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updates for DFG v0.20.1 #955

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Merged
merged 1 commit into from
Mar 13, 2023
Merged

updates for DFG v0.20.1 #955

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4 changes: 2 additions & 2 deletions Project.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,7 @@ ColorVectorSpace = "0.9"
Combinatorics = "1"
CoordinateTransformations = "0.5, 0.6"
DataStructures = "0.17, 0.18"
DistributedFactorGraphs = "0.19, 0.20"
DistributedFactorGraphs = "0.20.1"
Distributions = "0.25"
DocStringExtensions = "0.8, 0.9"
FFTW = "1"
Expand All @@ -73,7 +73,7 @@ GeometryBasics = "0.4"
GeometricalPredicates = "0.4"
ImageCore = "0.8, 0.9"
ImageMagick = "1"
IncrementalInference = "0.31, 0.32, 0.33"
IncrementalInference = "0.32, 0.33"
Interpolations = "0.14"
JLD2 = "0.3, 0.4"
JSON = "0.20, 0.21"
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8 changes: 4 additions & 4 deletions test/testScatterAlignParched.jl
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Expand Up @@ -86,8 +86,8 @@ sap = Caesar.ScatterAlignPose3(;
cloud2=bel_m,
sample_count=100,
useStashing=true,
dataEntry_cloud1=string(deb0[1].id),
dataEntry_cloud2=string(deb1[1].id),
dataEntry_cloud1=string(deb0.id),
dataEntry_cloud2=string(deb1.id),
)

## this line checks blob store access via preambleCache specifically for ScatterAlign which will internally access the blob store
Expand Down Expand Up @@ -119,8 +119,8 @@ v0 = addVariable!(tfg, :x0, Pose3)
v1 = addVariable!(tfg, :x1, Pose3)

# To load from stashed blobs attached to variables, those variables need the associated dataEntries
Caesar.addDataEntry!(v0,deb0[1])
Caesar.addDataEntry!(v1,deb1[1])
Caesar.addDataEntry!(v0,deb0)
Caesar.addDataEntry!(v1,deb1)

# test unpacking of factor pulling data from blobstore during preambleCache
pf_ = Caesar.unpackFactor(tfg,pf)
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4 changes: 2 additions & 2 deletions test/testStashing_SAP.jl
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Expand Up @@ -77,10 +77,10 @@ sap = ScatterAlignPose2(bIM1, bIM2, (x,y);
## must store the stashed data entry blobs before the preambleCache function runs on addFactor

db = Vector{UInt8}( convert(String, sap.align.cloud1) )
de0, = addData!(fg, :test_stashing_store, :x0, :hgd_stash_x0, db, mimeType="application/json/octet-stream")
de0 = addData!(fg, :test_stashing_store, :x0, :hgd_stash_x0, db, mimeType="application/json/octet-stream")

db = Vector{UInt8}( convert(String,sap.align.cloud2) )
de1, = addData!(fg, :test_stashing_store, :x1, :hgd_stash_x1, db, mimeType="application/json/octet-stream")
de1 = addData!(fg, :test_stashing_store, :x1, :hgd_stash_x1, db, mimeType="application/json/octet-stream")

##

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