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Merge remote-tracking branch 'origin/develop' into fan/prototype-hybrid-tr

release/4.3a0
Fan Jiang 2022-04-16 15:59:03 -04:00
parent a9c1d43dc5 5955ecc842
commit 1fe7e743c4
281 changed files with 27120 additions and 6003 deletions
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4
.github/workflows/build-windows.yml vendored
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@ -48,7 +48,9 @@ jobs:
- name: Install Dependencies
shell: powershell
run: |
Invoke-Expression (New-Object System.Net.WebClient).DownloadString('https://get.scoop.sh')
iwr -useb get.scoop.sh -outfile 'install_scoop.ps1'
.\install_scoop.ps1 -RunAsAdmin
scoop install cmake --global # So we don't get issues with CMP0074 policy
scoop install ninja --global

1
.gitignore vendored
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@ -17,3 +17,4 @@
# for QtCreator:
CMakeLists.txt.user*
xcode/
/Dockerfile

2
CMakeLists.txt
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@ -10,7 +10,7 @@ endif()
set (GTSAM_VERSION_MAJOR 4)
set (GTSAM_VERSION_MINOR 2)
set (GTSAM_VERSION_PATCH 0)
set (GTSAM_PRERELEASE_VERSION "a5")
set (GTSAM_PRERELEASE_VERSION "a6")
math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}")
if (${GTSAM_VERSION_PATCH} EQUAL 0)

4
INSTALL.md
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@ -13,7 +13,7 @@ $ make install
## Important Installation Notes
1. GTSAM requires the following libraries to be installed on your system:
- BOOST version 1.65 or greater (install through Linux repositories or MacPorts). Please see [Boost Notes](#boost-notes).
- BOOST version 1.65 or greater (install through Linux repositories or MacPorts). Please see [Boost Notes](#boost-notes) for version recommendations based on your compiler.
- Cmake version 3.0 or higher
- Support for XCode 4.3 command line tools on Mac requires CMake 2.8.8 or higher
@ -72,7 +72,7 @@ execute commands as follows for an out-of-source build:
Versions of Boost prior to 1.65 have a known bug that prevents proper "deep" serialization of objects, which means that objects encapsulated inside other objects don't get serialized.
This is particularly seen when using `clang` as the C++ compiler.
For this reason we require Boost>=1.65, and recommend installing it through alternative channels when it is not available through your operating system's primary package manager.
For this reason we recommend Boost>=1.65, and recommend installing it through alternative channels when it is not available through your operating system's primary package manager.
## Known Issues

2
cmake/GtsamBuildTypes.cmake
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@ -191,7 +191,7 @@ endif()
if (NOT MSVC)
option(GTSAM_BUILD_WITH_MARCH_NATIVE "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" ON)
if(GTSAM_BUILD_WITH_MARCH_NATIVE)
if(GTSAM_BUILD_WITH_MARCH_NATIVE AND (APPLE AND NOT CMAKE_SYSTEM_PROCESSOR STREQUAL "arm64"))
# Add as public flag so all dependant projects also use it, as required
# by Eigen to avid crashes due to SIMD vectorization:
list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-march=native")

11
cmake/HandleMetis.cmake
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@ -21,7 +21,12 @@ if(GTSAM_USE_SYSTEM_METIS)
mark_as_advanced(METIS_LIBRARY)
add_library(metis-gtsam-if INTERFACE)
target_include_directories(metis-gtsam-if BEFORE INTERFACE ${METIS_INCLUDE_DIR})
target_include_directories(metis-gtsam-if BEFORE INTERFACE ${METIS_INCLUDE_DIR}
# gtsam_unstable/partition/FindSeparator-inl.h uses internal metislib.h API
# via extern "C"
$<BUILD_INTERFACE:${GTSAM_SOURCE_DIR}/gtsam/3rdparty/metis/libmetis>
$<BUILD_INTERFACE:${GTSAM_SOURCE_DIR}/gtsam/3rdparty/metis/GKlib>
)
target_link_libraries(metis-gtsam-if INTERFACE ${METIS_LIBRARY})
endif()
else()
@ -30,10 +35,12 @@ else()
add_subdirectory(${GTSAM_SOURCE_DIR}/gtsam/3rdparty/metis)
target_include_directories(metis-gtsam BEFORE PUBLIC
$<INSTALL_INTERFACE:include/gtsam/3rdparty/metis/>
$<BUILD_INTERFACE:${GTSAM_SOURCE_DIR}/gtsam/3rdparty/metis/include>
# gtsam_unstable/partition/FindSeparator-inl.h uses internal metislib.h API
# via extern "C"
$<BUILD_INTERFACE:${GTSAM_SOURCE_DIR}/gtsam/3rdparty/metis/libmetis>
$<BUILD_INTERFACE:${GTSAM_SOURCE_DIR}/gtsam/3rdparty/metis/GKlib>
$<INSTALL_INTERFACE:include/gtsam/3rdparty/metis/>
)
add_library(metis-gtsam-if INTERFACE)

8
doc/Code/LocalizationExample2.cpp
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@ -1,7 +1,7 @@
// add unary measurement factors, like GPS, on all three poses
noiseModel::Diagonal::shared_ptr unaryNoise =
auto unaryNoise =
noiseModel::Diagonal::Sigmas(Vector2(0.1, 0.1)); // 10cm std on x,y
graph.add(boost::make_shared<UnaryFactor>(1, 0.0, 0.0, unaryNoise));
graph.add(boost::make_shared<UnaryFactor>(2, 2.0, 0.0, unaryNoise));
graph.add(boost::make_shared<UnaryFactor>(3, 4.0, 0.0, unaryNoise));
graph.emplace_shared<UnaryFactor>(1, 0.0, 0.0, unaryNoise);
graph.emplace_shared<UnaryFactor>(2, 2.0, 0.0, unaryNoise);
graph.emplace_shared<UnaryFactor>(3, 4.0, 0.0, unaryNoise);

3
doc/Code/LocalizationFactor.cpp
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@ -6,8 +6,7 @@ public:
NoiseModelFactor1<Pose2>(model, j), mx_(x), my_(y) {}
Vector evaluateError(const Pose2& q,
boost::optional<Matrix&> H = boost::none) const
{
boost::optional<Matrix&> H = boost::none) const override {
const Rot2& R = q.rotation();
if (H) (*H) = (gtsam::Matrix(2, 3) <<
R.c(), -R.s(), 0.0,

8
doc/Code/OdometryExample.cpp
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@ -3,13 +3,11 @@ NonlinearFactorGraph graph;
// Add a Gaussian prior on pose x_1
Pose2 priorMean(0.0, 0.0, 0.0);
noiseModel::Diagonal::shared_ptr priorNoise =
noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1));
graph.addPrior(1, priorMean, priorNoise);
auto priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1));
graph.add(PriorFactor<Pose2>(1, priorMean, priorNoise));
// Add two odometry factors
Pose2 odometry(2.0, 0.0, 0.0);
noiseModel::Diagonal::shared_ptr odometryNoise =
noiseModel::Diagonal::Sigmas(Vector3(0.2, 0.2, 0.1));
auto odometryNoise = noiseModel::Diagonal::Sigmas(Vector3(0.2, 0.2, 0.1));
graph.add(BetweenFactor<Pose2>(1, 2, odometry, odometryNoise));
graph.add(BetweenFactor<Pose2>(2, 3, odometry, odometryNoise));

9
doc/Code/OdometryOutput1.txt
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@ -1,11 +1,14 @@
Factor Graph:
size: 3
factor 0: PriorFactor on 1
Factor 0: PriorFactor on 1
prior mean: (0, 0, 0)
noise model: diagonal sigmas [0.3; 0.3; 0.1];
factor 1: BetweenFactor(1,2)
Factor 1: BetweenFactor(1,2)
measured: (2, 0, 0)
noise model: diagonal sigmas [0.2; 0.2; 0.1];
factor 2: BetweenFactor(2,3)
Factor 2: BetweenFactor(2,3)
measured: (2, 0, 0)
noise model: diagonal sigmas [0.2; 0.2; 0.1];

24
doc/Code/OdometryOutput2.txt
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@ -1,11 +1,23 @@
Initial Estimate:
Values with 3 values:
Value 1: (0.5, 0, 0.2)
Value 2: (2.3, 0.1, -0.2)
Value 3: (4.1, 0.1, 0.1)
Value 1: (gtsam::Pose2)
(0.5, 0, 0.2)
Value 2: (gtsam::Pose2)
(2.3, 0.1, -0.2)
Value 3: (gtsam::Pose2)
(4.1, 0.1, 0.1)
Final Result:
Values with 3 values:
Value 1: (-1.8e-16, 8.7e-18, -9.1e-19)
Value 2: (2, 7.4e-18, -2.5e-18)
Value 3: (4, -1.8e-18, -3.1e-18)
Value 1: (gtsam::Pose2)
(7.5-16, -5.3-16, -1.8-16)
Value 2: (gtsam::Pose2)
(2, -1.1-15, -2.5-16)
Value 3: (gtsam::Pose2)
(4, -1.7-15, -2.5-16)

18
doc/Code/OdometryOutput3.txt
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@ -1,12 +1,12 @@
x1 covariance:
0.09 1.1e-47 5.7e-33
1.1e-47 0.09 1.9e-17
5.7e-33 1.9e-17 0.01
0.09 1.7e-33 2.8e-33
1.7e-33 0.09 2.6e-17
2.8e-33 2.6e-17 0.01
x2 covariance:
0.13 4.7e-18 2.4e-18
4.7e-18 0.17 0.02
2.4e-18 0.02 0.02
0.13 1.2e-18 6.1e-19
1.2e-18 0.17 0.02
6.1e-19 0.02 0.02
x3 covariance:
0.17 2.7e-17 8.4e-18
2.7e-17 0.37 0.06
8.4e-18 0.06 0.03
0.17 8.6e-18 2.7e-18
8.6e-18 0.37 0.06
2.7e-18 0.06 0.03

252
doc/gtsam.lyx
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@ -134,14 +134,10 @@ A Hands-on Introduction
\begin_layout Author
Frank Dellaert
\begin_inset Newline newline
\end_inset
Technical Report number GT-RIM-CP&R-2014-XXX
\end_layout
\begin_layout Date
September 2014
Updated Last March 2022
\end_layout
\begin_layout Standard
@ -154,18 +150,14 @@ filename "common_macros.tex"
\end_layout
\begin_layout Section*
Overview
\end_layout
\begin_layout Standard
\begin_layout Abstract
In this document I provide a hands-on introduction to both factor graphs
and GTSAM.
This is an updated version from the 2012 TR that is tailored to our GTSAM
3.0 library and beyond.
4.0 library and beyond.
\end_layout
\begin_layout Standard
\begin_layout Abstract
\series bold
Factor graphs
@ -206,7 +198,7 @@ ts or prior knowledge.
robotics and vision.
\end_layout
\begin_layout Standard
\begin_layout Abstract
The GTSAM toolbox (GTSAM stands for
\begin_inset Quotes eld
\end_inset
@ -221,11 +213,13 @@ Georgia Tech Smoothing and Mapping
It provides state of the art solutions to the SLAM and SFM problems, but
can also be used to model and solve both simpler and more complex estimation
problems.
It also provides a MATLAB interface which allows for rapid prototype developmen
t, visualization, and user interaction.
It also provides MATLAB and Python wrappers which allow for rapid prototype
development, visualization, and user interaction.
In addition, it is easy to use in Jupyter notebooks and/or Google's coLaborator
y.
\end_layout
\begin_layout Standard
\begin_layout Abstract
GTSAM exploits sparsity to be computationally efficient.
Typically measurements only provide information on the relationship between
a handful of variables, and hence the resulting factor graph will be sparsely
@ -236,14 +230,17 @@ l complexity.
GTSAM provides iterative methods that are quite efficient regardless.
\end_layout
\begin_layout Standard
You can download the latest version of GTSAM at
\begin_layout Abstract
You can download the latest version of GTSAM from GitHub at
\end_layout
\begin_layout Abstract
\begin_inset Flex URL
status open
\begin_layout Plain Layout
http://tinyurl.com/gtsam
https://github.com/borglab/gtsam
\end_layout
\end_inset
@ -741,7 +738,7 @@ noindent
\begin_inset Formula $f_{0}(x_{1})$
\end_inset
on lines 5-8 as an instance of
on lines 5-7 as an instance of
\series bold
\emph on
PriorFactor<T>
@ -773,7 +770,7 @@ Pose2,
noiseModel::Diagonal
\series default
\emph default
by specifying three standard deviations in line 7, respectively 30 cm.
by specifying three standard deviations in line 6, respectively 30 cm.
\begin_inset space ~
\end_inset
@ -795,7 +792,7 @@ Similarly, odometry measurements are specified as
Pose2
\series default
\emph default
on line 11, with a slightly different noise model defined on line 12-13.
on line 10, with a slightly different noise model defined on line 11.
We then add the two factors
\begin_inset Formula $f_{1}(x_{1},x_{2};o_{1})$
\end_inset
@ -804,7 +801,7 @@ Pose2
\begin_inset Formula $f_{2}(x_{2},x_{3};o_{2})$
\end_inset
on lines 14-15, as instances of yet another templated class,
on lines 12-13, as instances of yet another templated class,
\series bold
\emph on
BetweenFactor<T>
@ -875,7 +872,7 @@ smoothing and mapping
.
Later in this document we will talk about how we can also use GTSAM to
do filtering (which you often do
do filtering (which often you do
\emph on
not
\emph default
@ -928,7 +925,11 @@ Values
\begin_layout Standard
The latter point is often a point of confusion with beginning users of GTSAM.
It helps to remember that when designing GTSAM we took a functional approach
of classes corresponding to mathematical objects, which are usually immutable.
of classes corresponding to mathematical objects, which are usually
\emph on
immutable
\emph default
.
You should think of a factor graph as a
\emph on
function
@ -1363,14 +1364,18 @@ where
\end_inset
is the measurement,
\begin_inset Formula $q$
\begin_inset Formula $q\in SE(2)$
\end_inset
is the unknown variable,
\begin_inset Formula $h(q)$
\end_inset
is a (possibly nonlinear) measurement function, and
is a
\series bold
measurement function
\series default
, and
\begin_inset Formula $\Sigma$
\end_inset
@ -1546,7 +1551,7 @@ E(q)\define h(q)-m
\end_inset
which is done on line 12.
which is done on line 14.
Importantly, because we want to use this factor for nonlinear optimization
(see e.g.,
\begin_inset CommandInset citation
@ -1599,11 +1604,11 @@ q_{y}
\begin_inset Formula $q=\left(q_{x},q_{y},q_{\theta}\right)$
\end_inset
, yields the following simple
, yields the following
\begin_inset Formula $2\times3$
\end_inset
matrix in tangent space which is the same the as the rotation matrix:
matrix:
\end_layout
\begin_layout Standard
@ -1618,6 +1623,171 @@ H=\left[\begin{array}{ccc}
\end_inset
\end_layout
\begin_layout Paragraph*
Important Note
\end_layout
\begin_layout Standard
Many of our users, when attempting to create a custom factor, are initially
surprised at the Jacobian matrix not agreeing with their intuition.
For example, above you might simply expect a
\begin_inset Formula $2\times3$
\end_inset
identity matrix.
This
\emph on
would
\emph default
be true for variables belonging to a vector space.
However, in GTSAM we define the Jacobian more generally to be the matrix
\begin_inset Formula $H$
\end_inset
such that
\begin_inset Formula
\[
h(q\exp\hat{\xi})\approx h(q)+H\xi
\]
\end_inset
where
\begin_inset Formula $\xi=(\delta x,\delta y,\delta\theta)$
\end_inset
is an incremental update and
\begin_inset Formula $\exp\hat{\xi}$
\end_inset
is the
\series bold
exponential map
\series default
for the variable we want to update.
In this case
\begin_inset Formula $q\in SE(2)$
\end_inset
, where
\begin_inset Formula $SE(2)$
\end_inset
is the group of 2D rigid transforms, implemented by
\series bold
\emph on
Pose2
\emph default
.
\series default
The exponential map for
\begin_inset Formula $SE(2)$
\end_inset
can be approximated to first order as
\begin_inset Formula
\[
\exp\hat{\xi}\approx\left[\begin{array}{ccc}
1 & -\delta\theta & \delta x\\
\delta\theta & 1 & \delta y\\
0 & 0 & 1
\end{array}\right]
\]
\end_inset
when using the
\begin_inset Formula $3\times3$
\end_inset
matrix representation for 2D poses, and hence
\begin_inset Formula
\[
h(qe^{\hat{\xi}})\approx h\left(\left[\begin{array}{ccc}
\cos(q_{\theta}) & -\sin(q_{\theta}) & q_{x}\\
\sin(q_{\theta}) & \cos(q_{\theta}) & q_{y}\\
0 & 0 & 1
\end{array}\right]\left[\begin{array}{ccc}
1 & -\delta\theta & \delta x\\
\delta\theta & 1 & \delta y\\
0 & 0 & 1
\end{array}\right]\right)=\left[\begin{array}{c}
q_{x}+\cos(q_{\theta})\delta x-\sin(q_{\theta})\delta y\\
q_{y}+\sin(q_{\theta})\delta x+\cos(q_{\theta})\delta y
\end{array}\right]
\]
\end_inset
which then explains the Jacobian
\begin_inset Formula $H$
\end_inset
.
\end_layout
\begin_layout Standard
Lie groups are very relevant in the robotics context, and you can read more
here:
\end_layout
\begin_layout Itemize
\begin_inset Flex URL
status open
\begin_layout Plain Layout
https://github.com/borglab/gtsam/blob/develop/doc/LieGroups.pdf
\end_layout
\end_inset
\end_layout
\begin_layout Itemize
\begin_inset Flex URL
status open
\begin_layout Plain Layout
https://github.com/borglab/gtsam/blob/develop/doc/math.pdf
\end_layout
\end_inset
\end_layout
\begin_layout Standard
In some cases you want to go even beyond Lie groups to a looser concept,
\series bold
manifolds
\series default
, because not all unknown variables behave like a group, e.g., the space of
3D planes, 2D lines, directions in space, etc.
For manifolds we do not always have an exponential map, but we have a retractio
n that plays the same role.
Some of this is explained here:
\end_layout
\begin_layout Itemize
\begin_inset Flex URL
status open
\begin_layout Plain Layout
https://gtsam.org/notes/GTSAM-Concepts.html
\end_layout
\end_inset
\end_layout
\begin_layout Subsection
@ -1680,13 +1850,13 @@ UnaryFactor
\series default
\emph default
instances, and add them to graph.
GTSAM uses shared pointers to refer to factors in factor graphs, and
GTSAM uses shared pointers to refer to factors, and
\series bold
\emph on
boost::make_shared
emplace_shared
\series default
\emph default
is a convenience function to simultaneously construct a class and create
is a convenience method to simultaneously construct a class and create
a
\series bold
\emph on
@ -1694,22 +1864,6 @@ shared_ptr
\series default
\emph default
to it.
\begin_inset Note Note
status collapsed
\begin_layout Plain Layout
and on lines 4-6 we add three newly created
\series bold
\emph on
UnaryFactor
\series default
\emph default
instances to the graph.
\end_layout
\end_inset
We obtain the factor graph from Figure
\begin_inset CommandInset ref
LatexCommand vref

