 0.00 sec Start 214: testInvDepthFactor3 214/230 Test #214: testInvDepthFactor3 .................... Passed 0.00 sec Start 215: testInvDepthFactorVariant1 215/230 Test #215: testInvDepthFactorVariant1 ............. Passed 0.00 sec Start 216: testInvDepthFactorVariant2 216/230 Test #216: testInvDepthFactorVariant2 ............. Passed 0.00 sec Start 217: testInvDepthFactorVariant3 217/230 Test #217: testInvDepthFactorVariant3 ............. Passed 0.00 sec Start 218: testMultiProjectionFactor 218/230 Test #218: testMultiProjectionFactor .............. Passed 0.00 sec Start 219: testOccupancyGrid 219/230 Test #219: testOccupancyGrid ...................... Passed 0.00 sec Start 220: testPoseBetweenFactor 220/230 Test #220: testPoseBetweenFactor .................. Passed 0.00 sec Start 221: testPosePriorFactor 221/230 Test #221: testPosePriorFactor .................... Passed 0.00 sec Start 222: testProjectionFactorPPP 222/230 Test #222: testProjectionFactorPPP ................ Passed 0.00 sec Start 223: testProjectionFactorPPPC 223/230 Test #223: testProjectionFactorPPPC ............... Passed 0.00 sec Start 224: testRelativeElevationFactor 224/230 Test #224: testRelativeElevationFactor ............ Passed 0.00 sec Start 225: testSmartRangeFactor 225/230 Test #225: testSmartRangeFactor ................... Passed 0.00 sec Start 226: testSmartStereoProjectionPoseFactor 226/230 Test #226: testSmartStereoProjectionPoseFactor ....***Failed 0.00 sec /home/crobinso/projects/gtsam-gtborg/build/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor: symbol lookup error: /home/crobinso/projects/gtsam-gtborg/build/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor: undefined symbol: _ZNK5gtsam14JacobianFactor13updateHessianERKSt6vectorImSaImEEPNS_20SymmetricBlockMatrixE Start 227: testTOAFactor 227/230 Test #227: testTOAFactor .......................... Passed 0.00 sec Start 228: testTSAMFactors 228/230 Test #228: testTSAMFactors ........................ Passed 0.00 sec Start 229: testTransformBtwRobotsUnaryFactor 229/230 Test #229: testTransformBtwRobotsUnaryFactor ...... Passed 0.00 sec Start 230: testTransformBtwRobotsUnaryFactorEM 230/230 Test #230: testTransformBtwRobotsUnaryFactorEM .... Passed 0.00 sec 91% tests passed, 20 tests failed out of 230 Total Test time (real) = 2.65 sec The following tests FAILED: 35 - testEssentialMatrix (Failed) 58 - testOrdering (SEGFAULT) 62 - testSymbolicBayesTree (Failed) 90 - testRegularHessianFactor (Failed) 91 - testRegularJacobianFactor (Failed) 110 - testEssentialMatrixConstraint (Failed) 111 - testEssentialMatrixFactor (Failed) 116 - testOrientedPlane3Factor (Failed) 122 - testRegularImplicitSchurFactor (Failed) 126 - testSmartProjectionCameraFactor (Failed) 127 - testSmartProjectionPoseFactor (Failed) 149 - testGaussianISAM2 (Failed) 183 - testLPSolver (Failed) 184 - testLinearEquality (Failed) 185 - testQPSolver (Failed) 200 - testConcurrentIncrementalFilter (Failed) 201 - testConcurrentIncrementalSmootherDL (Failed) 202 - testConcurrentIncrementalSmootherGN (Failed) 205 - testNonlinearClusterTree (Failed) 226 - testSmartStereoProjectionPoseFactor (Failed) Errors while running CTest CMakeFiles/check.dir/build.make:57: recipe for target 'CMakeFiles/check' failed make[3]: *** [CMakeFiles/check] Error 8 CMakeFiles/Makefile2:635: recipe for target 'CMakeFiles/check.dir/all' failed make[2]: *** [CMakeFiles/check.dir/all] Error 2 CMakeFiles/Makefile2:642: recipe for target 'CMakeFiles/check.dir/rule' failed make[1]: *** [CMakeFiles/check.dir/rule] Error 2 Makefile:223: recipe for target 'check' failed make: *** [check] Error 2 -
reporter
In reply to your question about
GenericValueingtsam.hthe existingtestSerialization.mhas the test case forPose2andPoint2in the sameValuesvector:%% Create values and verify string serialization pose1=Pose2(0.5, 0.0, 0.2); pose2=Pose2(2.3, 0.1,-0.2); pose3=Pose2(4.1, 0.1, 0.1); landmark1=Point2(1.8, 2.1); landmark2=Point2(4.1, 1.8);%% Create and serialize Values values = Values; values.insert(i1, pose1); values.insert(i2, pose2); values.insert(i3, pose3); values.insert(j1, landmark1); values.insert(j2, landmark2);serialized_values = values.string_serialize(); valuesds = Values.string_deserialize(serialized_values); CHECK('valuesds.equals(values, 1e-9)', valuesds.equals(values, 1e-9));This seems to work fine for me.
