Added BADFactor header and created new test
dellaert
parent
ef52e12f87
commit
1aa7b570f9
16
.cproject
16
.cproject
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@ -2521,6 +2521,14 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testBADFactor.run" path="build/gtsam_unstable/nonlinear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testBADFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testGaussianFactor.run" path="build/linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -2641,6 +2649,14 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testPoseRotationPrior.run" path="build/gtsam/slam/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testPoseRotationPrior.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="SimpleRotation.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -0,0 +1,87 @@
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file Expression.h
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* @date September 18, 2014
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* @author Frank Dellaert
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* @author Paul Furgale
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* @brief Expressions for Block Automatic Differentiation
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*/
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#include <gtsam_unstable/base/Expression.h>
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#include <gtsam/nonlinear/NonlinearFactor.h>
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namespace gtsam {
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/**
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* BAD Factor that supports arbitrary expressions via AD
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*/
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template<class T>
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class BADFactor: NonlinearFactor {
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const T measurement_;
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const Expression<T> expression_;
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/// get value from expression and calculate error with respect to measurement
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Vector unwhitenedError(const Values& values) const {
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const T& value = expression_.value(values);
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return value.localCoordinates(measurement_);
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}
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public:
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/// Constructor
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BADFactor(const T& measurement, const Expression<T>& expression) :
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measurement_(measurement), expression_(expression) {
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}
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/// Constructor
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BADFactor(const T& measurement, const ExpressionNode<T>& expression) :
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measurement_(measurement), expression_(expression) {
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}
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/**
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* Calculate the error of the factor.
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* This is the log-likelihood, e.g. \f$ 0.5(h(x)-z)^2/\sigma^2 \f$ in case of Gaussian.
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* In this class, we take the raw prediction error \f$ h(x)-z \f$, ask the noise model
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* to transform it to \f$ (h(x)-z)^2/\sigma^2 \f$, and then multiply by 0.5.
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*/
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virtual double error(const Values& values) const {
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if (this->active(values)) {
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const Vector e = unwhitenedError(values);
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return 0.5 * e.squaredNorm();
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} else {
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return 0.0;
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}
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}
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/// get the dimension of the factor (number of rows on linearization)
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size_t dim() const {
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return 0;
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}
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/// linearize to a GaussianFactor
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boost::shared_ptr<GaussianFactor> linearize(const Values& values) const {
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// We will construct an n-ary factor below, where terms is a container whose
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// value type is std::pair<Key, Matrix>, specifying the
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// collection of keys and matrices making up the factor.
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std::map<Key, Matrix> terms;
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expression_.value(values, terms);
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Vector b = unwhitenedError(values);
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SharedDiagonal model = SharedDiagonal();
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return boost::shared_ptr<JacobianFactor>(
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new JacobianFactor(terms, b, model));
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}
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};
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// BADFactor
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}
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@ -0,0 +1,145 @@
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testBADFactor.cpp
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* @date September 18, 2014
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* @author Frank Dellaert
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* @author Paul Furgale
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* @brief unit tests for Block Automatic Differentiation
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*/
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#include <gtsam/slam/GeneralSFMFactor.h>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/geometry/Cal3_S2.h>
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#include <gtsam_unstable/nonlinear/BADFactor.h>
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#include <gtsam/base/Testable.h>
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#include <CppUnitLite/TestHarness.h>
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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Point3 transformTo(const Pose3& x, const Point3& p,
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boost::optional<Matrix&> Dpose, boost::optional<Matrix&> Dpoint) {
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return x.transform_to(p, Dpose, Dpoint);
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}
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Point2 project(const Point3& p, boost::optional<Matrix&> Dpoint) {
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return PinholeCamera<Cal3_S2>::project_to_camera(p, Dpoint);
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}
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template<class CAL>
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Point2 uncalibrate(const CAL& K, const Point2& p, boost::optional<Matrix&> Dcal,
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boost::optional<Matrix&> Dp) {
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return K.uncalibrate(p, Dcal, Dp);
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}
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/* ************************************************************************* */
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TEST(BAD, test) {
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// Create some values
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Values values;
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values.insert(1, Pose3());
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values.insert(2, Point3(0, 0, 1));
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values.insert(3, Cal3_S2());
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// Create old-style factor to create expected value and derivatives
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Point2 measured(-17, 30);
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SharedNoiseModel model = noiseModel::Unit::Create(2);
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GeneralSFMFactor2<Cal3_S2> old(measured, model, 1, 2, 3);
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double expected_error = old.error(values);
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GaussianFactor::shared_ptr expected = old.linearize(values);
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// Test Constant expression
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Expression<int> c(0);
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// Create leaves
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Expression<Pose3> x(1);
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Expression<Point3> p(2);
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Expression<Cal3_S2> K(3);
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// Create expression tree
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Expression<Point3> p_cam(transformTo, x, p);
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Expression<Point2> projection(project, p_cam);
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Expression<Point2> uv_hat(uncalibrate<Cal3_S2>, K, projection);
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// Create factor
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BADFactor<Point2> f(measured, uv_hat);
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// Check value
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EXPECT_DOUBLES_EQUAL(expected_error, f.error(values), 1e-9);
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// Check dimension
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EXPECT_LONGS_EQUAL(0, f.dim());
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// Check linearization
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boost::shared_ptr<GaussianFactor> gf = f.linearize(values);
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EXPECT( assert_equal(*expected, *gf, 1e-9));
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}
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/* ************************************************************************* */
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TEST(BAD, compose) {
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// Create expression
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Expression<Rot3> R1(1), R2(2);
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Expression<Rot3> R3 = R1 * R2;
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// Create factor
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BADFactor<Rot3> f(Rot3(), R3);
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// Create some values
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Values values;
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values.insert(1, Rot3());
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values.insert(2, Rot3());
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// Check linearization
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JacobianFactor expected(1, eye(3), 2, eye(3), zero(3));
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boost::shared_ptr<GaussianFactor> gf = f.linearize(values);
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boost::shared_ptr<JacobianFactor> jf = //
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boost::dynamic_pointer_cast<JacobianFactor>(gf);
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EXPECT( assert_equal(expected, *jf,1e-9));
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}
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/* ************************************************************************* */
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// Test compose with arguments referring to the same rotation
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TEST(BAD, compose2) {
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// Create expression
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Expression<Rot3> R1(1), R2(1);
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Expression<Rot3> R3 = R1 * R2;
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// Create factor
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BADFactor<Rot3> f(Rot3(), R3);
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// Create some values
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Values values;
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values.insert(1, Rot3());
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// Check linearization
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JacobianFactor expected(1, 2*eye(3), zero(3));
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boost::shared_ptr<GaussianFactor> gf = f.linearize(values);
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boost::shared_ptr<JacobianFactor> jf = //
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boost::dynamic_pointer_cast<JacobianFactor>(gf);
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EXPECT( assert_equal(expected, *jf,1e-9));
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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/* ************************************************************************* */
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