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doc/gtsam.pdf
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175
examples/RangeISAMExample_plaza2.cpp
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@ -10,62 +10,81 @@
* -------------------------------------------------------------------------- */
/**
* @file RangeISAMExample_plaza1.cpp
* @file RangeISAMExample_plaza2.cpp
* @brief A 2D Range SLAM example
* @date June 20, 2013
* @author FRank Dellaert
* @author Frank Dellaert
*/
// Both relative poses and recovered trajectory poses will be stored as Pose2 objects
// Both relative poses and recovered trajectory poses will be stored as Pose2.
#include <gtsam/geometry/Pose2.h>
using gtsam::Pose2;
// Each variable in the system (poses and landmarks) must be identified with a unique key.
// We can either use simple integer keys (1, 2, 3, ...) or symbols (X1, X2, L1).
// Here we will use Symbols
// gtsam::Vectors are dynamic Eigen vectors, Vector3 is statically sized.
#include <gtsam/base/Vector.h>
using gtsam::Vector;
using gtsam::Vector3;
// Unknown landmarks are of type Point2 (which is just a 2D Eigen vector).
#include <gtsam/geometry/Point2.h>
using gtsam::Point2;
// Each variable in the system (poses and landmarks) must be identified with a
// unique key. We can either use simple integer keys (1, 2, 3, ...) or symbols
// (X1, X2, L1). Here we will use Symbols.
#include <gtsam/inference/Symbol.h>
using gtsam::Symbol;
// We want to use iSAM2 to solve the range-SLAM problem incrementally
// We want to use iSAM2 to solve the range-SLAM problem incrementally.
#include <gtsam/nonlinear/ISAM2.h>
// iSAM2 requires as input a set set of new factors to be added stored in a factor graph,
// and initial guesses for any new variables used in the added factors
// iSAM2 requires as input a set set of new factors to be added stored in a
// factor graph, and initial guesses for any new variables in the added factors.
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
// We will use a non-liear solver to batch-inituialize from the first 150 frames
// We will use a non-linear solver to batch-initialize from the first 150 frames
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
// In GTSAM, measurement functions are represented as 'factors'. Several common factors
// have been provided with the library for solving robotics SLAM problems.
#include <gtsam/slam/BetweenFactor.h>
// Measurement functions are represented as 'factors'. Several common factors
// have been provided with the library for solving robotics SLAM problems:
#include <gtsam/sam/RangeFactor.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/slam/dataset.h>
// Standard headers, added last, so we know headers above work on their own
// Timing, with functions below, provides nice facilities to benchmark.
#include <gtsam/base/timing.h>
using gtsam::tictoc_print_;
// Standard headers, added last, so we know headers above work on their own.
#include <fstream>
#include <iostream>
#include <random>
#include <set>
#include <string>
#include <utility>
#include <vector>
using namespace std;
using namespace gtsam;
namespace NM = gtsam::noiseModel;
// data available at http://www.frc.ri.cmu.edu/projects/emergencyresponse/RangeData/
// Datafile format (from http://www.frc.ri.cmu.edu/projects/emergencyresponse/RangeData/log.html)
// Data is second UWB ranging dataset, B2 or "plaza 2", from
// "Navigating with Ranging Radios: Five Data Sets with Ground Truth"
// by Joseph Djugash, Bradley Hamner, and Stephan Roth
// https://www.ri.cmu.edu/pub_files/2009/9/Final_5datasetsRangingRadios.pdf
// load the odometry
// DR: Odometry Input (delta distance traveled and delta heading change)
// Time (sec) Delta Dist. Trav. (m) Delta Heading (rad)
typedef pair<double, Pose2> TimedOdometry;
list<TimedOdometry> readOdometry() {
list<TimedOdometry> odometryList;
string data_file = findExampleDataFile("Plaza2_DR.txt");
ifstream is(data_file.c_str());
// Time (sec) Delta Distance Traveled (m) Delta Heading (rad)
using TimedOdometry = std::pair<double, Pose2>;
std::list<TimedOdometry> readOdometry() {
std::list<TimedOdometry> odometryList;
std::string data_file = gtsam::findExampleDataFile("Plaza2_DR.txt");
std::ifstream is(data_file.c_str());
while (is) {
double t, distance_traveled, delta_heading;
is >> t >> distance_traveled >> delta_heading;
odometryList.push_back(
TimedOdometry(t, Pose2(distance_traveled, 0, delta_heading)));
odometryList.emplace_back(t, Pose2(distance_traveled, 0, delta_heading));
}
is.clear(); /* clears the end-of-file and error flags */
return odometryList;
@ -73,72 +92,66 @@ list<TimedOdometry> readOdometry() {
// load the ranges from TD
// Time (sec) Sender / Antenna ID Receiver Node ID Range (m)
typedef boost::tuple<double, size_t, double> RangeTriple;
vector<RangeTriple> readTriples() {
vector<RangeTriple> triples;
string data_file = findExampleDataFile("Plaza2_TD.txt");
ifstream is(data_file.c_str());
using RangeTriple = boost::tuple<double, size_t, double>;
std::vector<RangeTriple> readTriples() {
std::vector<RangeTriple> triples;
std::string data_file = gtsam::findExampleDataFile("Plaza2_TD.txt");
std::ifstream is(data_file.c_str());
while (is) {
double t, sender, range;
size_t receiver;
double t, range, sender, receiver;
is >> t >> sender >> receiver >> range;
triples.push_back(RangeTriple(t, receiver, range));
triples.emplace_back(t, receiver, range);
}
is.clear(); /* clears the end-of-file and error flags */
return triples;
}
// main
int main (int argc, char** argv) {
int main(int argc, char** argv) {
// load Plaza2 data
list<TimedOdometry> odometry = readOdometry();
// size_t M = odometry.size();
std::list<TimedOdometry> odometry = readOdometry();
size_t M = odometry.size();
std::cout << "Read " << M << " odometry entries." << std::endl;
vector<RangeTriple> triples = readTriples();
std::vector<RangeTriple> triples = readTriples();
size_t K = triples.size();
std::cout << "Read " << K << " range triples." << std::endl;
// parameters
size_t minK = 150; // minimum number of range measurements to process initially
size_t minK =
150; // minimum number of range measurements to process initially
size_t incK = 25; // minimum number of range measurements to process after
bool groundTruth = false;
bool robust = true;
// Set Noise parameters
Vector priorSigmas = Vector3(1,1,M_PI);
Vector priorSigmas = Vector3(1, 1, M_PI);
Vector odoSigmas = Vector3(0.05, 0.01, 0.1);
double sigmaR = 100; // range standard deviation
const NM::Base::shared_ptr // all same type
priorNoise = NM::Diagonal::Sigmas(priorSigmas), //prior
priorNoise = NM::Diagonal::Sigmas(priorSigmas), // prior
looseNoise = NM::Isotropic::Sigma(2, 1000), // loose LM prior
odoNoise = NM::Diagonal::Sigmas(odoSigmas), // odometry
gaussian = NM::Isotropic::Sigma(1, sigmaR), // non-robust
tukey = NM::Robust::Create(NM::mEstimator::Tukey::Create(15), gaussian), //robust
tukey = NM::Robust::Create(NM::mEstimator::Tukey::Create(15),
gaussian), // robust
rangeNoise = robust ? tukey : gaussian;
// Initialize iSAM
ISAM2 isam;
gtsam::ISAM2 isam;
// Add prior on first pose
Pose2 pose0 = Pose2(-34.2086489999201, 45.3007639991120,
M_PI - 2.02108900000000);
NonlinearFactorGraph newFactors;
Pose2 pose0 = Pose2(-34.2086489999201, 45.3007639991120, M_PI - 2.021089);
gtsam::NonlinearFactorGraph newFactors;
newFactors.addPrior(0, pose0, priorNoise);
Values initial;
gtsam::Values initial;
initial.insert(0, pose0);
// initialize points
if (groundTruth) { // from TL file
initial.insert(symbol('L', 1), Point2(-68.9265, 18.3778));
initial.insert(symbol('L', 6), Point2(-37.5805, 69.2278));
initial.insert(symbol('L', 0), Point2(-33.6205, 26.9678));
initial.insert(symbol('L', 5), Point2(1.7095, -5.8122));
} else { // drawn from sigma=1 Gaussian in matlab version
initial.insert(symbol('L', 1), Point2(3.5784, 2.76944));
initial.insert(symbol('L', 6), Point2(-1.34989, 3.03492));
initial.insert(symbol('L', 0), Point2(0.725404, -0.0630549));
initial.insert(symbol('L', 5), Point2(0.714743, -0.204966));
}
// We will initialize landmarks randomly, and keep track of which landmarks we
// already added with a set.
std::mt19937_64 rng;
std::normal_distribution<double> normal(0.0, 100.0);
std::set<Symbol> initializedLandmarks;
// set some loop variables
size_t i = 1; // step counter
@ -149,14 +162,15 @@ int main (int argc, char** argv) {
// Loop over odometry
gttic_(iSAM);
for(const TimedOdometry& timedOdometry: odometry) {
//--------------------------------- odometry loop -----------------------------------------
for (const TimedOdometry& timedOdometry : odometry) {
//--------------------------------- odometry loop --------------------------
double t;
Pose2 odometry;
boost::tie(t, odometry) = timedOdometry;
// add odometry factor
newFactors.push_back(BetweenFactor<Pose2>(i-1, i, odometry, odoNoise));
newFactors.emplace_shared<gtsam::BetweenFactor<Pose2>>(i - 1, i, odometry,
odoNoise);
// predict pose and add as initial estimate
Pose2 predictedPose = lastPose.compose(odometry);
@ -166,8 +180,20 @@ int main (int argc, char** argv) {
// Check if there are range factors to be added
while (k < K && t >= boost::get<0>(triples[k])) {
size_t j = boost::get<1>(triples[k]);
Symbol landmark_key('L', j);
double range = boost::get<2>(triples[k]);
newFactors.push_back(RangeFactor<Pose2, Point2>(i, symbol('L', j), range,rangeNoise));
newFactors.emplace_shared<gtsam::RangeFactor<Pose2, Point2>>(
i, landmark_key, range, rangeNoise);
if (initializedLandmarks.count(landmark_key) == 0) {
std::cout << "adding landmark " << j << std::endl;
double x = normal(rng), y = normal(rng);
initial.insert(landmark_key, Point2(x, y));
initializedLandmarks.insert(landmark_key);
// We also add a very loose prior on the landmark in case there is only
// one sighting, which cannot fully determine the landmark.
newFactors.emplace_shared<gtsam::PriorFactor<Point2>>(
landmark_key, Point2(0, 0), looseNoise);
}
k = k + 1;
countK = countK + 1;
}
@ -175,8 +201,9 @@ int main (int argc, char** argv) {
// Check whether to update iSAM 2
if ((k > minK) && (countK > incK)) {
if (!initialized) { // Do a full optimize for first minK ranges
std::cout << "Initializing at time " << k << std::endl;
gttic_(batchInitialization);
LevenbergMarquardtOptimizer batchOptimizer(newFactors, initial);
gtsam::LevenbergMarquardtOptimizer batchOptimizer(newFactors, initial);
initial = batchOptimizer.optimize();
gttoc_(batchInitialization);
initialized = true;
@ -185,21 +212,27 @@ int main (int argc, char** argv) {
isam.update(newFactors, initial);
gttoc_(update);
gttic_(calculateEstimate);
Values result = isam.calculateEstimate();
gtsam::Values result = isam.calculateEstimate();
gttoc_(calculateEstimate);
lastPose = result.at<Pose2>(i);
newFactors = NonlinearFactorGraph();
initial = Values();
newFactors = gtsam::NonlinearFactorGraph();
initial = gtsam::Values();
countK = 0;
}
i += 1;
//--------------------------------- odometry loop -----------------------------------------
//--------------------------------- odometry loop --------------------------
} // end for
gttoc_(iSAM);
// Print timings
tictoc_print_();
// Print optimized landmarks:
gtsam::Values finalResult = isam.calculateEstimate();
for (auto&& landmark_key : initializedLandmarks) {
Point2 p = finalResult.at<Point2>(landmark_key);
std::cout << landmark_key << ":" << p.transpose() << "\n";
}
exit(0);
}

