Missing lifters

[yaqding]

Hi,

I was trying to test _scripts/ess_mat_clearn.py and _scripts/fund_mat_clearn.py, but got errors with from lifters.state_lifter import StateLifter.
I also tried _test/test_essmat.py
============================================================ ERRORS =============================================================
_____________________________________________ ERROR collecting _test/test_essmat.py _____________________________________________
_test/test_essmat.py:103: in init
self.layer = EssentialSDPBlock(tol=tol, K_source=K_batch, K_target=K_batch)
src/sdprlayers/layers/essential_est.py:87: in init
self.homQCQP.clique_decomposition()
../anaconda3/envs/pytorch3d/lib/python3.9/site-packages/cert_tools/hom_qcqp.py:163: in clique_decomposition
self.get_asg()
../anaconda3/envs/pytorch3d/lib/python3.9/site-packages/cert_tools/hom_qcqp.py:96: in get_asg
pmat = self.C.copy()
E AttributeError: 'tuple' object has no attribute 'copy'

Best

[holmesco]

Hi! The essential (and fundamental) matrix parts of the repo are still under construction. Hopefully they will be ready to use in the next couple of weeks.

[yaqding]

Unsuccessful installation

pytest _test/test_sdpr_poly6.py gives the following info

FAILED _test/test_sdpr_poly6.py::test_run_sdp - AssertionError: FAILED _test/test_sdpr_poly6.py::test_prob_sdp - AssertionError: ValueError('Terminated on max iterations') FAILED _test/test_sdpr_poly6.py::test_grad_qcqp_constraints - TypeError: 'NoneType' object is not subscriptable ======================================================================== 3 failed, 4 passed, 497 warnings in 4.89s

pytest _test/test_stereo_tune.py gives the following info
FAILED _test/test_stereo_tune.py::TestStereoTune::test_compare_grads - AttributeError: module 'sdprlayers.utils.stereo_tuner' has no attribute 'get_stereo_prob_data' FAILED _test/test_stereo_tune.py::TestStereoTune::test_forward_mosek - AttributeError: module 'sdprlayers.utils.stereo_tuner' has no attribute 'get_stereo_prob_data' FAILED _test/test_stereo_tune.py::TestStereoTune::test_forward_scs - AttributeError: module 'sdprlayers.utils.stereo_tuner' has no attribute 'get_stereo_prob_data' FAILED _test/test_stereo_tune.py::TestStereoTune::test_forward_theseus - AttributeError: module 'sdprlayers.utils.stereo_tuner' has no attribute 'get_stereo_prob_data' FAILED _test/test_stereo_tune.py::TestStereoTune::test_grads_camera - AttributeError: module 'sdprlayers.utils.stereo_tuner' has no attribute 'get_stereo_prob_data' FAILED _test/test_stereo_tune.py::TestStereoTune::test_grads_data_mat - AttributeError: module 'sdprlayers.utils.stereo_tuner' has no attribute 'get_stereo_prob_data' FAILED _test/test_stereo_tune.py::TestStereoTune::test_grads_optlayer_mosek - AttributeError: module 'sdprlayers.utils.stereo_tuner' has no attribute 'get_stereo_prob_data' FAILED _test/test_stereo_tune.py::TestStereoTune::test_grads_optlayer_scs - AttributeError: module 'sdprlayers.utils.stereo_tuner' has no attribute 'get_stereo_prob_data' FAILED _test/test_stereo_tune.py::TestStereoTune::test_grads_theseus - AttributeError: module 'sdprlayers.utils.stereo_tuner' has no attribute 'get_stereo_prob_data' FAILED _test/test_stereo_tune.py::TestStereoTune::test_tune_params_no_opt - AttributeError: module 'sdprlayers.utils.stereo_tuner' has no attribute 'get_stereo_prob_data'

There are also some import errors:

sdprlayer/_test/test_stereo_tune.py

Line 7 in 8df7f27

from sdprlayer import SDPRLayer

should be from sdprlayers.layers.sdprlayer import SDPRLayer

sdprlayer/_test/test_stereo_tune.py

Line 8 in 8df7f27

from sdprlayer import stereo_tuner as st

should be from sdprlayers.utils import stereo_tuner as st

Removing homogenous:
Previous version
https://github.com/utiasASRL/sdprlayer/blob/6f4c9dbbc9cd351dbd1a783ba37f72ae934c4cdd/src/sdprlayers/layers/sdprlayer.py#L430C5-L433C17
In the recent update, it seems that the first entry '1' is keept, resulting in incorrect plot in 'tighten_example.ipynb'
-- '# Note that the homogenizing variable is stripped away x_star = x[0,0]'

sdprlayer/src/sdprlayers/layers/sdprlayer.py

Line 423 in 8df7f27

x = (X[0:, [0]] + X[[0], 0:].T) / 2.0

Could you check and fix the issues?

Best/

[holmesco]

Merged a branch with fixes to these issues. Note that only some of the tests files are functioning. Others are deprecated but will be removed later. See the README for tests that should be passing.

Also moved repo dependencies to submodules, so the setup should be more streamlined.

Let me know if you have any other issues.

[yaqding]

Merged a branch with fixes to these issues. Note that only some of the tests files are functioning. Others are deprecated but will be removed later. See the README for tests that should be passing.

Also moved repo dependencies to submodules, so the setup should be more streamlined.

Let me know if you have any other issues.

Thanks! It works well. The only issue is in the 'tighten_example.ipynb'
# Note that the homogenizing variable is stripped away
x_star = x[0,0]
where 'x_star = x[1]' works for me.

Best/

[holmesco]

fixed in last pull request. Also fixed essential matrix estimation layer.