Merge pull request #113 from dehann/feature/subgraphcopy

Feature/subgraphcopy
JuliaRobotics · May 17, 2018 · 66fd363 · 66fd363
2 parents d0f3143 + e77499d
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diff --git a/...ples/database/Slam2dExampleHexagonalCG.jl → examples/database/0_HexagonalSlam2d.jl b/...ples/database/Slam2dExampleHexagonalCG.jl → examples/database/0_HexagonalSlam2d.jl
diff --git a/examples/database/1_subGraphCopy.jl b/examples/database/1_subGraphCopy.jl
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+## test subLocalGRaphCopy! function of cloudgraphs
+
+# 0. Load required packages
+using Caesar
+
+
+# 1. Get the authentication and session information
+include(joinpath(ENV["HOME"],"Documents","blandauthlocal.jl"))
+cg, addrdict = standardcloudgraphsetup(addrdict=addrdict)
+addrdict["sessionId"] = "Hackathon"
+addrdict["robotId"] = "PixieBot"
+
+
+# 2. Create a local empty factor graph object
+fg = Caesar.initfg(sessionname=addrdict["sessionId"], robotname=addrdict["robotId"], cloudgraph=cg)
+# fg.stateless = true # so that we don't update local elements
+
+
+# 3.a Fetch a portion of the graph
+Caesar.subLocalGraphCopy!(fg, ["x1";"x3";], neighbors=1, reqbackendset=false, reqready=false)
+
+# see what is going on
+Graphs.plot(fg.g)
+
+
+
+# ===========ALTERNATIVE========================================================
+
+fg = Caesar.initfg(sessionname=addrdict["sessionId"], robotname=addrdict["robotId"], cloudgraph=cg)
+# 3.b Or fetch the entire factor graph
+Caesar.fullLocalGraphCopy!(fg, reqbackendset=false, reqready=false)
+
+
+
+
+#
diff --git a/examples/database/AccessMongo.jl → examples/database/dev/AccessMongo.jl b/examples/database/AccessMongo.jl → examples/database/dev/AccessMongo.jl
diff --git a/examples/database/AddDBOdoLC.jl → examples/database/dev/AddDBOdoLC.jl b/examples/database/AddDBOdoLC.jl → examples/database/dev/AddDBOdoLC.jl
diff --git a/examples/database/BasicCloudGraphsSLAM.jl → ...ples/database/dev/BasicCloudGraphsSLAM.jl b/examples/database/BasicCloudGraphsSLAM.jl → ...ples/database/dev/BasicCloudGraphsSLAM.jl
diff --git a/examples/database/BuildCloudFactorGraph.jl → ...les/database/dev/BuildCloudFactorGraph.jl b/examples/database/BuildCloudFactorGraph.jl → ...les/database/dev/BuildCloudFactorGraph.jl
diff --git a/examples/database/CloudVicPrk.jl → examples/database/dev/CloudVicPrk.jl b/examples/database/CloudVicPrk.jl → examples/database/dev/CloudVicPrk.jl
diff --git a/examples/database/InsertBigDataElements.jl → ...les/database/dev/InsertBigDataElements.jl b/examples/database/InsertBigDataElements.jl → ...les/database/dev/InsertBigDataElements.jl
diff --git a/examples/database/MM-iSAMCloudSolve.jl → examples/database/dev/MM-iSAMCloudSolve.jl b/examples/database/MM-iSAMCloudSolve.jl → examples/database/dev/MM-iSAMCloudSolve.jl
diff --git a/examples/database/cgosinteraction.jl → examples/database/dev/cgosinteraction.jl b/examples/database/cgosinteraction.jl → examples/database/dev/cgosinteraction.jl
diff --git a/examples/database/convertmongokeys.jl → examples/database/dev/convertmongokeys.jl b/examples/database/convertmongokeys.jl → examples/database/dev/convertmongokeys.jl
diff --git a/examples/database/convertslamindb.jl → examples/database/dev/convertslamindb.jl b/examples/database/convertslamindb.jl → examples/database/dev/convertslamindb.jl
diff --git a/examples/database/testquerying.jl → examples/database/dev/testquerying.jl b/examples/database/testquerying.jl → examples/database/dev/testquerying.jl
diff --git a/...isessionmultimodalpriorpoint2densitynh.jl → ...isessionmultimodalpriorpoint2densitynh.jl b/...isessionmultimodalpriorpoint2densitynh.jl → ...isessionmultimodalpriorpoint2densitynh.jl
diff --git a/...es/database/DBCollectionsViewerService.jl → ...ualizations/DBCollectionsViewerService.jl b/...es/database/DBCollectionsViewerService.jl → ...ualizations/DBCollectionsViewerService.jl
diff --git a/.../database/PlottingToolsForFactorGraphs.jl → ...lizations/PlottingToolsForFactorGraphs.jl b/.../database/PlottingToolsForFactorGraphs.jl → ...lizations/PlottingToolsForFactorGraphs.jl
diff --git a/examples/database/fetchsingleimagedb.jl → ...base/visualizations/fetchsingleimagedb.jl b/examples/database/fetchsingleimagedb.jl → ...base/visualizations/fetchsingleimagedb.jl
diff --git a/examples/database/keyframe_images.jl → ...atabase/visualizations/keyframe_images.jl b/examples/database/keyframe_images.jl → ...atabase/visualizations/keyframe_images.jl
diff --git a/examples/database/plotpose2.jl → ...ples/database/visualizations/plotpose2.jl b/examples/database/plotpose2.jl → ...ples/database/visualizations/plotpose2.jl