Unfortunately I might struggle to test serializing in c++ and deserializing in matlab, last time I tried this I ran into issues caused by matlab having a different boost (older) version than my development environment. I have very little control over the version of boost I use due to dependencies with the rest of our code base.
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reporter
Oh cool, thanks!
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Unfortunately I might struggle to test serializing in c++ and deserializing in matlab, last time I tried this I ran into issues caused by matlab having a different boost (older) version than my development environment. I have very little control over the version of boost I use due to dependencies with the rest of our code base.
I think I understand. I'll try your add of
GenericValueand see where I am with respect toBearingRangeFactor. I'm a little shy to play withGenericValuebefore#401gets resolved (I'm having that failure as well), but I think it will be okay. -
I tried adding
#include <gtsam/base/GenericValue.h> template<T = {Vector, gtsam::Point2, gtsam::Point3, gtsam::Pose2, gtsam::Pose3, gtsam::Rot2}> virtual class GenericValue : gtsam::Value { void serializable() const; };which seemed to make the
Valuesserialization work in MATLAB (I didn't try to cross-serialize -- serializing in C++ and deserializing in MATLAB or vice versa). Instead ofBearingRangeFactor2DI tried working onRangeFactor2D, which seems to have the same problem, but has slightly fewer moving parts. The think the real issue with both of them is that they are bothExpressionFactor2s. Addingvoid serialize() const;to the class definition ofRangeFactorswitched things up a little bit; instead of getting anunregistered classexception, I got anunregistered void castexception. It's worth noting thatRangeFactorPose2serializes just fine withstring_serialize();-- this is just when I'm trying to serializeNonlinearFactorGraphwith aRangeFactorPose2inValues.I tried adding
/** Serialization function */ friend class boost::serialization::access; template<class ARCHIVE> void serialize(ARCHIVE & ar, const unsigned int /*version*/) { ar & boost::serialization::make_nvp("NoiseModelFactor", boost::serialization::base_object<NoiseModelFactor>(*this)); ar & boost::serialization::make_nvp("measured_", this->measured_); } }; // \ RangeFactorto the definition of
RangeFactoringtsam/sam/RangeFactor.h. I'm not sure what the right way to do this is. Theunregistered void casterror seems to be telling me "You haven't declared a serialization method for a derived class that you want to be present, andRangeFactoris derived fromExpressionFactor2."Anyway, after doing that, and adding a
RangeFactorPose2to thegraph, serializing did not complain. However, when INonlinearFactorGraph.string_deserialize(graphds)the string produced bystring_serialize(), the testserialized_graph = graph.string_serialize(); graphds = NonlinearFactorGraph.string_deserialize(serialized_graph); CHECK('graphds.equals(graph, 1e-9)', graphds.equals(graph, 1e-9));the
CHECKfails. Comparing the strings ofgraphandgraphdsa = graph.string_serialize b = graphds.string_serialize strcmp(a, b)the strings are identical. Printing each graph to the console suggests that they are the same as well, so something that is being used as an
equalscheck is probably not implemented correctly, or something I can't see in MATLAB is different (probably because my serialization method forRangeFactoris wrong).Not sure yet.
EDIT: 2018-11-20 1105 PST: Above, I wrote
unregistered void classin a couple of places where I meant to writeunregistered void cast. It's fixed now. -
I think I figured out what was wrong with my attempt above. The variable
_dimswas not being serialized and / or deserialized. I got a version working locally. I'm going to try to repairBearingRangeFactor2Dand gettestSerialization.mworking. If I get it working, I'll submit a pull request. -
@dellaert I was wondering if you could offer some guidance.