2
gtsam/discrete/AlgebraicDecisionTree.h
View File

@ -160,7 +160,7 @@ namespace gtsam {
const typename Base::LabelFormatter& labelFormatter =
&DefaultFormatter) const {
auto valueFormatter = [](const double& v) {
return (boost::format("%4.4g") % v).str();
return (boost::format("%4.8g") % v).str();
};
Base::print(s, labelFormatter, valueFormatter);
}

2
gtsam/discrete/Assignment.h
View File

@ -33,6 +33,8 @@ namespace gtsam {
template <class L>
class Assignment : public std::map<L, size_t> {
public:
using std::map<L, size_t>::operator=;
void print(const std::string& s = "Assignment: ") const {
std::cout << s << ": ";
for (const typename Assignment::value_type& keyValue : *this)

235
gtsam/discrete/DecisionTree-inl.h
View File

@ -59,33 +59,41 @@ namespace gtsam {
/** constant stored in this leaf */
Y constant_;
/** Constructor from constant */
Leaf(const Y& constant) :
constant_(constant) {}
/** The number of assignments contained within this leaf.
* Particularly useful when leaves have been pruned.
*/
size_t nrAssignments_;
/** return the constant */
/// Constructor from constant
Leaf(const Y& constant, size_t nrAssignments = 1)
: constant_(constant), nrAssignments_(nrAssignments) {}
/// Return the constant
const Y& constant() const {
return constant_;
}
/// Return the number of assignments contained within this leaf.
size_t nrAssignments() const { return nrAssignments_; }
/// Leaf-Leaf equality
bool sameLeaf(const Leaf& q) const override {
return constant_ == q.constant_;
}
/// polymorphic equality: is q is a leaf, could be
/// polymorphic equality: is q a leaf and is it the same as this leaf?
bool sameLeaf(const Node& q) const override {
return (q.isLeaf() && q.sameLeaf(*this));
}
/** equality up to tolerance */
/// equality up to tolerance
bool equals(const Node& q, const CompareFunc& compare) const override {
const Leaf* other = dynamic_cast<const Leaf*>(&q);
if (!other) return false;
return compare(this->constant_, other->constant_);
}
/** print */
/// print
void print(const std::string& s, const LabelFormatter& labelFormatter,
const ValueFormatter& valueFormatter) const override {
std::cout << s << " Leaf " << valueFormatter(constant_) << std::endl;
@ -108,7 +116,14 @@ namespace gtsam {
/** apply unary operator */
NodePtr apply(const Unary& op) const override {
NodePtr f(new Leaf(op(constant_)));
NodePtr f(new Leaf(op(constant_), nrAssignments_));
return f;
}
/// Apply unary operator with assignment
NodePtr apply(const UnaryAssignment& op,
const Assignment<L>& assignment) const override {
NodePtr f(new Leaf(op(assignment, constant_), nrAssignments_));
return f;
}
@ -123,7 +138,8 @@ namespace gtsam {
// Applying binary operator to two leaves results in a leaf
NodePtr apply_g_op_fL(const Leaf& fL, const Binary& op) const override {
NodePtr h(new Leaf(op(fL.constant_, constant_))); // fL op gL
// fL op gL
NodePtr h(new Leaf(op(fL.constant_, constant_), nrAssignments_));
return h;
}
@ -134,7 +150,7 @@ namespace gtsam {
/** choose a branch, create new memory ! */
NodePtr choose(const L& label, size_t index) const override {
return NodePtr(new Leaf(constant()));
return NodePtr(new Leaf(constant(), nrAssignments()));
}
bool isLeaf() const override { return true; }
@ -152,7 +168,10 @@ namespace gtsam {
std::vector<NodePtr> branches_;
private:
/** incremental allSame */
/**
* Incremental allSame.
* Records if all the branches are the same leaf.
*/
size_t allSame_;
using ChoicePtr = boost::shared_ptr<const Choice>;
@ -165,15 +184,22 @@ namespace gtsam {
#endif
}
/** If all branches of a choice node f are the same, just return a branch */
/// If all branches of a choice node f are the same, just return a branch.
static NodePtr Unique(const ChoicePtr& f) {
#ifndef DT_NO_PRUNING
#ifndef GTSAM_DT_NO_PRUNING
if (f->allSame_) {
assert(f->branches().size() > 0);
NodePtr f0 = f->branches_[0];
assert(f0->isLeaf());
size_t nrAssignments = 0;
for(auto branch: f->branches()) {
assert(branch->isLeaf());
nrAssignments +=
boost::dynamic_pointer_cast<const Leaf>(branch)->nrAssignments();
}
NodePtr newLeaf(
new Leaf(boost::dynamic_pointer_cast<const Leaf>(f0)->constant()));
new Leaf(boost::dynamic_pointer_cast<const Leaf>(f0)->constant(),
nrAssignments));
return newLeaf;
} else
#endif
@ -182,15 +208,13 @@ namespace gtsam {
bool isLeaf() const override { return false; }
/** Constructor, given choice label and mandatory expected branch count */
/// Constructor, given choice label and mandatory expected branch count.
Choice(const L& label, size_t count) :
label_(label), allSame_(true) {
branches_.reserve(count);
}
/**
* Construct from applying binary op to two Choice nodes
*/
/// Construct from applying binary op to two Choice nodes.
Choice(const Choice& f, const Choice& g, const Binary& op) :
allSame_(true) {
// Choose what to do based on label
@ -218,6 +242,7 @@ namespace gtsam {
}
}
/// Return the label of this choice node.
const L& label() const {
return label_;
}
@ -239,7 +264,7 @@ namespace gtsam {
branches_.push_back(node);
}
/** print (as a tree) */
/// print (as a tree).
void print(const std::string& s, const LabelFormatter& labelFormatter,
const ValueFormatter& valueFormatter) const override {
std::cout << s << " Choice(";
@ -285,7 +310,7 @@ namespace gtsam {
return (q.isLeaf() && q.sameLeaf(*this));
}
/** equality */
/// equality
bool equals(const Node& q, const CompareFunc& compare) const override {
const Choice* other = dynamic_cast<const Choice*>(&q);
if (!other) return false;
@ -298,7 +323,7 @@ namespace gtsam {
return true;
}
/** evaluate */
/// evaluate
const Y& operator()(const Assignment<L>& x) const override {
#ifndef NDEBUG
typename Assignment<L>::const_iterator it = x.find(label_);
@ -313,21 +338,57 @@ namespace gtsam {
return (*child)(x);
}
/**
* Construct from applying unary op to a Choice node
*/
/// Construct from applying unary op to a Choice node.
Choice(const L& label, const Choice& f, const Unary& op) :
label_(label), allSame_(true) {
branches_.reserve(f.branches_.size()); // reserve space
for (const NodePtr& branch : f.branches_) push_back(branch->apply(op));
for (const NodePtr& branch : f.branches_) {
push_back(branch->apply(op));
}
}
/** apply unary operator */
/**
* @brief Constructor which accepts a UnaryAssignment op and the
* corresponding assignment.
*
* @param label The label for this node.
* @param f The original choice node to apply the op on.
* @param op Function to apply on the choice node. Takes Assignment and
* value as arguments.
* @param assignment The Assignment that will go to op.
*/
Choice(const L& label, const Choice& f, const UnaryAssignment& op,
const Assignment<L>& assignment)
: label_(label), allSame_(true) {
branches_.reserve(f.branches_.size()); // reserve space
Assignment<L> assignment_ = assignment;
for (size_t i = 0; i < f.branches_.size(); i++) {
assignment_[label_] = i; // Set assignment for label to i
const NodePtr branch = f.branches_[i];
push_back(branch->apply(op, assignment_));
// Remove the assignment so we are backtracking
auto assignment_it = assignment_.find(label_);
assignment_.erase(assignment_it);
}
}
/// apply unary operator.
NodePtr apply(const Unary& op) const override {
auto r = boost::make_shared<Choice>(label_, *this, op);
return Unique(r);
}
/// Apply unary operator with assignment
NodePtr apply(const UnaryAssignment& op,
const Assignment<L>& assignment) const override {
auto r = boost::make_shared<Choice>(label_, *this, op, assignment);
return Unique(r);
}
// Apply binary operator "h = f op g" on Choice node
// Note op is not assumed commutative so we need to keep track of order
// Simply calls apply on argument to call correct virtual method:
@ -592,11 +653,13 @@ namespace gtsam {
std::function<Y(const X&)> Y_of_X) const {
using LY = DecisionTree<L, Y>;
// ugliness below because apparently we can't have templated virtual
// functions If leaf, apply unary conversion "op" and create a unique leaf
// Ugliness below because apparently we can't have templated virtual
// functions.
// If leaf, apply unary conversion "op" and create a unique leaf.
using MXLeaf = typename DecisionTree<M, X>::Leaf;
if (auto leaf = boost::dynamic_pointer_cast<const MXLeaf>(f))
return NodePtr(new Leaf(Y_of_X(leaf->constant())));
if (auto leaf = boost::dynamic_pointer_cast<const MXLeaf>(f)) {
return NodePtr(new Leaf(Y_of_X(leaf->constant()), leaf->nrAssignments()));
}
// Check if Choice
using MXChoice = typename DecisionTree<M, X>::Choice;
@ -617,7 +680,16 @@ namespace gtsam {
}
/****************************************************************************/
// Functor performing depth-first visit without Assignment<L> argument.
/**
* Functor performing depth-first visit to each leaf with the leaf value as
* the argument.
*
* NOTE: We differentiate between leaves and assignments. Concretely, a 3
* binary variable tree will have 2^3=8 assignments, but based on pruning, it
* can have less than 8 leaves. For example, if a tree has all assignment
* values as 1, then pruning will cause the tree to have only 1 leaf yet 8
* assignments.
*/
template <typename L, typename Y>
struct Visit {
using F = std::function<void(const Y&)>;
@ -646,28 +718,74 @@ namespace gtsam {
}
/****************************************************************************/
// Functor performing depth-first visit with Assignment<L> argument.
/**
* Functor performing depth-first visit to each leaf with the Leaf object
* passed as an argument.
*
* NOTE: We differentiate between leaves and assignments. Concretely, a 3
* binary variable tree will have 2^3=8 assignments, but based on pruning, it
* can have <8 leaves. For example, if a tree has all assignment values as 1,
* then pruning will cause the tree to have only 1 leaf yet 8 assignments.
*/
template <typename L, typename Y>
struct VisitLeaf {
using F = std::function<void(const typename DecisionTree<L, Y>::Leaf&)>;
explicit VisitLeaf(F f) : f(f) {} ///< Construct from folding function.
F f; ///< folding function object.
/// Do a depth-first visit on the tree rooted at node.
void operator()(const typename DecisionTree<L, Y>::NodePtr& node) const {
using Leaf = typename DecisionTree<L, Y>::Leaf;
if (auto leaf = boost::dynamic_pointer_cast<const Leaf>(node))
return f(*leaf);
using Choice = typename DecisionTree<L, Y>::Choice;
auto choice = boost::dynamic_pointer_cast<const Choice>(node);
if (!choice)
throw std::invalid_argument("DecisionTree::VisitLeaf: Invalid NodePtr");
for (auto&& branch : choice->branches()) (*this)(branch); // recurse!
}
};
template <typename L, typename Y>
template <typename Func>
void DecisionTree<L, Y>::visitLeaf(Func f) const {
VisitLeaf<L, Y> visit(f);
visit(root_);
}
/****************************************************************************/
/**
* Functor performing depth-first visit to each leaf with the leaf's
* `Assignment<L>` and value passed as arguments.
*
* NOTE: Follows the same pruning semantics as `visit`.
*/
template <typename L, typename Y>
struct VisitWith {
using Choices = Assignment<L>;
using F = std::function<void(const Choices&, const Y&)>;
using F = std::function<void(const Assignment<L>&, const Y&)>;
explicit VisitWith(F f) : f(f) {} ///< Construct from folding function.
Choices choices; ///< Assignment, mutating through recursion.
Assignment<L> assignment; ///< Assignment, mutating through recursion.
F f; ///< folding function object.
/// Do a depth-first visit on the tree rooted at node.
void operator()(const typename DecisionTree<L, Y>::NodePtr& node) {
using Leaf = typename DecisionTree<L, Y>::Leaf;
if (auto leaf = boost::dynamic_pointer_cast<const Leaf>(node))
return f(choices, leaf->constant());
return f(assignment, leaf->constant());
using Choice = typename DecisionTree<L, Y>::Choice;
auto choice = boost::dynamic_pointer_cast<const Choice>(node);
if (!choice)
throw std::invalid_argument("DecisionTree::VisitWith: Invalid NodePtr");
for (size_t i = 0; i < choice->nrChoices(); i++) {
choices[choice->label()] = i; // Set assignment for label to i
assignment[choice->label()] = i; // Set assignment for label to i
(*this)(choice->branches()[i]); // recurse!
// Remove the choice so we are backtracking
auto choice_it = assignment.find(choice->label());
assignment.erase(choice_it);
}
}
};
@ -679,6 +797,14 @@ namespace gtsam {
visit(root_);
}
/****************************************************************************/
template <typename L, typename Y>
size_t DecisionTree<L, Y>::nrLeaves() const {
size_t total = 0;
visit([&total](const Y& node) { total += 1; });
return total;
}
/****************************************************************************/
// fold is just done with a visit
template <typename L, typename Y>
@ -689,12 +815,26 @@ namespace gtsam {
}
/****************************************************************************/
// labels is just done with a visit
/**
* Get (partial) labels by performing a visit.
*
* This method performs a depth-first search to go to every leaf and records
* the keys assignment which leads to that leaf. Since the tree can be pruned,
* there might be a leaf at a lower depth which results in a partial
* assignment (i.e. not all keys are specified).
*
* E.g. given a tree with 3 keys, there may be a branch where the 3rd key has
* the same values for all the leaves. This leads to the branch being pruned
* so we get a leaf which is arrived at by just the first 2 keys and their
* assignments.
*/
template <typename L, typename Y>
std::set<L> DecisionTree<L, Y>::labels() const {
std::set<L> unique;
auto f = [&](const Assignment<L>& choices, const Y&) {
for (auto&& kv : choices) unique.insert(kv.first);
auto f = [&](const Assignment<L>& assignment, const Y&) {
for (auto&& kv : assignment) {
unique.insert(kv.first);
}
};
visitWith(f);
return unique;
@ -734,6 +874,19 @@ namespace gtsam {
return DecisionTree(root_->apply(op));
}
/// Apply unary operator with assignment
template <typename L, typename Y>
DecisionTree<L, Y> DecisionTree<L, Y>::apply(
const UnaryAssignment& op) const {
// It is unclear what should happen if tree is empty:
if (empty()) {
throw std::runtime_error(
"DecisionTree::apply(unary op) undefined for empty tree.");
}
Assignment<L> assignment;
return DecisionTree(root_->apply(op, assignment));
}
/****************************************************************************/
template<typename L, typename Y>
DecisionTree<L, Y> DecisionTree<L, Y>::apply(const DecisionTree& g,

