Merge branch 'master' into maintenance/last06

README.md

@@ -103,11 +103,11 @@ Consider citing our work:
 [dvis-build-url]: https://travis-ci.org/rdeits/DrakeVisualizer.jl
 [dvis-url]: http://www.github.com/rdeits/DrakeVisualizer.jl -->
 
-[graphs-cov-img]: https://codecov.io/github/JuliaArchive/Graphs.jl/coverage.svg?branch=master
-[graphs-cov-url]: https://codecov.io/github/JuliaArchive/Graphs.jl?branch=master
-[graphs-build-img]: https://travis-ci.org/JuliaArchive/Graphs.jl.svg?branch=master
-[graphs-build-url]: https://travis-ci.org/JuliaArchive/Graphs.jl
-[graphs-url]: http://www.github.com/JuliaArchive/Graphs.jl
+[graphs-cov-img]: https://codecov.io/github/JuliaAttic/Graphs.jl/coverage.svg?branch=master
+[graphs-cov-url]: https://codecov.io/github/JuliaAttic/Graphs.jl?branch=master
+[graphs-build-img]: https://travis-ci.org/JuliaAttic/Graphs.jl.svg?branch=master
+[graphs-build-url]: https://travis-ci.org/JuliaAttic/Graphs.jl
+[graphs-url]: http://www.github.com/JuliaAttic/Graphs.jl
 
 [cloudgraphs-cov-img]: https://codecov.io/github/GearsAD/CloudGraphs.jl/coverage.svg?branch=master
 [cloudgraphs-cov-url]: https://codecov.io/github/GearsAD/CloudGraphs.jl?branch=master

REQUIRE

@@ -7,7 +7,7 @@ Distributions 0.14.2 0.16.0
 CloudGraphs 0.0.2
 Neo4j 1.0.0
 LibBSON 0.3.1 0.5.0
-Mongo 0.2.3
+Mongo 0.3.0 0.5.0
 TransformUtils 0.1.0 0.2.0
 Rotations 0.7.0 0.8.0
 CoordinateTransformations 0.4.0 0.6.0