Summary: Serializing
gtsam.Valuesin MATLAB is broken in a couple different ways. One fix that I tried fixes MATLAB, but breaks a test in C++ because an expression is not being created correctly on deserialization. If I do nothing, the C++ test passes, but the MATLAB remains broken. My theory is that my attempt to add the serialization toBearingRangeFactoris incorrect.Longer Here's the situation: serializing just about anything (maybe literally anything) added to
gtsam.Valuesin MATLAB wasn't working. So, @crown_crobinso tried adding#include <gtsam/base/GenericValue.h> template<T = {Vector, gtsam::Point2, gtsam::Point3, gtsam::Pose2, gtsam::Pose3}> virtual class GenericValue : gtsam::Value { void serializable() const; };which works for most stuff.
Trying to run
testSerialization.min MATLAB, aunregistered classexception is thrown when trying to serialize agtsam.Valuesthat has had aBearingRangeFactor2Dadded to it. I add// enabling serialization functionality void serialize() const;to the
BearingRangeFactordefinition ingtsam.h, and the error becomesunregistered void cast.Looking at, for instance, this, that error seems to indicate that
ar & boost::serialization::base_object<>( *this );is missing from the serialization function for the class. There is no serialization function for that class specifically, so I tried adding/** Serialization function */ friend class boost::serialization::access; template<class ARCHIVE> void serialize(ARCHIVE & ar, const unsigned int /*version*/) { ar & boost::serialization::make_nvp("NoiseModelFactor", boost::serialization::base_object<NoiseModelFactor>(*this)); ar & boost::serialization::make_nvp("measured_", this->measured_); ar & boost::serialization::make_nvp("dims_", this->dims_); } };to the
BearingRangeFactorclass definition ingtsam/sam/BearingRangeFactor.h. This makes the MATLABtestSerialization.mtest pass.However, doing that causes a test in
gtsam/sam/tests/testBearingRangeFactor.cppto fail:TEST(BearingRangeFactor, 2D) { // Serialize the factor std::string serialized = serializeXML(factor2D); // And de-serialize it BearingRangeFactor2D factor; deserializeXML(serialized, factor); // Set the linearization point Values values; values.insert(poseKey, Pose2(1.0, 2.0, 0.57)); values.insert(pointKey, Point2(-4.0, 11.0)); EXPECT_CORRECT_EXPRESSION_JACOBIANS(factor.expression(poseKey, pointKey), values, 1e-7, 1e-5); EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5); }fails at
EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5);.What happens is that
factor, which came fromdeserializeXmlis not a real boy, so to speak; it has the values and dimensions offactor2D(which was serialized and then deserialized to createfactor) but not the expression. The expression is not created during deserialization, I guess. Infactor,expression_ -> root_isnull(expression_being inherited fromExpressionFactor, androot_being inherited fromExpression), while infactor2D,expression_ -> root_has four things under it. Basically, it's notnull. There are two screenshots below of my debugger, just so that last bit makes sense.I tried modifying the serialization function by splitting it up into
saveandloadand callinginitializeto create the expression during deserialization. I don't know if I did it right, but it's probably moot because the code inloaddoesn't ever seem to be called.BOOST_SERIALIZATION_SPLIT_MEMBER() /// Save to an archive: just saves the base class template <class Archive> void save(Archive& ar, const unsigned int /*version*/) const { ar << BOOST_SERIALIZATION_BASE_OBJECT_NVP(NoiseModelFactor); ar << boost::serialization::make_nvp("measured_", this->measured_); ar << boost::serialization::make_nvp("keys_", this->keys_); ar << boost::serialization::make_nvp("dims_", this->dims_); } /// Load from an archive, creating a valid expression using the overloaded /// [expression] method template <class Archive> void load(Archive& ar, const unsigned int /*version*/) { ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(NoiseModelFactor); ar & boost::serialization::make_nvp("measured_", this->measured_); ar & boost::serialization::make_nvp("keys_", this->keys_); ar & boost::serialization::make_nvp("dims_", this->dims_); std::cout << "BearingRangeFactor load() is called" << std::endl; Expression<T> TempExpression = expression(this->keys_[0], this->keys_[1]); this->initialize(TempExpression); //this->initialize(expression(this->keys_[0], this->keys_[1])); }(of course, I removed
void serializebefore I added these two definitions). So, adding breakpoints and debugging statements, I don't see any evidence thatloadis ever called, so I don't think I'm doing something right.