61
gtsam/discrete/DecisionTree.h
View File

@ -54,6 +54,7 @@ namespace gtsam {
/** Handy typedefs for unary and binary function types */
using Unary = std::function<Y(const Y&)>;
using UnaryAssignment = std::function<Y(const Assignment<L>&, const Y&)>;
using Binary = std::function<Y(const Y&, const Y&)>;
/** A label annotated with cardinality */
@ -103,6 +104,8 @@ namespace gtsam {
&DefaultCompare) const = 0;
virtual const Y& operator()(const Assignment<L>& x) const = 0;
virtual Ptr apply(const Unary& op) const = 0;
virtual Ptr apply(const UnaryAssignment& op,
const Assignment<L>& assignment) const = 0;
virtual Ptr apply_f_op_g(const Node&, const Binary&) const = 0;
virtual Ptr apply_g_op_fL(const Leaf&, const Binary&) const = 0;
virtual Ptr apply_g_op_fC(const Choice&, const Binary&) const = 0;
@ -150,7 +153,7 @@ namespace gtsam {
/** Create a constant */
explicit DecisionTree(const Y& y);
/** Create a new leaf function splitting on a variable */
/// Create tree with 2 assignments `y1`, `y2`, splitting on variable `label`
DecisionTree(const L& label, const Y& y1, const Y& y2);
/** Allow Label+Cardinality for convenience */
@ -216,9 +219,8 @@ namespace gtsam {
/// @name Standard Interface
/// @{
/** Make virtual */
virtual ~DecisionTree() {
}
/// Make virtual
virtual ~DecisionTree() {}
/// Check if tree is empty.
bool empty() const { return !root_; }
@ -232,9 +234,11 @@ namespace gtsam {
/**
* @brief Visit all leaves in depth-first fashion.
*
* @param f side-effect taking a value.
* @param f (side-effect) Function taking a value.
*
* @note Due to pruning, leaves might not exhaust choices.
* @note Due to pruning, the number of leaves may not be the same as the
* number of assignments. E.g. if we have a tree on 2 binary variables with
* all values being 1, then there are 2^2=4 assignments, but only 1 leaf.
*
* Example:
* int sum = 0;
@ -247,18 +251,40 @@ namespace gtsam {
/**
* @brief Visit all leaves in depth-first fashion.
*
* @param f side-effect taking an assignment and a value.
* @param f (side-effect) Function taking the leaf node pointer.
*
* @note Due to pruning, leaves might not exhaust choices.
* @note Due to pruning, the number of leaves may not be the same as the
* number of assignments. E.g. if we have a tree on 2 binary variables with
* all values being 1, then there are 2^2=4 assignments, but only 1 leaf.
*
* Example:
* int sum = 0;
* auto visitor = [&](const Assignment<L>& choices, int y) { sum += y; };
* auto visitor = [&](int y) { sum += y; };
* tree.visitWith(visitor);
*/
template <typename Func>
void visitLeaf(Func f) const;
/**
* @brief Visit all leaves in depth-first fashion.
*
* @param f (side-effect) Function taking an assignment and a value.
*
* @note Due to pruning, the number of leaves may not be the same as the
* number of assignments. E.g. if we have a tree on 2 binary variables with
* all values being 1, then there are 2^2=4 assignments, but only 1 leaf.
*
* Example:
* int sum = 0;
* auto visitor = [&](const Assignment<L>& assignment, int y) { sum += y; };
* tree.visitWith(visitor);
*/
template <typename Func>
void visitWith(Func f) const;
/// Return the number of leaves in the tree.
size_t nrLeaves() const;
/**
* @brief Fold a binary function over the tree, returning accumulator.
*
@ -283,6 +309,16 @@ namespace gtsam {
/** apply Unary operation "op" to f */
DecisionTree apply(const Unary& op) const;
/**
* @brief Apply Unary operation "op" to f while also providing the
* corresponding assignment.
*
* @param op Function which takes Assignment<L> and Y as input and returns
* object of type Y.
* @return DecisionTree
*/
DecisionTree apply(const UnaryAssignment& op) const;
/** apply binary operation "op" to f and g */
DecisionTree apply(const DecisionTree& g, const Binary& op) const;
@ -337,6 +373,13 @@ namespace gtsam {
return f.apply(op);
}
/// Apply unary operator `op` with Assignment to DecisionTree `f`.
template<typename L, typename Y>
DecisionTree<L, Y> apply(const DecisionTree<L, Y>& f,
const typename DecisionTree<L, Y>::UnaryAssignment& op) {
return f.apply(op);
}
/// Apply binary operator `op` to DecisionTree `f`.
template<typename L, typename Y>
DecisionTree<L, Y> apply(const DecisionTree<L, Y>& f,

43
gtsam/discrete/DecisionTreeFactor.cpp
View File

@ -156,10 +156,7 @@ namespace gtsam {
std::vector<std::pair<DiscreteValues, double>> DecisionTreeFactor::enumerate()
const {
// Get all possible assignments
std::vector<std::pair<Key, size_t>> pairs;
for (auto& key : keys()) {
pairs.emplace_back(key, cardinalities_.at(key));
}
std::vector<std::pair<Key, size_t>> pairs = discreteKeys();
// Reverse to make cartesian product output a more natural ordering.
std::vector<std::pair<Key, size_t>> rpairs(pairs.rbegin(), pairs.rend());
const auto assignments = DiscreteValues::CartesianProduct(rpairs);
@ -289,5 +286,43 @@ namespace gtsam {
AlgebraicDecisionTree<Key>(keys, table),
cardinalities_(keys.cardinalities()) {}
/* ************************************************************************ */
DecisionTreeFactor DecisionTreeFactor::prune(size_t maxNrAssignments) const {
const size_t N = maxNrAssignments;
// Get the probabilities in the decision tree so we can threshold.
std::vector<double> probabilities;
this->visitLeaf([&](const Leaf& leaf) {
size_t nrAssignments = leaf.nrAssignments();
double prob = leaf.constant();
probabilities.insert(probabilities.end(), nrAssignments, prob);
});
// The number of probabilities can be lower than max_leaves
if (probabilities.size() <= N) {
return *this;
}
std::sort(probabilities.begin(), probabilities.end(),
std::greater<double>{});
double threshold = probabilities[N - 1];
// Now threshold the decision tree
size_t total = 0;
auto thresholdFunc = [threshold, &total, N](const double& value) {
if (value < threshold || total >= N) {
return 0.0;
} else {
total += 1;
return value;
}
};
DecisionTree<Key, double> thresholded(*this, thresholdFunc);
// Create pruned decision tree factor and return.
return DecisionTreeFactor(this->discreteKeys(), thresholded);
}
/* ************************************************************************ */
} // namespace gtsam

20
gtsam/discrete/DecisionTreeFactor.h
View File

@ -170,6 +170,26 @@ namespace gtsam {
/// Return all the discrete keys associated with this factor.
DiscreteKeys discreteKeys() const;
/**
* @brief Prune the decision tree of discrete variables.
*
* Pruning will set the leaves to be "pruned" to 0 indicating a 0
* probability. An assignment is pruned if it is not in the top
* `maxNrAssignments` values.
*
* A violation can occur if there are more
* duplicate values than `maxNrAssignments`. A violation here is the need to
* un-prune the decision tree (e.g. all assignment values are 1.0). We could
* have another case where some subset of duplicates exist (e.g. for a tree
* with 8 assignments we have 1, 1, 1, 1, 0.8, 0.7, 0.6, 0.5), but this is
* not a violation since the for `maxNrAssignments=5` the top values are (1,
* 0.8).
*
* @param maxNrAssignments The maximum number of assignments to keep.
* @return DecisionTreeFactor
*/
DecisionTreeFactor prune(size_t maxNrAssignments) const;
/// @}
/// @name Wrapper support
/// @{

2
gtsam/discrete/DiscreteLookupDAG.h
View File

@ -46,7 +46,7 @@ class GTSAM_EXPORT DiscreteLookupTable : public DiscreteConditional {
* @brief Construct a new Discrete Lookup Table object
*
* @param nFrontals number of frontal variables
* @param keys a orted list of gtsam::Keys
* @param keys a sorted list of gtsam::Keys
* @param potentials the algebraic decision tree with lookup values
*/
DiscreteLookupTable(size_t nFrontals, const DiscreteKeys& keys,

2
gtsam/discrete/tests/testAlgebraicDecisionTree.cpp
View File

@ -20,7 +20,7 @@
#include <gtsam/discrete/DiscreteKey.h> // make sure we have traits
#include <gtsam/discrete/DiscreteValues.h>
// headers first to make sure no missing headers
//#define DT_NO_PRUNING
//#define GTSAM_DT_NO_PRUNING
#include <gtsam/discrete/AlgebraicDecisionTree.h>
#include <gtsam/discrete/DecisionTree-inl.h> // for convert only
#define DISABLE_TIMING

121
gtsam/discrete/tests/testDecisionTree.cpp
View File

@ -18,7 +18,7 @@
*/
// #define DT_DEBUG_MEMORY
// #define DT_NO_PRUNING
// #define GTSAM_DT_NO_PRUNING
#define DISABLE_DOT
#include <gtsam/discrete/DecisionTree-inl.h>
@ -90,6 +90,7 @@ struct DT : public DecisionTree<string, int> {
auto valueFormatter = [](const int& v) {
return (boost::format("%d") % v).str();
};
std::cout << s;
Base::print("", keyFormatter, valueFormatter);
}
/// Equality method customized to int node type
@ -322,6 +323,49 @@ TEST(DecisionTree, Containers) {
StringContainerTree converted(stringIntTree, container_of_int);
}
/* ************************************************************************** */
// Test nrAssignments.
TEST(DecisionTree, NrAssignments) {
pair<string, size_t> A("A", 2), B("B", 2), C("C", 2);
DT tree({A, B, C}, "1 1 1 1 1 1 1 1");
EXPECT(tree.root_->isLeaf());
auto leaf = boost::dynamic_pointer_cast<const DT::Leaf>(tree.root_);
EXPECT_LONGS_EQUAL(8, leaf->nrAssignments());
DT tree2({C, B, A}, "1 1 1 2 3 4 5 5");
/* The tree is
Choice(C)
0 Choice(B)
0 0 Leaf 1
0 1 Choice(A)
0 1 0 Leaf 1
0 1 1 Leaf 2
1 Choice(B)
1 0 Choice(A)
1 0 0 Leaf 3
1 0 1 Leaf 4
1 1 Leaf 5
*/
auto root = boost::dynamic_pointer_cast<const DT::Choice>(tree2.root_);
CHECK(root);
auto choice0 = boost::dynamic_pointer_cast<const DT::Choice>(root->branches()[0]);
CHECK(choice0);
EXPECT(choice0->branches()[0]->isLeaf());
auto choice00 = boost::dynamic_pointer_cast<const DT::Leaf>(choice0->branches()[0]);
CHECK(choice00);
EXPECT_LONGS_EQUAL(2, choice00->nrAssignments());
auto choice1 = boost::dynamic_pointer_cast<const DT::Choice>(root->branches()[1]);
CHECK(choice1);
auto choice10 = boost::dynamic_pointer_cast<const DT::Choice>(choice1->branches()[0]);
CHECK(choice10);
auto choice11 = boost::dynamic_pointer_cast<const DT::Leaf>(choice1->branches()[1]);
CHECK(choice11);
EXPECT(choice11->isLeaf());
EXPECT_LONGS_EQUAL(2, choice11->nrAssignments());
}
/* ************************************************************************** */
// Test visit.
TEST(DecisionTree, visit) {
@ -346,6 +390,44 @@ TEST(DecisionTree, visitWith) {
EXPECT_DOUBLES_EQUAL(6.0, sum, 1e-9);
}
/* ************************************************************************** */
// Test visit, with Choices argument.
TEST(DecisionTree, VisitWithPruned) {
// Create pruned tree
std::pair<string, size_t> A("A", 2), B("B", 2), C("C", 2);
std::vector<std::pair<string, size_t>> labels = {C, B, A};
std::vector<int> nodes = {0, 0, 2, 3, 4, 4, 6, 7};
DT tree(labels, nodes);
std::vector<Assignment<string>> choices;
auto func = [&](const Assignment<string>& choice, const int& d) {
choices.push_back(choice);
};
tree.visitWith(func);
EXPECT_LONGS_EQUAL(6, choices.size());
Assignment<string> expectedAssignment;
expectedAssignment = {{"B", 0}, {"C", 0}};
EXPECT(expectedAssignment == choices.at(0));
expectedAssignment = {{"A", 0}, {"B", 1}, {"C", 0}};
EXPECT(expectedAssignment == choices.at(1));
expectedAssignment = {{"A", 1}, {"B", 1}, {"C", 0}};
EXPECT(expectedAssignment == choices.at(2));
expectedAssignment = {{"B", 0}, {"C", 1}};
EXPECT(expectedAssignment == choices.at(3));
expectedAssignment = {{"A", 0}, {"B", 1}, {"C", 1}};
EXPECT(expectedAssignment == choices.at(4));
expectedAssignment = {{"A", 1}, {"B", 1}, {"C", 1}};
EXPECT(expectedAssignment == choices.at(5));
}
/* ************************************************************************** */
// Test fold.
TEST(DecisionTree, fold) {
@ -413,6 +495,43 @@ TEST(DecisionTree, threshold) {
EXPECT_LONGS_EQUAL(2, thresholded.fold(count, 0));
}
/* ************************************************************************** */
// Test apply with assignment.
TEST(DecisionTree, ApplyWithAssignment) {
// Create three level tree
vector<DT::LabelC> keys;
keys += DT::LabelC("C", 2), DT::LabelC("B", 2), DT::LabelC("A", 2);
DT tree(keys, "1 2 3 4 5 6 7 8");
DecisionTree<string, double> probTree(
keys, "0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08");
double threshold = 0.045;
// We test pruning one tree by indexing into another.
auto pruner = [&](const Assignment<string>& choices, const int& x) {
// Prune out all the leaves with even numbers
if (probTree(choices) < threshold) {
return 0;
} else {
return x;
}
};
DT prunedTree = tree.apply(pruner);
DT expectedTree(keys, "0 0 0 0 5 6 7 8");
EXPECT(assert_equal(expectedTree, prunedTree));
size_t count = 0;
auto counter = [&](const Assignment<string>& choices, const int& x) {
count += 1;
return x;
};
DT prunedTree2 = prunedTree.apply(counter);
// Check if apply doesn't enumerate all leaves.
EXPECT_LONGS_EQUAL(5, count);
}
/* ************************************************************************* */
int main() {
TestResult tr;

