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Fix for CGDFG during rebuildFactorMetadata #1425

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merged 3 commits into from
Oct 17, 2021
Merged

Fix for CGDFG during rebuildFactorMetadata #1425

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e18b3e4
Fixing CFGDFG issue
sam-globus Oct 17, 2021
0f89088
Updating required version
sam-globus Oct 17, 2021
dd0481e
Updating version to 0.25.3
sam-globus Oct 17, 2021
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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 @@ -2,7 +2,7 @@ name = "IncrementalInference"
uuid = "904591bb-b899-562f-9e6f-b8df64c7d480"
keywords = ["MM-iSAMv2", "Bayes tree", "junction tree", "Bayes network", "variable elimination", "graphical models", "SLAM", "inference", "sum-product", "belief-propagation"]
desc = "Implements the Multimodal-iSAMv2 algorithm."
version = "0.25.2"
version = "0.25.3"

[deps]
ApproxManifoldProducts = "9bbbb610-88a1-53cd-9763-118ce10c1f89"
Expand Down Expand Up @@ -47,7 +47,7 @@ ApproxManifoldProducts = "0.4.16"
BSON = "0.2, 0.3"
Combinatorics = "1.0"
DataStructures = "0.16, 0.17, 0.18"
DistributedFactorGraphs = "0.16.1"
DistributedFactorGraphs = "0.16.2"
Distributions = "0.24, 0.25"
DocStringExtensions = "0.8"
FileIO = "1"
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8 changes: 7 additions & 1 deletion src/DispatchPackedConversions.jl
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Expand Up @@ -62,6 +62,8 @@ end
$(SIGNATURES)
After deserializing a factor using decodePackedType, use this to
completely rebuild the factor's CCW and user data.
Dev Notes:
- TODO: We should only really do this in-memory if we can by without it (review this).
"""
function rebuildFactorMetadata!(dfg::AbstractDFG{SolverParams},
factor::DFGFactor,
Expand Down Expand Up @@ -97,12 +99,16 @@ function rebuildFactorMetadata!(dfg::AbstractDFG{SolverParams},
#

# replace old factor in dfg with a new one
deleteFactor!(dfg, factor)
deleteFactor!(dfg, factor, suppressGetFactor=true)
addFactor!(dfg, factor__)

factor__
else
setSolverData!(factor, fnd_new)
# We're not updating here because we don't want
# to solve cloud in loop, we want to make sure this flow works:
# Pull big cloud graph into local -> solve local -> push back into cloud.
# updateFactor!(dfg, factor)
factor
end

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