docs/src/index.md

@@ -58,7 +58,7 @@ drawdbdirector()      # from database held factor graph
 
 * [Foveation queries](http://people.csail.mit.edu/spillai/projects/cloud-graphs/2017-icra-cloudgraphs.pdf) to quickly organize, extract and work with big data blobs, for example looking at images from multiple sessions predicted to see the same point `[-9.0,9.0]` in the map:
 ```julia
-neoids, syms = foveateQueryToPoint(cloudGraph,["SESS21";"SESS38";"SESS45"], point=[-9.0;9.0], fovrad=0.5 )
+neoids, syms = foveateQueryToPoint(cloudGraph,["SESS21";"SESS38";"SESS45"], "robot", "user" point=[-9.0;9.0], fovrad=0.5 )
 for neoid in neoids
     cloudimshow(cloudGraph, neoid=neoid)
 end

examples/apriltagserver/tag_exporter.jl

@@ -30,17 +30,17 @@ function showImage(image, tags)
     imageCol
 end
 
-function apriltag_converter(a::AprilTag, utime::Int64)
+function apriltag_converter(tag::AprilTag, utime::Int64)
     msg=apriltag_t();
     msg.utime = utime
-    msg.id=a.id;
-    msg.familyName=a.family;
-    msg.hammingDistance=a.hamming;
-    P = reshape([a.p...;],2,4)'
+    msg.id=tag.id;
+    msg.familyName=tag.family;
+    msg.hammingDistance=tag.hamming;
+    P = reshape([tag.p...;],2,4)'
     msg.p=P
-    msg.cxy= a.c;
-    msg.homography= a.H;
-    msg.pose = homography_to_pose(a.H, -80.,80.,320.,240.)
+    msg.cxy= tag.c;
+    msg.homography= tag.H;
+    msg.pose = homography_to_pose(tag.H, -80.,80.,320.,240.)
     return msg
 end
 

examples/basic/valuesfromjld.jl

@@ -0,0 +1,35 @@
+# extract estimates from jld file
+
+using Caesar, Distributions, RoME
+
+const KDE = KernelDensityEstimate
+
+datetimestamp = "2018-08-09T00:04:36.373"
+datadir = "/home/dehann/Pictures/racecarimgs/$(datetimestamp)/"
+filename = datadir*"racecar_fg_x237.jld"
+
+fg, = loadjld(file=filename)
+
+
+# using RoMEPlotting
+# drawPosesLandms(fg, spscale=0.1)
+
+xx,ll = ls(fg)
+
+
+fid = open(datadir*"results_$(datetimestamp).csv","w")
+for x in xx
+  # @show x,
+  mx = KDE.getKDEMean(getVertKDE(fg, x))
+  println(fid, "$x, $(mx[1]), $(mx[2]), $(mx[3]), $(mx[4]), $(mx[5])")
+end
+for x in ll
+  # @show x,
+  mx = KDE.getKDEMean(getVertKDE(fg, x))
+  println(fid, "$x, $(mx[1]), $(mx[2])")
+end
+close(fid)
+
+
+
+#

examples/database/foveation.jl

@@ -12,9 +12,9 @@ cloudGraph, addrdict = standardcloudgraphsetup(addrdict=addrdict)
 
 
 
-
+#TODO: Please replace with correct robot and user name.
 neoids, syms = foveateQueryToPoint(cloudGraph,
-        ["SESSTURT21";"SESSTURT38";"SESSTURT45"],
+        ["SESSTURT21";"SESSTURT38";"SESSTURT45"], "robot", "user"
         point=[-9.0;9.0], fovrad=0.5)
 
 

examples/database/templatedbinteraction.jl

@@ -5,6 +5,8 @@ using IncrementalInference
 
 include(joinpath(dirname(@__FILE__),"blandauthremote.jl"))
 addrdict["session"] = "SESS??"
+addrdict["robot"] = "robot"
+addrdict["user"] = "user"
 cloudGraph, addrdict = standardcloudgraphsetup(addrdict=addrdict)
 
 
@@ -16,7 +18,8 @@ savejld(fg, file="somefg.jld")
 
 plotKDE(fg, :x1, dims=[1;2], api=localapi)
 fncvar = getfnctype(getVert(fg,fg.fIDs[:x1710l200050]))
-ret = whosNear2D(cloudGraph, "SESS??", x=21.7, y=-54.0)
+# TODO: Please fix with correct session for example.
+ret = whosNear2D(cloudGraph, "SESS??", robot, user, x=21.7, y=-54.0)
 plotLocalProduct(fg, :l200050, dims=[1;2], api=localapi)
 
 

examples/database/visualizations/PlottingToolsForFactorGraphs.jl

@@ -5,6 +5,8 @@ using IncrementalInference
 
 include(joinpath(dirname(@__FILE__),"blandauthremote.jl"))
 addrdict["session"] = "SESSSHARK_16_11_14"  # "SESSROX"
+addrdict["robot"] = "robot"
+addrdict["user"] = "user"
 cloudGraph, addrdict = standardcloudgraphsetup(addrdict=addrdict)
 
 
@@ -49,8 +51,8 @@ h2 = plotKDE(fncvar.bearing, xlbl="Bearing [rad]", fill=true )
 Gadfly.draw(PDF("factor_x1710l200050_stack.pdf",15cm,20cm),vstack(h1,h2))
 
 
-
-ret = whosNear2D(cloudGraph, "SESSSHARK_16_11_14", x=21.7, y=-54.0)
+# TODO: Please fix with correct session for example.
+ret = whosNear2D(cloudGraph, "SESSSHARK_16_11_14", "robot", "user" x=21.7, y=-54.0)
 
 
 sort(collect(keys(ret)))