36
gtsam/discrete/tests/testDecisionTreeFactor.cpp
View File

@ -106,6 +106,41 @@ TEST(DecisionTreeFactor, enumerate) {
EXPECT(actual == expected);
}
/* ************************************************************************* */
// Check pruning of the decision tree works as expected.
TEST(DecisionTreeFactor, Prune) {
DiscreteKey A(1, 2), B(2, 2), C(3, 2);
DecisionTreeFactor f(A & B & C, "1 5 3 7 2 6 4 8");
// Only keep the leaves with the top 5 values.
size_t maxNrAssignments = 5;
auto pruned5 = f.prune(maxNrAssignments);
// Pruned leaves should be 0
DecisionTreeFactor expected(A & B & C, "0 5 0 7 0 6 4 8");
EXPECT(assert_equal(expected, pruned5));
// Check for more extreme pruning where we only keep the top 2 leaves
maxNrAssignments = 2;
auto pruned2 = f.prune(maxNrAssignments);
DecisionTreeFactor expected2(A & B & C, "0 0 0 7 0 0 0 8");
EXPECT(assert_equal(expected2, pruned2));
DiscreteKey D(4, 2);
DecisionTreeFactor factor(
D & C & B & A,
"0.0 0.0 0.0 0.60658897 0.61241912 0.61241969 0.61247685 0.61247742 0.0 "
"0.0 0.0 0.99995287 1.0 1.0 1.0 1.0");
DecisionTreeFactor expected3(
D & C & B & A,
"0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 "
"0.999952870000 1.0 1.0 1.0 1.0");
maxNrAssignments = 5;
auto pruned3 = factor.prune(maxNrAssignments);
EXPECT(assert_equal(expected3, pruned3));
}
/* ************************************************************************* */
TEST(DecisionTreeFactor, DotWithNames) {
DiscreteKey A(12, 3), B(5, 2);
@ -194,4 +229,3 @@ int main() {
return TestRegistry::runAllTests(tr);
}
/* ************************************************************************* */

98
gtsam/geometry/Pose2.cpp
View File

@ -213,6 +213,14 @@ Point2 Pose2::transformTo(const Point2& point,
return q;
}
Matrix Pose2::transformTo(const Matrix& points) const {
if (points.rows() != 2) {
throw std::invalid_argument("Pose2:transformTo expects 2*N matrix.");
}
const Matrix2 Rt = rotation().transpose();
return Rt * (points.colwise() - t_); // Eigen broadcasting!
}
/* ************************************************************************* */
// see doc/math.lyx, SE(2) section
Point2 Pose2::transformFrom(const Point2& point,
@ -224,6 +232,15 @@ Point2 Pose2::transformFrom(const Point2& point,
return q + t_;
}
Matrix Pose2::transformFrom(const Matrix& points) const {
if (points.rows() != 2) {
throw std::invalid_argument("Pose2:transformFrom expects 2*N matrix.");
}
const Matrix2 R = rotation().matrix();
return (R * points).colwise() + t_; // Eigen broadcasting!
}
/* ************************************************************************* */
Rot2 Pose2::bearing(const Point2& point,
OptionalJacobian<1, 3> Hpose, OptionalJacobian<1, 2> Hpoint) const {
@ -292,54 +309,77 @@ double Pose2::range(const Pose2& pose,
}
/* *************************************************************************
* New explanation, from scan.ml
* It finds the angle using a linear method:
* q = Pose2::transformFrom(p) = t + R*p
* Align finds the angle using a linear method:
* a = Pose2::transformFrom(b) = t + R*b
* We need to remove the centroids from the data to find the rotation
* using dp=[dpx;dpy] and q=[dqx;dqy] we have
* |dqx| |c -s| |dpx| |dpx -dpy| |c|
* using db=[dbx;dby] and a=[dax;day] we have
* |dax| |c -s| |dbx| |dbx -dby| |c|
* | | = | | * | | = | | * | | = H_i*cs
* |dqy| |s c| |dpy| |dpy dpx| |s|
* |day| |s c| |dby| |dby dbx| |s|
* where the Hi are the 2*2 matrices. Then we will minimize the criterion
* J = \sum_i norm(q_i - H_i * cs)
* J = \sum_i norm(a_i - H_i * cs)
* Taking the derivative with respect to cs and setting to zero we have
* cs = (\sum_i H_i' * q_i)/(\sum H_i'*H_i)
* cs = (\sum_i H_i' * a_i)/(\sum H_i'*H_i)
* The hessian is diagonal and just divides by a constant, but this
* normalization constant is irrelevant, since we take atan2.
* i.e., cos ~ sum(dpx*dqx + dpy*dqy) and sin ~ sum(-dpy*dqx + dpx*dqy)
* i.e., cos ~ sum(dbx*dax + dby*day) and sin ~ sum(-dby*dax + dbx*day)
* The translation is then found from the centroids
* as they also satisfy cq = t + R*cp, hence t = cq - R*cp
* as they also satisfy ca = t + R*cb, hence t = ca - R*cb
*/
boost::optional<Pose2> align(const vector<Point2Pair>& pairs) {
size_t n = pairs.size();
if (n<2) return boost::none; // we need at least two pairs
boost::optional<Pose2> Pose2::Align(const Point2Pairs &ab_pairs) {
const size_t n = ab_pairs.size();
if (n < 2) {
return boost::none; // we need at least 2 pairs
}
// calculate centroids
Point2 cp(0,0), cq(0,0);
for(const Point2Pair& pair: pairs) {
cp += pair.first;
cq += pair.second;
Point2 ca(0, 0), cb(0, 0);
for (const Point2Pair& pair : ab_pairs) {
ca += pair.first;
cb += pair.second;
}
double f = 1.0/n;
cp *= f; cq *= f;
const double f = 1.0/n;
ca *= f;
cb *= f;
// calculate cos and sin
double c=0,s=0;
for(const Point2Pair& pair: pairs) {
Point2 dp = pair.first - cp;
Point2 dq = pair.second - cq;
c += dp.x() * dq.x() + dp.y() * dq.y();
s += -dp.y() * dq.x() + dp.x() * dq.y();
double c = 0, s = 0;
for (const Point2Pair& pair : ab_pairs) {
Point2 da = pair.first - ca;
Point2 db = pair.second - cb;
c += db.x() * da.x() + db.y() * da.y();
s += -db.y() * da.x() + db.x() * da.y();
}
// calculate angle and translation
double theta = atan2(s,c);
Rot2 R = Rot2::fromAngle(theta);
Point2 t = cq - R*cp;
const double theta = atan2(s, c);
const Rot2 R = Rot2::fromAngle(theta);
const Point2 t = ca - R*cb;
return Pose2(R, t);
}
boost::optional<Pose2> Pose2::Align(const Matrix& a, const Matrix& b) {
if (a.rows() != 2 || b.rows() != 2 || a.cols() != b.cols()) {
throw std::invalid_argument(
"Pose2:Align expects 2*N matrices of equal shape.");
}
Point2Pairs ab_pairs;
for (size_t j=0; j < a.cols(); j++) {
ab_pairs.emplace_back(a.col(j), b.col(j));
}
return Pose2::Align(ab_pairs);
}
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
boost::optional<Pose2> align(const Point2Pairs& ba_pairs) {
Point2Pairs ab_pairs;
for (const Point2Pair &baPair : ba_pairs) {
ab_pairs.emplace_back(baPair.second, baPair.first);
}
return Pose2::Align(ab_pairs);
}
#endif
/* ************************************************************************* */
} // namespace gtsam

37
gtsam/geometry/Pose2.h
View File

@ -92,6 +92,18 @@ public:
*this = Expmap(v);
}
/**
* Create Pose2 by aligning two point pairs
* A pose aTb is estimated between pairs (a_point, b_point) such that
* a_point = aTb * b_point
* Note this allows for noise on the points but in that case the mapping
* will not be exact.
*/
static boost::optional<Pose2> Align(const Point2Pairs& abPointPairs);
// Version of Pose2::Align that takes 2 matrices.
static boost::optional<Pose2> Align(const Matrix& a, const Matrix& b);
/// @}
/// @name Testable
/// @{
@ -199,13 +211,29 @@ public:
OptionalJacobian<2, 3> Dpose = boost::none,
OptionalJacobian<2, 2> Dpoint = boost::none) const;
/**
* @brief transform many points in world coordinates and transform to Pose.
* @param points 2*N matrix in world coordinates
* @return points in Pose coordinates, as 2*N Matrix
*/
Matrix transformTo(const Matrix& points) const;
/** Return point coordinates in global frame */
GTSAM_EXPORT Point2 transformFrom(const Point2& point,
OptionalJacobian<2, 3> Dpose = boost::none,
OptionalJacobian<2, 2> Dpoint = boost::none) const;
/**
* @brief transform many points in Pose coordinates and transform to world.
* @param points 2*N matrix in Pose coordinates
* @return points in world coordinates, as 2*N Matrix
*/
Matrix transformFrom(const Matrix& points) const;
/** syntactic sugar for transformFrom */
inline Point2 operator*(const Point2& point) const { return transformFrom(point);}
inline Point2 operator*(const Point2& point) const {
return transformFrom(point);
}
/// @}
/// @name Standard Interface
@ -315,12 +343,15 @@ inline Matrix wedge<Pose2>(const Vector& xi) {
return Matrix(Pose2::wedge(xi(0),xi(1),xi(2))).eval();
}
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
/**
* @deprecated Use static constructor (with reversed pairs!)
* Calculate pose between a vector of 2D point correspondences (p,q)
* where q = Pose2::transformFrom(p) = t + R*p
*/
typedef std::pair<Point2,Point2> Point2Pair;
GTSAM_EXPORT boost::optional<Pose2> align(const std::vector<Point2Pair>& pairs);
GTSAM_EXPORT boost::optional<Pose2>
GTSAM_DEPRECATED align(const Point2Pairs& pairs);
#endif
template <>
struct traits<Pose2> : public internal::LieGroup<Pose2> {};

32
gtsam/geometry/Pose3.cpp
View File

@ -59,7 +59,7 @@ Matrix6 Pose3::AdjointMap() const {
const Matrix3 R = R_.matrix();
Matrix3 A = skewSymmetric(t_.x(), t_.y(), t_.z()) * R;
Matrix6 adj;
adj << R, Z_3x3, A, R;
adj << R, Z_3x3, A, R; // Gives [R 0; A R]
return adj;
}
@ -354,6 +354,14 @@ Point3 Pose3::transformFrom(const Point3& point, OptionalJacobian<3, 6> Hself,
return R_ * point + t_;
}
Matrix Pose3::transformFrom(const Matrix& points) const {
if (points.rows() != 3) {
throw std::invalid_argument("Pose3:transformFrom expects 3*N matrix.");
}
const Matrix3 R = R_.matrix();
return (R * points).colwise() + t_; // Eigen broadcasting!
}
/* ************************************************************************* */
Point3 Pose3::transformTo(const Point3& point, OptionalJacobian<3, 6> Hself,
OptionalJacobian<3, 3> Hpoint) const {
@ -374,6 +382,14 @@ Point3 Pose3::transformTo(const Point3& point, OptionalJacobian<3, 6> Hself,
return q;
}
Matrix Pose3::transformTo(const Matrix& points) const {
if (points.rows() != 3) {
throw std::invalid_argument("Pose3:transformTo expects 3*N matrix.");
}
const Matrix3 Rt = R_.transpose();
return Rt * (points.colwise() - t_); // Eigen broadcasting!
}
/* ************************************************************************* */
double Pose3::range(const Point3& point, OptionalJacobian<1, 6> Hself,
OptionalJacobian<1, 3> Hpoint) const {
@ -451,6 +467,19 @@ boost::optional<Pose3> Pose3::Align(const Point3Pairs &abPointPairs) {
return Pose3(aRb, aTb);
}
boost::optional<Pose3> Pose3::Align(const Matrix& a, const Matrix& b) {
if (a.rows() != 3 || b.rows() != 3 || a.cols() != b.cols()) {
throw std::invalid_argument(
"Pose3:Align expects 3*N matrices of equal shape.");
}
Point3Pairs abPointPairs;
for (size_t j=0; j < a.cols(); j++) {
abPointPairs.emplace_back(a.col(j), b.col(j));
}
return Pose3::Align(abPointPairs);
}
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
boost::optional<Pose3> align(const Point3Pairs &baPointPairs) {
Point3Pairs abPointPairs;
for (const Point3Pair &baPair : baPointPairs) {
@ -458,6 +487,7 @@ boost::optional<Pose3> align(const Point3Pairs &baPointPairs) {
}
return Pose3::Align(abPointPairs);
}
#endif
/* ************************************************************************* */
std::ostream &operator<<(std::ostream &os, const Pose3& pose) {

17
gtsam/geometry/Pose3.h
View File

@ -85,6 +85,9 @@ public:
*/
static boost::optional<Pose3> Align(const std::vector<Point3Pair>& abPointPairs);
// Version of Pose3::Align that takes 2 matrices.
static boost::optional<Pose3> Align(const Matrix& a, const Matrix& b);
/// @}
/// @name Testable
/// @{
@ -249,6 +252,13 @@ public:
Point3 transformFrom(const Point3& point, OptionalJacobian<3, 6> Hself =
boost::none, OptionalJacobian<3, 3> Hpoint = boost::none) const;
/**
* @brief transform many points in Pose coordinates and transform to world.
* @param points 3*N matrix in Pose coordinates
* @return points in world coordinates, as 3*N Matrix
*/
Matrix transformFrom(const Matrix& points) const;
/** syntactic sugar for transformFrom */
inline Point3 operator*(const Point3& point) const {
return transformFrom(point);
@ -264,6 +274,13 @@ public:
Point3 transformTo(const Point3& point, OptionalJacobian<3, 6> Hself =
boost::none, OptionalJacobian<3, 3> Hpoint = boost::none) const;
/**
* @brief transform many points in world coordinates and transform to Pose.
* @param points 3*N matrix in world coordinates
* @return points in Pose coordinates, as 3*N Matrix
*/
Matrix transformTo(const Matrix& points) const;
/// @}
/// @name Standard Interface
/// @{

16
gtsam/geometry/geometry.i
View File

@ -372,6 +372,9 @@ class Pose2 {
Pose2(const gtsam::Rot2& r, const gtsam::Point2& t);
Pose2(Vector v);
static boost::optional<gtsam::Pose2> Align(const gtsam::Point2Pairs& abPointPairs);
static boost::optional<gtsam::Pose2> Align(const gtsam::Matrix& a, const gtsam::Matrix& b);
// Testable
void print(string s = "") const;
bool equals(const gtsam::Pose2& pose, double tol) const;
@ -406,6 +409,10 @@ class Pose2 {
gtsam::Point2 transformFrom(const gtsam::Point2& p) const;
gtsam::Point2 transformTo(const gtsam::Point2& p) const;
// Matrix versions
Matrix transformFrom(const Matrix& points) const;
Matrix transformTo(const Matrix& points) const;
// Standard Interface
double x() const;
double y() const;
@ -420,8 +427,6 @@ class Pose2 {
void serialize() const;
};
boost::optional<gtsam::Pose2> align(const gtsam::Point2Pairs& pairs);
#include <gtsam/geometry/Pose3.h>
class Pose3 {
// Standard Constructors
@ -431,6 +436,9 @@ class Pose3 {
Pose3(const gtsam::Pose2& pose2);
Pose3(Matrix mat);
static boost::optional<gtsam::Pose3> Align(const gtsam::Point3Pairs& abPointPairs);
static boost::optional<gtsam::Pose3> Align(const gtsam::Matrix& a, const gtsam::Matrix& b);
// Testable
void print(string s = "") const;
bool equals(const gtsam::Pose3& pose, double tol) const;
@ -470,6 +478,10 @@ class Pose3 {
gtsam::Point3 transformFrom(const gtsam::Point3& point) const;
gtsam::Point3 transformTo(const gtsam::Point3& point) const;
// Matrix versions
Matrix transformFrom(const Matrix& points) const;
Matrix transformTo(const Matrix& points) const;
// Standard Interface
gtsam::Rot3 rotation() const;
gtsam::Point3 translation() const;