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Wow, a lot of info to sort through :-) Let me ask
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I’m freaked out by the many failing tests with matlab toolbox on. Is that on develop?
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adding a factor to Values seems strange, is that a typo?
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Is this a Matlab issue only, or does c++ serialization fail with current develop?
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If so, can you create a branch off of develop with a minimal failing c++ test?
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Is that on develop?
Yes.
adding a factor to Values seems strange, is that a typo?
It was what I meant to type, but it is wrong :) I should have said that the factor is added to a
NonlinearFactorGraphIs this a Matlab issue only, or does c++ serialization fail with current develop?
Just MATLAB. The C++ serialization seems to work fine, until I tried to mess with it. So, just to be clear, the C++ serialization seems to be working correctly.
If so, can you create a branch off of develop with a minimal failing c++ test?
I can make a branch of the fix I tried, which fixes MATLAB but breaks C++. That's probably less interesting ...
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So, I don’t get these failures on develop, on Mac, with matlab flag on... maybe it is a Windows issue.
About serialization, I can have a look at it, but I am on my way to Australia so it will be a while. Cleary a solution that breaks C++ is a no-no :-)
An interesting experiment would be to see whether the same issue exists for the cython wrapper...
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.. maybe it is a Windows issue.
I haven't actually tried it on Windows. I'm having this problem on Ubuntu 16.04.
An interesting experiment would be to see whether the same issue exists for the cython wrapper...
Indeed. I have not tried that. I'm not set up for that, so if anyone wants to have a look, that would be great.
My guess is that I'm missing something about the inheritance structure of the expression factors that is important to keep boost happy. The fact that the serialization works in C++ but not for MATLAB makes me think maybe I should be twiddling something in
gtsam.h, but I'm not sure.Have fun in Australia!
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same issue, testSerialization fail. Ubuntu 1404, matlab R2016a.
when use ISAM2.update in .m file as below, isam2.update(graph_, initialEstimate_, FactorIndices);
matlab will crash.
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So, I spent some time investigating, and think it is fixed in PR #361. Mike, I put you on the review so you can test it on your machine and approve if it works. The key was to add serialization functions that call base class serialization, to avoid "unregistered void cast" errors (in MATLAB, as flagged by issue
#398), as mentioned in http://tb-nguyen.blogspot.com/2009/08/more-on-using-boost-serialization-and.html -
Excellent! I'm looking now ...
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Tests pass for MATLAB (via
gtsam_tests/test_gtsam.m) and for C++ (viamake check). Approved.I did not see the boost include order error coming; that's kind of scary.
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- changed status to closed
Merged in fix/matlab_tests (pull request #361)
close issue
#403close issue#402close issue#398close issue#397close issue#395close issue#305close issue#282close issue#16Fix/matlab tests Approved-by: Mike Sheffler msheffler@toyon.com
→ <<cset b5a878d2af18>>
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I tried adding
GenericValueto gtsam.h before and the problem I had was that I couldn't serialize (in MATLAB)gtsam.Valueswhen there was more than one item in the values container. I think it's the difference between having a (for instance)GenericValue<Pose2>and a map ofGenericValue<Pose2>. I was also doing thetemplate<T = {Vector, gtsam::Point2, gtsam::Point3, gtsam::Pose2, gtsam::Pose3}>to get the MATLAB-friendlytypedefstatements set up.In
gtsam/nonlinear/Values.h, we seeand
KeyValueMap values_;and I think we need to make the boost serialization stuff happy about dealing with
KeyValueMap. Last time I looked at it, I had to turn my attention to something else, but it would be nice to get it fixed.Can you check to see if you can add multiple items to
gtsam.Values(for instance, aPose2and twoPoint2s) and see if you can still serialize with your fix? If you can, can you try serializing a similar instance ofgtsam::Valuesin C++ and try to deserialize it in MATLAB?I saw your other issues (thanks for submitting!). I just put in a pull request that I think will get the
HEADofdevelopbuilding with both the MATLAB toolbox and unstable enabled. If that PR gets accepted, I'd like you to try#395,#396,#397and this issue again against theHEADofdevelopto see where we are.