72
gtsam/geometry/tests/testPose2.cpp
View File

@ -717,81 +717,75 @@ TEST( Pose2, range_pose )
/* ************************************************************************* */
TEST(Pose2, align_1) {
Pose2 expected(Rot2::fromAngle(0), Point2(10,10));
vector<Point2Pair> correspondences;
Point2Pair pq1(make_pair(Point2(0,0), Point2(10,10)));
Point2Pair pq2(make_pair(Point2(20,10), Point2(30,20)));
correspondences += pq1, pq2;
boost::optional<Pose2> actual = align(correspondences);
EXPECT(assert_equal(expected, *actual));
Pose2 expected(Rot2::fromAngle(0), Point2(10, 10));
Point2Pairs ab_pairs {{Point2(10, 10), Point2(0, 0)},
{Point2(30, 20), Point2(20, 10)}};
boost::optional<Pose2> aTb = Pose2::Align(ab_pairs);
EXPECT(assert_equal(expected, *aTb));
}
TEST(Pose2, align_2) {
Point2 t(20,10);
Point2 t(20, 10);
Rot2 R = Rot2::fromAngle(M_PI/2.0);
Pose2 expected(R, t);
vector<Point2Pair> correspondences;
Point2 p1(0,0), p2(10,0);
Point2 q1 = expected.transformFrom(p1), q2 = expected.transformFrom(p2);
EXPECT(assert_equal(Point2(20,10),q1));
EXPECT(assert_equal(Point2(20,20),q2));
Point2Pair pq1(make_pair(p1, q1));
Point2Pair pq2(make_pair(p2, q2));
correspondences += pq1, pq2;
Point2 b1(0, 0), b2(10, 0);
Point2Pairs ab_pairs {{expected.transformFrom(b1), b1},
{expected.transformFrom(b2), b2}};
boost::optional<Pose2> actual = align(correspondences);
EXPECT(assert_equal(expected, *actual));
boost::optional<Pose2> aTb = Pose2::Align(ab_pairs);
EXPECT(assert_equal(expected, *aTb));
}
namespace align_3 {
Point2 t(10,10);
Point2 t(10, 10);
Pose2 expected(Rot2::fromAngle(2*M_PI/3), t);
Point2 p1(0,0), p2(10,0), p3(10,10);
Point2 q1 = expected.transformFrom(p1), q2 = expected.transformFrom(p2), q3 = expected.transformFrom(p3);
Point2 b1(0, 0), b2(10, 0), b3(10, 10);
Point2 a1 = expected.transformFrom(b1),
a2 = expected.transformFrom(b2),
a3 = expected.transformFrom(b3);
}
TEST(Pose2, align_3) {
using namespace align_3;
vector<Point2Pair> correspondences;
Point2Pair pq1(make_pair(p1, q1));
Point2Pair pq2(make_pair(p2, q2));
Point2Pair pq3(make_pair(p3, q3));
correspondences += pq1, pq2, pq3;
Point2Pairs ab_pairs;
Point2Pair ab1(make_pair(a1, b1));
Point2Pair ab2(make_pair(a2, b2));
Point2Pair ab3(make_pair(a3, b3));
ab_pairs += ab1, ab2, ab3;
boost::optional<Pose2> actual = align(correspondences);
EXPECT(assert_equal(expected, *actual));
boost::optional<Pose2> aTb = Pose2::Align(ab_pairs);
EXPECT(assert_equal(expected, *aTb));
}
namespace {
/* ************************************************************************* */
// Prototype code to align two triangles using a rigid transform
/* ************************************************************************* */
struct Triangle { size_t i_,j_,k_;};
struct Triangle { size_t i_, j_, k_;};
boost::optional<Pose2> align2(const Point2Vector& ps, const Point2Vector& qs,
boost::optional<Pose2> align2(const Point2Vector& as, const Point2Vector& bs,
const pair<Triangle, Triangle>& trianglePair) {
const Triangle& t1 = trianglePair.first, t2 = trianglePair.second;
vector<Point2Pair> correspondences;
correspondences += make_pair(ps[t1.i_],qs[t2.i_]), make_pair(ps[t1.j_],qs[t2.j_]), make_pair(ps[t1.k_],qs[t2.k_]);
return align(correspondences);
Point2Pairs ab_pairs = {{as[t1.i_], bs[t2.i_]},
{as[t1.j_], bs[t2.j_]},
{as[t1.k_], bs[t2.k_]}};
return Pose2::Align(ab_pairs);
}
}
TEST(Pose2, align_4) {
using namespace align_3;
Point2Vector ps,qs;
ps += p1, p2, p3;
qs += q3, q1, q2; // note in 3,1,2 order !
Point2Vector as, bs;
as += a1, a2, a3;
bs += b3, b1, b2; // note in 3,1,2 order !
Triangle t1; t1.i_=0; t1.j_=1; t1.k_=2;
Triangle t2; t2.i_=1; t2.j_=2; t2.k_=0;
boost::optional<Pose2> actual = align2(ps, qs, make_pair(t1,t2));
boost::optional<Pose2> actual = align2(as, bs, {t1, t2});
EXPECT(assert_equal(expected, *actual));
}

150
gtsam/geometry/tests/testTriangulation.cpp
View File

@ -19,6 +19,7 @@
#include <CppUnitLite/TestHarness.h>
#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/geometry/Cal3DS2.h>
#include <gtsam/geometry/CameraSet.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/SphericalCamera.h>
@ -38,7 +39,7 @@ using namespace boost::assign;
// Some common constants
static const boost::shared_ptr<Cal3_S2> sharedCal = //
boost::make_shared<Cal3_S2>(1500, 1200, 0, 640, 480);
boost::make_shared<Cal3_S2>(1500, 1200, 0.1, 640, 480);
// Looking along X-axis, 1 meter above ground plane (x-y)
static const Rot3 upright = Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2);
@ -95,11 +96,123 @@ TEST(triangulation, twoPoses) {
EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19814), *actual4, 1e-4));
}
//******************************************************************************
// Simple test with a well-behaved two camera situation with Cal3DS2 calibration.
TEST(triangulation, twoPosesCal3DS2) {
static const boost::shared_ptr<Cal3DS2> sharedDistortedCal = //
boost::make_shared<Cal3DS2>(1500, 1200, 0, 640, 480, -.3, 0.1, 0.0001,
-0.0003);
PinholeCamera<Cal3DS2> camera1Distorted(pose1, *sharedDistortedCal);
PinholeCamera<Cal3DS2> camera2Distorted(pose2, *sharedDistortedCal);
// 0. Project two landmarks into two cameras and triangulate
Point2 z1Distorted = camera1Distorted.project(landmark);
Point2 z2Distorted = camera2Distorted.project(landmark);
vector<Pose3> poses;
Point2Vector measurements;
poses += pose1, pose2;
measurements += z1Distorted, z2Distorted;
double rank_tol = 1e-9;
// 1. Test simple DLT, perfect in no noise situation
bool optimize = false;
boost::optional<Point3> actual1 = //
triangulatePoint3<Cal3DS2>(poses, sharedDistortedCal, measurements,
rank_tol, optimize);
EXPECT(assert_equal(landmark, *actual1, 1e-7));
// 2. test with optimization on, same answer
optimize = true;
boost::optional<Point3> actual2 = //
triangulatePoint3<Cal3DS2>(poses, sharedDistortedCal, measurements,
rank_tol, optimize);
EXPECT(assert_equal(landmark, *actual2, 1e-7));
// 3. Add some noise and try again: result should be ~ (4.995,
// 0.499167, 1.19814)
measurements.at(0) += Point2(0.1, 0.5);
measurements.at(1) += Point2(-0.2, 0.3);
optimize = false;
boost::optional<Point3> actual3 = //
triangulatePoint3<Cal3DS2>(poses, sharedDistortedCal, measurements,
rank_tol, optimize);
EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19814), *actual3, 1e-3));
// 4. Now with optimization on
optimize = true;
boost::optional<Point3> actual4 = //
triangulatePoint3<Cal3DS2>(poses, sharedDistortedCal, measurements,
rank_tol, optimize);
EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19814), *actual4, 1e-3));
}
//******************************************************************************
// Simple test with a well-behaved two camera situation with Fisheye
// calibration.
TEST(triangulation, twoPosesFisheye) {
using Calibration = Cal3Fisheye;
static const boost::shared_ptr<Calibration> sharedDistortedCal = //
boost::make_shared<Calibration>(1500, 1200, .1, 640, 480, -.3, 0.1,
0.0001, -0.0003);
PinholeCamera<Calibration> camera1Distorted(pose1, *sharedDistortedCal);
PinholeCamera<Calibration> camera2Distorted(pose2, *sharedDistortedCal);
// 0. Project two landmarks into two cameras and triangulate
Point2 z1Distorted = camera1Distorted.project(landmark);
Point2 z2Distorted = camera2Distorted.project(landmark);
vector<Pose3> poses;
Point2Vector measurements;
poses += pose1, pose2;
measurements += z1Distorted, z2Distorted;
double rank_tol = 1e-9;
// 1. Test simple DLT, perfect in no noise situation
bool optimize = false;
boost::optional<Point3> actual1 = //
triangulatePoint3<Calibration>(poses, sharedDistortedCal, measurements,
rank_tol, optimize);
EXPECT(assert_equal(landmark, *actual1, 1e-7));
// 2. test with optimization on, same answer
optimize = true;
boost::optional<Point3> actual2 = //
triangulatePoint3<Calibration>(poses, sharedDistortedCal, measurements,
rank_tol, optimize);
EXPECT(assert_equal(landmark, *actual2, 1e-7));
// 3. Add some noise and try again: result should be ~ (4.995,
// 0.499167, 1.19814)
measurements.at(0) += Point2(0.1, 0.5);
measurements.at(1) += Point2(-0.2, 0.3);
optimize = false;
boost::optional<Point3> actual3 = //
triangulatePoint3<Calibration>(poses, sharedDistortedCal, measurements,
rank_tol, optimize);
EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19814), *actual3, 1e-3));
// 4. Now with optimization on
optimize = true;
boost::optional<Point3> actual4 = //
triangulatePoint3<Calibration>(poses, sharedDistortedCal, measurements,
rank_tol, optimize);
EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19814), *actual4, 1e-3));
}
//******************************************************************************
// Similar, but now with Bundler calibration
TEST(triangulation, twoPosesBundler) {
boost::shared_ptr<Cal3Bundler> bundlerCal = //
boost::make_shared<Cal3Bundler>(1500, 0, 0, 640, 480);
boost::make_shared<Cal3Bundler>(1500, 0.1, 0.2, 640, 480);
PinholeCamera<Cal3Bundler> camera1(pose1, *bundlerCal);
PinholeCamera<Cal3Bundler> camera2(pose2, *bundlerCal);
@ -117,7 +230,8 @@ TEST(triangulation, twoPosesBundler) {
double rank_tol = 1e-9;
boost::optional<Point3> actual = //
triangulatePoint3<Cal3Bundler>(poses, bundlerCal, measurements, rank_tol, optimize);
triangulatePoint3<Cal3Bundler>(poses, bundlerCal, measurements, rank_tol,
optimize);
EXPECT(assert_equal(landmark, *actual, 1e-7));
// Add some noise and try again
@ -125,8 +239,9 @@ TEST(triangulation, twoPosesBundler) {
measurements.at(1) += Point2(-0.2, 0.3);
boost::optional<Point3> actual2 = //
triangulatePoint3<Cal3Bundler>(poses, bundlerCal, measurements, rank_tol, optimize);
EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19847), *actual2, 1e-4));
triangulatePoint3<Cal3Bundler>(poses, bundlerCal, measurements, rank_tol,
optimize);
EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19847), *actual2, 1e-3));
}
//******************************************************************************
@ -336,6 +451,31 @@ TEST(triangulation, fourPoses_distinct_Ks) {
#endif
}
//******************************************************************************
TEST(triangulation, fourPoses_distinct_Ks_distortion) {
Cal3DS2 K1(1500, 1200, 0, 640, 480, -.3, 0.1, 0.0001, -0.0003);
// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
PinholeCamera<Cal3DS2> camera1(pose1, K1);
// create second camera 1 meter to the right of first camera
Cal3DS2 K2(1600, 1300, 0, 650, 440, -.2, 0.05, 0.0002, -0.0001);
PinholeCamera<Cal3DS2> camera2(pose2, K2);
// 1. Project two landmarks into two cameras and triangulate
Point2 z1 = camera1.project(landmark);
Point2 z2 = camera2.project(landmark);
CameraSet<PinholeCamera<Cal3DS2>> cameras;
Point2Vector measurements;
cameras += camera1, camera2;
measurements += z1, z2;
boost::optional<Point3> actual = //
triangulatePoint3<Cal3DS2>(cameras, measurements);
EXPECT(assert_equal(landmark, *actual, 1e-2));
}
//******************************************************************************
TEST(triangulation, outliersAndFarLandmarks) {
Cal3_S2 K1(1500, 1200, 0, 640, 480);

118
gtsam/geometry/triangulation.h
View File

@ -227,6 +227,109 @@ std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>> projectionMatricesFrom
return projection_matrices;
}
/** Create a pinhole calibration from a different Cal3 object, removing
* distortion.
*
* @tparam CALIBRATION Original calibration object.
* @param cal Input calibration object.
* @return Cal3_S2 with only the pinhole elements of cal.
*/
template <class CALIBRATION>
Cal3_S2 createPinholeCalibration(const CALIBRATION& cal) {
const auto& K = cal.K();
return Cal3_S2(K(0, 0), K(1, 1), K(0, 1), K(0, 2), K(1, 2));
}
/** Internal undistortMeasurement to be used by undistortMeasurement and
* undistortMeasurements */
template <class CALIBRATION, class MEASUREMENT>
MEASUREMENT undistortMeasurementInternal(
const CALIBRATION& cal, const MEASUREMENT& measurement,
boost::optional<Cal3_S2> pinholeCal = boost::none) {
if (!pinholeCal) {
pinholeCal = createPinholeCalibration(cal);
}
return pinholeCal->uncalibrate(cal.calibrate(measurement));
}
/** Remove distortion for measurements so as if the measurements came from a
* pinhole camera.
*
* Removes distortion but maintains the K matrix of the initial cal. Operates by
* calibrating using full calibration and uncalibrating with only the pinhole
* component of the calibration.
* @tparam CALIBRATION Calibration type to use.
* @param cal Calibration with which measurements were taken.
* @param measurements Vector of measurements to undistort.
* @return measurements with the effect of the distortion of sharedCal removed.
*/
template <class CALIBRATION>
Point2Vector undistortMeasurements(const CALIBRATION& cal,
const Point2Vector& measurements) {
Cal3_S2 pinholeCalibration = createPinholeCalibration(cal);
Point2Vector undistortedMeasurements;
// Calibrate with cal and uncalibrate with pinhole version of cal so that
// measurements are undistorted.
std::transform(measurements.begin(), measurements.end(),
std::back_inserter(undistortedMeasurements),
[&cal, &pinholeCalibration](const Point2& measurement) {
return undistortMeasurementInternal<CALIBRATION>(
cal, measurement, pinholeCalibration);
});
return undistortedMeasurements;
}
/** Specialization for Cal3_S2 as it doesn't need to be undistorted. */
template <>
inline Point2Vector undistortMeasurements(const Cal3_S2& cal,
const Point2Vector& measurements) {
return measurements;
}
/** Remove distortion for measurements so as if the measurements came from a
* pinhole camera.
*
* Removes distortion but maintains the K matrix of the initial calibrations.
* Operates by calibrating using full calibration and uncalibrating with only
* the pinhole component of the calibration.
* @tparam CAMERA Camera type to use.
* @param cameras Cameras corresponding to each measurement.
* @param measurements Vector of measurements to undistort.
* @return measurements with the effect of the distortion of the camera removed.
*/
template <class CAMERA>
typename CAMERA::MeasurementVector undistortMeasurements(
const CameraSet<CAMERA>& cameras,
const typename CAMERA::MeasurementVector& measurements) {
const size_t num_meas = cameras.size();
assert(num_meas == measurements.size());
typename CAMERA::MeasurementVector undistortedMeasurements(num_meas);
for (size_t ii = 0; ii < num_meas; ++ii) {
// Calibrate with cal and uncalibrate with pinhole version of cal so that
// measurements are undistorted.
undistortedMeasurements[ii] =
undistortMeasurementInternal<typename CAMERA::CalibrationType>(
cameras[ii].calibration(), measurements[ii]);
}
return undistortedMeasurements;
}
/** Specialize for Cal3_S2 to do nothing. */
template <class CAMERA = PinholeCamera<Cal3_S2>>
inline PinholeCamera<Cal3_S2>::MeasurementVector undistortMeasurements(
const CameraSet<PinholeCamera<Cal3_S2>>& cameras,
const PinholeCamera<Cal3_S2>::MeasurementVector& measurements) {
return measurements;
}
/** Specialize for SphericalCamera to do nothing. */
template <class CAMERA = SphericalCamera>
inline SphericalCamera::MeasurementVector undistortMeasurements(
const CameraSet<SphericalCamera>& cameras,
const SphericalCamera::MeasurementVector& measurements) {
return measurements;
}
/**
* Function to triangulate 3D landmark point from an arbitrary number
* of poses (at least 2) using the DLT. The function checks that the
@ -253,8 +356,13 @@ Point3 triangulatePoint3(const std::vector<Pose3>& poses,
// construct projection matrices from poses & calibration
auto projection_matrices = projectionMatricesFromPoses(poses, sharedCal);
// Undistort the measurements, leaving only the pinhole elements in effect.
auto undistortedMeasurements =
undistortMeasurements<CALIBRATION>(*sharedCal, measurements);
// Triangulate linearly
Point3 point = triangulateDLT(projection_matrices, measurements, rank_tol);
Point3 point =
triangulateDLT(projection_matrices, undistortedMeasurements, rank_tol);
// Then refine using non-linear optimization
if (optimize)
@ -300,7 +408,13 @@ Point3 triangulatePoint3(
// construct projection matrices from poses & calibration
auto projection_matrices = projectionMatricesFromCameras(cameras);
Point3 point = triangulateDLT(projection_matrices, measurements, rank_tol);
// Undistort the measurements, leaving only the pinhole elements in effect.
auto undistortedMeasurements =
undistortMeasurements<CAMERA>(cameras, measurements);
Point3 point =
triangulateDLT(projection_matrices, undistortedMeasurements, rank_tol);
// The n refine using non-linear optimization
if (optimize)

2
gtsam/inference/BayesTree.h
View File

@ -140,7 +140,7 @@ namespace gtsam {
return nodes_.empty();
}
/** return nodes */
/** Return nodes. Each node is a clique of variables obtained after elimination. */
const Nodes& nodes() const { return nodes_; }
/** Access node by variable */

28
gtsam/inference/ClusterTree-inst.h
View File

@ -15,6 +15,10 @@
#include <gtsam/base/timing.h>
#include <gtsam/base/treeTraversal-inst.h>
#ifdef GTSAM_USE_TBB
#include <mutex>
#endif
namespace gtsam {
/* ************************************************************************* */
@ -120,12 +124,25 @@ struct EliminationData {
size_t myIndexInParent;
FastVector<sharedFactor> childFactors;
boost::shared_ptr<BTNode> bayesTreeNode;
#ifdef GTSAM_USE_TBB
boost::shared_ptr<std::mutex> writeLock;
#endif
EliminationData(EliminationData* _parentData, size_t nChildren) :
parentData(_parentData), bayesTreeNode(boost::make_shared<BTNode>()) {
parentData(_parentData), bayesTreeNode(boost::make_shared<BTNode>())
#ifdef GTSAM_USE_TBB
, writeLock(boost::make_shared<std::mutex>())
#endif
{
if (parentData) {
#ifdef GTSAM_USE_TBB
parentData->writeLock->lock();
#endif
myIndexInParent = parentData->childFactors.size();
parentData->childFactors.push_back(sharedFactor());
#ifdef GTSAM_USE_TBB
parentData->writeLock->unlock();
#endif
} else {
myIndexInParent = 0;
}
@ -196,8 +213,15 @@ struct EliminationData {
nodesIndex_.insert(std::make_pair(j, myData.bayesTreeNode));
// Store remaining factor in parent's gathered factors
if (!eliminationResult.second->empty())
if (!eliminationResult.second->empty()) {
#ifdef GTSAM_USE_TBB
myData.parentData->writeLock->lock();
#endif
myData.parentData->childFactors[myData.myIndexInParent] = eliminationResult.second;
#ifdef GTSAM_USE_TBB
myData.parentData->writeLock->unlock();
#endif
}
}
};
};

4
gtsam/inference/Ordering.cpp
View File

@ -25,11 +25,7 @@
#include <gtsam/3rdparty/CCOLAMD/Include/ccolamd.h>
#ifdef GTSAM_SUPPORT_NESTED_DISSECTION
#ifdef GTSAM_USE_SYSTEM_METIS
#include <metis.h>
#else
#include <gtsam/3rdparty/metis/include/metis.h>
#endif
#endif
using namespace std;

15
gtsam/linear/GaussianConditional.cpp
View File

@ -89,11 +89,20 @@ namespace gtsam {
/* ************************************************************************ */
void GaussianConditional::print(const string &s, const KeyFormatter& formatter) const {
cout << s << " Conditional density ";
cout << s << " p(";
for (const_iterator it = beginFrontals(); it != endFrontals(); ++it) {
cout << (boost::format("[%1%]")%(formatter(*it))).str() << " ";
cout << (boost::format("%1%") % (formatter(*it))).str()
<< (nrFrontals() > 1 ? " " : "");
}
cout << endl;
if (nrParents()) {
cout << " |";
for (const_iterator it = beginParents(); it != endParents(); ++it) {
cout << " " << (boost::format("%1%") % (formatter(*it))).str();
}
}
cout << ")" << endl;
cout << formatMatrixIndented(" R = ", R()) << endl;
for (const_iterator it = beginParents() ; it != endParents() ; ++it) {
cout << formatMatrixIndented((boost::format(" S[%1%] = ")%(formatter(*it))).str(), getA(it))

3
gtsam/linear/GaussianConditional.h
View File

@ -109,7 +109,8 @@ namespace gtsam {
/// @{
/** print */
void print(const std::string& = "GaussianConditional",
void print(
const std::string& = "GaussianConditional",
const KeyFormatter& formatter = DefaultKeyFormatter) const override;
/** equals function */

2
gtsam/linear/LossFunctions.h
View File

@ -223,6 +223,7 @@ class GTSAM_EXPORT Cauchy : public Base {
void serialize(ARCHIVE &ar, const unsigned int /*version*/) {
ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
ar &BOOST_SERIALIZATION_NVP(k_);
ar &BOOST_SERIALIZATION_NVP(ksquared_);
}
};
@ -273,6 +274,7 @@ class GTSAM_EXPORT Welsch : public Base {
void serialize(ARCHIVE &ar, const unsigned int /*version*/) {
ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
ar &BOOST_SERIALIZATION_NVP(c_);
ar &BOOST_SERIALIZATION_NVP(csquared_);
}
};

8
gtsam/linear/NoiseModel.cpp
View File

@ -134,7 +134,7 @@ Gaussian::shared_ptr Gaussian::Covariance(const Matrix& covariance,
/* ************************************************************************* */
void Gaussian::print(const string& name) const {
gtsam::print(thisR(), name + "Gaussian");
gtsam::print(thisR(), name + "Gaussian ");
}
/* ************************************************************************* */
@ -285,7 +285,7 @@ Diagonal::shared_ptr Diagonal::Sigmas(const Vector& sigmas, bool smart) {
/* ************************************************************************* */
void Diagonal::print(const string& name) const {
gtsam::print(sigmas_, name + "diagonal sigmas");
gtsam::print(sigmas_, name + "diagonal sigmas ");
}
/* ************************************************************************* */
@ -355,8 +355,8 @@ bool Constrained::constrained(size_t i) const {
/* ************************************************************************* */
void Constrained::print(const std::string& name) const {
gtsam::print(sigmas_, name + "constrained sigmas");
gtsam::print(mu_, name + "constrained mu");
gtsam::print(sigmas_, name + "constrained sigmas ");
gtsam::print(mu_, name + "constrained mu ");
}
/* ************************************************************************* */

50
gtsam/linear/tests/testGaussianConditional.cpp
View File

@ -40,6 +40,7 @@ using namespace gtsam;
using namespace std;
using namespace boost::assign;
using symbol_shorthand::X;
using symbol_shorthand::Y;
static const double tol = 1e-5;
@ -396,6 +397,55 @@ TEST(GaussianConditional, sample) {
// EXPECT(assert_equal(Vector2(31.0111856, 64.9850775), actual2[X(0)], 1e-5));
}
/* ************************************************************************* */
TEST(GaussianConditional, Print) {
Matrix A1 = (Matrix(2, 2) << 1., 2., 3., 4.).finished();
Matrix A2 = (Matrix(2, 2) << 5., 6., 7., 8.).finished();
const Vector2 b(20, 40);
const double sigma = 3;
GaussianConditional conditional(X(0), b, Matrix2::Identity(),
noiseModel::Isotropic::Sigma(2, sigma));
// Test printing for no parents.
std::string expected =
"GaussianConditional p(x0)\n"
" R = [ 1 0 ]\n"
" [ 0 1 ]\n"
" d = [ 20 40 ]\n"
"isotropic dim=2 sigma=3\n";
EXPECT(assert_print_equal(expected, conditional, "GaussianConditional"));
auto conditional1 =
GaussianConditional::FromMeanAndStddev(X(0), A1, X(1), b, sigma);
// Test printing for single parent.
std::string expected1 =
"GaussianConditional p(x0 | x1)\n"
" R = [ 1 0 ]\n"
" [ 0 1 ]\n"
" S[x1] = [ -1 -2 ]\n"
" [ -3 -4 ]\n"
" d = [ 20 40 ]\n"
"isotropic dim=2 sigma=3\n";
EXPECT(assert_print_equal(expected1, conditional1, "GaussianConditional"));
// Test printing for multiple parents.
auto conditional2 = GaussianConditional::FromMeanAndStddev(X(0), A1, Y(0), A2,
Y(1), b, sigma);
std::string expected2 =
"GaussianConditional p(x0 | y0 y1)\n"
" R = [ 1 0 ]\n"
" [ 0 1 ]\n"
" S[y0] = [ -1 -2 ]\n"
" [ -3 -4 ]\n"
" S[y1] = [ -5 -6 ]\n"
" [ -7 -8 ]\n"
" d = [ 20 40 ]\n"
"isotropic dim=2 sigma=3\n";
EXPECT(assert_print_equal(expected2, conditional2, "GaussianConditional"));
}
/* ************************************************************************* */
int main() {
TestResult tr;

1
gtsam/navigation/PreintegrationParams.cpp
View File

@ -34,7 +34,6 @@ void PreintegrationParams::print(const string& s) const {
<< endl;
if (omegaCoriolis && use2ndOrderCoriolis)
cout << "Using 2nd-order Coriolis" << endl;
if (body_P_sensor) body_P_sensor->print(" ");
cout << "n_gravity = (" << n_gravity.transpose() << ")" << endl;
}

11
gtsam/nonlinear/ISAM2.h
View File

@ -295,6 +295,17 @@ class GTSAM_EXPORT ISAM2 : public BayesTree<ISAM2Clique> {
const ISAM2UpdateParams& updateParams, const FastList<Key>& affectedKeys,
const KeySet& relinKeys);
/**
* @brief Perform an incremental update of the factor graph to return a new
* Bayes Tree with affected keys.
*
* @param updateParams Parameters for the ISAM2 update.
* @param relinKeys Keys of variables to relinearize.
* @param affectedKeys The set of keys which are affected in the update.
* @param affectedKeysSet [output] Affected and contaminated keys.
* @param orphans [output] List of orphanes cliques after elimination.
* @param result [output] The result of the incremental update step.
*/
void recalculateIncremental(const ISAM2UpdateParams& updateParams,
const KeySet& relinKeys,
const FastList<Key>& affectedKeys,

1
gtsam/nonlinear/ISAM2Result.h
View File

@ -175,6 +175,7 @@ struct ISAM2Result {
/** Getters and Setters */
size_t getVariablesRelinearized() const { return variablesRelinearized; }
size_t getVariablesReeliminated() const { return variablesReeliminated; }
FactorIndices getNewFactorsIndices() const { return newFactorsIndices; }
size_t getCliques() const { return cliques; }
double getErrorBefore() const { return errorBefore ? *errorBefore : std::nan(""); }
double getErrorAfter() const { return errorAfter ? *errorAfter : std::nan(""); }

2
gtsam/nonlinear/LevenbergMarquardtParams.h
View File

@ -35,7 +35,7 @@ class LevenbergMarquardtOptimizer;
class GTSAM_EXPORT LevenbergMarquardtParams: public NonlinearOptimizerParams {
public:
/** See LevenbergMarquardtParams::lmVerbosity */
/** See LevenbergMarquardtParams::verbosityLM */
enum VerbosityLM {
SILENT = 0, SUMMARY, TERMINATION, LAMBDA, TRYLAMBDA, TRYCONFIG, DAMPED, TRYDELTA
};

40
gtsam/nonlinear/Values-inl.h
View File

@ -279,10 +279,11 @@ namespace gtsam {
template <typename ValueType>
struct handle {
ValueType operator()(Key j, const Value* const pointer) {
try {
auto ptr = dynamic_cast<const GenericValue<ValueType>*>(pointer);
if (ptr) {
// value returns a const ValueType&, and the return makes a copy !!!!!
return dynamic_cast<const GenericValue<ValueType>&>(*pointer).value();
} catch (std::bad_cast&) {
return ptr->value();
} else {
throw ValuesIncorrectType(j, typeid(*pointer), typeid(ValueType));
}
}
@ -294,11 +295,12 @@ namespace gtsam {
// Handle dynamic matrices
template <int M, int N>
struct handle_matrix<Eigen::Matrix<double, M, N>, true> {
Eigen::Matrix<double, M, N> operator()(Key j, const Value* const pointer) {
try {
inline Eigen::Matrix<double, M, N> operator()(Key j, const Value* const pointer) {
auto ptr = dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>*>(pointer);
if (ptr) {
// value returns a const Matrix&, and the return makes a copy !!!!!
return dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer).value();
} catch (std::bad_cast&) {
return ptr->value();
} else {
// If a fixed matrix was stored, we end up here as well.
throw ValuesIncorrectType(j, typeid(*pointer), typeid(Eigen::Matrix<double, M, N>));
}
@ -308,16 +310,18 @@ namespace gtsam {
// Handle fixed matrices
template <int M, int N>
struct handle_matrix<Eigen::Matrix<double, M, N>, false> {
Eigen::Matrix<double, M, N> operator()(Key j, const Value* const pointer) {
try {
inline Eigen::Matrix<double, M, N> operator()(Key j, const Value* const pointer) {
auto ptr = dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>*>(pointer);
if (ptr) {
// value returns a const MatrixMN&, and the return makes a copy !!!!!
return dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer).value();
} catch (std::bad_cast&) {
return ptr->value();
} else {
Matrix A;
try {
// Check if a dynamic matrix was stored
A = handle_matrix<Eigen::MatrixXd, true>()(j, pointer); // will throw if not....
} catch (const ValuesIncorrectType&) {
auto ptr = dynamic_cast<const GenericValue<Eigen::MatrixXd>*>(pointer);
if (ptr) {
A = ptr->value();
} else {
// Or a dynamic vector
A = handle_matrix<Eigen::VectorXd, true>()(j, pointer); // will throw if not....
}
@ -364,10 +368,10 @@ namespace gtsam {
if(item != values_.end()) {
// dynamic cast the type and throw exception if incorrect
const Value& value = *item->second;
try {
return dynamic_cast<const GenericValue<ValueType>&>(value).value();
} catch (std::bad_cast &) {
auto ptr = dynamic_cast<const GenericValue<ValueType>*>(item->second);
if (ptr) {
return ptr->value();
} else {
// NOTE(abe): clang warns about potential side effects if done in typeid
const Value* value = item->second;
throw ValuesIncorrectType(j, typeid(*value), typeid(ValueType));

68
gtsam/nonlinear/nonlinear.i
View File

@ -25,6 +25,7 @@ namespace gtsam {
#include <gtsam/geometry/Unit3.h>
#include <gtsam/navigation/ImuBias.h>
#include <gtsam/navigation/NavState.h>
#include <gtsam/basis/ParameterMatrix.h>
#include <gtsam/nonlinear/GraphvizFormatting.h>
class GraphvizFormatting : gtsam::DotWriter {
@ -228,6 +229,25 @@ class Values {
void insert(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
void insert(size_t j, const gtsam::NavState& nav_state);
void insert(size_t j, double c);
void insert(size_t j, const gtsam::ParameterMatrix<1>& X);
void insert(size_t j, const gtsam::ParameterMatrix<2>& X);
void insert(size_t j, const gtsam::ParameterMatrix<3>& X);
void insert(size_t j, const gtsam::ParameterMatrix<4>& X);
void insert(size_t j, const gtsam::ParameterMatrix<5>& X);
void insert(size_t j, const gtsam::ParameterMatrix<6>& X);
void insert(size_t j, const gtsam::ParameterMatrix<7>& X);
void insert(size_t j, const gtsam::ParameterMatrix<8>& X);
void insert(size_t j, const gtsam::ParameterMatrix<9>& X);
void insert(size_t j, const gtsam::ParameterMatrix<10>& X);
void insert(size_t j, const gtsam::ParameterMatrix<11>& X);
void insert(size_t j, const gtsam::ParameterMatrix<12>& X);
void insert(size_t j, const gtsam::ParameterMatrix<13>& X);
void insert(size_t j, const gtsam::ParameterMatrix<14>& X);
void insert(size_t j, const gtsam::ParameterMatrix<15>& X);
template <T = {gtsam::Point2,
gtsam::Point3}>
void insert(size_t j, const T& val);
void update(size_t j, const gtsam::Point2& point2);
void update(size_t j, const gtsam::Point3& point3);
@ -254,6 +274,21 @@ class Values {
void update(size_t j, Vector vector);
void update(size_t j, Matrix matrix);
void update(size_t j, double c);
void update(size_t j, const gtsam::ParameterMatrix<1>& X);
void update(size_t j, const gtsam::ParameterMatrix<2>& X);
void update(size_t j, const gtsam::ParameterMatrix<3>& X);
void update(size_t j, const gtsam::ParameterMatrix<4>& X);
void update(size_t j, const gtsam::ParameterMatrix<5>& X);
void update(size_t j, const gtsam::ParameterMatrix<6>& X);
void update(size_t j, const gtsam::ParameterMatrix<7>& X);
void update(size_t j, const gtsam::ParameterMatrix<8>& X);
void update(size_t j, const gtsam::ParameterMatrix<9>& X);
void update(size_t j, const gtsam::ParameterMatrix<10>& X);
void update(size_t j, const gtsam::ParameterMatrix<11>& X);
void update(size_t j, const gtsam::ParameterMatrix<12>& X);
void update(size_t j, const gtsam::ParameterMatrix<13>& X);
void update(size_t j, const gtsam::ParameterMatrix<14>& X);
void update(size_t j, const gtsam::ParameterMatrix<15>& X);
void insert_or_assign(size_t j, const gtsam::Point2& point2);
void insert_or_assign(size_t j, const gtsam::Point3& point3);
@ -280,6 +315,21 @@ class Values {
void insert_or_assign(size_t j, Vector vector);
void insert_or_assign(size_t j, Matrix matrix);
void insert_or_assign(size_t j, double c);
void insert_or_assign(size_t j, const gtsam::ParameterMatrix<1>& X);
void insert_or_assign(size_t j, const gtsam::ParameterMatrix<2>& X);
void insert_or_assign(size_t j, const gtsam::ParameterMatrix<3>& X);
void insert_or_assign(size_t j, const gtsam::ParameterMatrix<4>& X);
void insert_or_assign(size_t j, const gtsam::ParameterMatrix<5>& X);
void insert_or_assign(size_t j, const gtsam::ParameterMatrix<6>& X);
void insert_or_assign(size_t j, const gtsam::ParameterMatrix<7>& X);
void insert_or_assign(size_t j, const gtsam::ParameterMatrix<8>& X);
void insert_or_assign(size_t j, const gtsam::ParameterMatrix<9>& X);
void insert_or_assign(size_t j, const gtsam::ParameterMatrix<10>& X);
void insert_or_assign(size_t j, const gtsam::ParameterMatrix<11>& X);
void insert_or_assign(size_t j, const gtsam::ParameterMatrix<12>& X);
void insert_or_assign(size_t j, const gtsam::ParameterMatrix<13>& X);
void insert_or_assign(size_t j, const gtsam::ParameterMatrix<14>& X);
void insert_or_assign(size_t j, const gtsam::ParameterMatrix<15>& X);
template <T = {gtsam::Point2,
gtsam::Point3,
@ -305,7 +355,22 @@ class Values {
gtsam::NavState,
Vector,
Matrix,
double}>
double,
gtsam::ParameterMatrix<1>,
gtsam::ParameterMatrix<2>,
gtsam::ParameterMatrix<3>,
gtsam::ParameterMatrix<4>,
gtsam::ParameterMatrix<5>,
gtsam::ParameterMatrix<6>,
gtsam::ParameterMatrix<7>,
gtsam::ParameterMatrix<8>,
gtsam::ParameterMatrix<9>,
gtsam::ParameterMatrix<10>,
gtsam::ParameterMatrix<11>,
gtsam::ParameterMatrix<12>,
gtsam::ParameterMatrix<13>,
gtsam::ParameterMatrix<14>,
gtsam::ParameterMatrix<15>}>
T at(size_t j);
};
@ -621,6 +686,7 @@ class ISAM2Result {
/** Getters and Setters for all properties */
size_t getVariablesRelinearized() const;
size_t getVariablesReeliminated() const;
FactorIndices getNewFactorsIndices() const;
size_t getCliques() const;
double getErrorBefore() const;
double getErrorAfter() const;

7
gtsam/sam/sam.i
View File

@ -20,6 +20,8 @@ virtual class RangeFactor : gtsam::NoiseModelFactor {
// enabling serialization functionality
void serialize() const;
const double measured() const;
};
// between points:
@ -54,6 +56,9 @@ virtual class RangeFactorWithTransform : gtsam::NoiseModelFactor {
// enabling serialization functionality
void serialize() const;
// Use `double` instead of template since that is all we need.
const double measured() const;
};
typedef gtsam::RangeFactorWithTransform<gtsam::Pose2, gtsam::Point2>
@ -73,6 +78,8 @@ virtual class BearingFactor : gtsam::NoiseModelFactor {
// enabling serialization functionality
void serialize() const;
const BEARING& measured() const;
};
typedef gtsam::BearingFactor<gtsam::Pose2, gtsam::Point2, gtsam::Rot2>

1
gtsam/sfm/SfmData.cpp
View File

@ -426,7 +426,6 @@ NonlinearFactorGraph SfmData::generalSfmFactors(
NonlinearFactorGraph SfmData::sfmFactorGraph(
const SharedNoiseModel &model, boost::optional<size_t> fixedCamera,
boost::optional<size_t> fixedPoint) const {
using ProjectionFactor = GeneralSFMFactor<SfmCamera, Point3>;
NonlinearFactorGraph graph = generalSfmFactors(model);
using noiseModel::Constrained;
if (fixedCamera) {

4
gtsam/slam/BetweenFactor.h
View File

@ -80,7 +80,9 @@ namespace gtsam {
/// @{
/// print with optional string
void print(const std::string& s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
void print(
const std::string& s = "",
const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
std::cout << s << "BetweenFactor("
<< keyFormatter(this->key1()) << ","
<< keyFormatter(this->key2()) << ")\n";

26
gtsam_unstable/gtsam_unstable.i
View File

@ -797,4 +797,30 @@ virtual class ProjectionFactorPPPC : gtsam::NoiseModelFactor {
typedef gtsam::ProjectionFactorPPPC<gtsam::Pose3, gtsam::Point3, gtsam::Cal3_S2> ProjectionFactorPPPCCal3_S2;
typedef gtsam::ProjectionFactorPPPC<gtsam::Pose3, gtsam::Point3, gtsam::Cal3DS2> ProjectionFactorPPPCCal3DS2;
#include <gtsam_unstable/slam/ProjectionFactorRollingShutter.h>
virtual class ProjectionFactorRollingShutter : gtsam::NoiseModelFactor {
ProjectionFactorRollingShutter(const gtsam::Point2& measured, double alpha, const gtsam::noiseModel::Base* noiseModel,
size_t poseKey_a, size_t poseKey_b, size_t pointKey, const gtsam::Cal3_S2* K);
ProjectionFactorRollingShutter(const gtsam::Point2& measured, double alpha, const gtsam::noiseModel::Base* noiseModel,
size_t poseKey_a, size_t poseKey_b, size_t pointKey, const gtsam::Cal3_S2* K, gtsam::Pose3& body_P_sensor);
ProjectionFactorRollingShutter(const gtsam::Point2& measured, double alpha, const gtsam::noiseModel::Base* noiseModel,
size_t poseKey_a, size_t poseKey_b, size_t pointKey, const gtsam::Cal3_S2* K, bool throwCheirality,
bool verboseCheirality);
ProjectionFactorRollingShutter(const gtsam::Point2& measured, double alpha, const gtsam::noiseModel::Base* noiseModel,
size_t poseKey_a, size_t poseKey_b, size_t pointKey, const gtsam::Cal3_S2* K, bool throwCheirality,
bool verboseCheirality, gtsam::Pose3& body_P_sensor);
gtsam::Point2 measured() const;
double alpha() const;
gtsam::Cal3_S2* calibration() const;
bool verboseCheirality() const;
bool throwCheirality() const;
// enabling serialization functionality
void serialize() const;
};
} //\namespace gtsam

7
gtsam_unstable/partition/FindSeparator-inl.h
View File

@ -20,11 +20,10 @@
#include "FindSeparator.h"
#ifndef GTSAM_USE_SYSTEM_METIS
#include <metis.h>
extern "C" {
#include <metis.h>
#include "metislib.h"
#include <metislib.h>
}
@ -566,5 +565,3 @@ namespace gtsam { namespace partition {
}
}} //namespace
#endif

4
gtsam_unstable/partition/tests/testFindSeparator.cpp
View File

@ -20,8 +20,6 @@ using namespace std;
using namespace gtsam;
using namespace gtsam::partition;
#ifndef GTSAM_USE_SYSTEM_METIS
/* ************************************************************************* */
// x0 - x1 - x2
// l3 l4
@ -229,8 +227,6 @@ TEST ( Partition, findSeparator3_with_reduced_camera )
LONGS_EQUAL(2, partitionTable[28]);
}
#endif
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
/* ************************************************************************* */

2
gtsam_unstable/slam/InvDepthFactor3.h
View File

@ -92,7 +92,7 @@ public:
} catch( CheiralityException& e) {
if (H1) *H1 = Matrix::Zero(2,6);
if (H2) *H2 = Matrix::Zero(2,5);
if (H3) *H2 = Matrix::Zero(2,1);
if (H3) *H3 = Matrix::Zero(2,1);
std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->key2()) <<
" moved behind camera " << DefaultKeyFormatter(this->key1()) << std::endl;
return Vector::Ones(2) * 2.0 * K_->fx();

73
gtsam_unstable/slam/tests/testInvDepthFactor3.cpp
View File

@ -1,8 +1,18 @@
/*
* testInvDepthFactor.cpp
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file testInvDepthFactor3.cpp
* @brief Unit tests inverse depth parametrization
*
* Created on: Apr 13, 2012
* Author: cbeall3
* @author cbeall3
* @author Dominik Van Opdenbosch
* @date Apr 13, 2012
*/
#include <CppUnitLite/TestHarness.h>
@ -12,6 +22,7 @@
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam_unstable/slam/InvDepthFactor3.h>
@ -28,6 +39,11 @@ PinholeCamera<Cal3_S2> level_camera(level_pose, *K);
typedef InvDepthFactor3<Pose3, Vector5, double> InverseDepthFactor;
typedef NonlinearEquality<Pose3> PoseConstraint;
Matrix factorError(const Pose3& pose, const Vector5& point, double invDepth,
const InverseDepthFactor& factor) {
return factor.evaluateError(pose, point, invDepth);
}
/* ************************************************************************* */
TEST( InvDepthFactor, optimize) {
@ -92,6 +108,55 @@ TEST( InvDepthFactor, optimize) {
}
/* ************************************************************************* */
TEST( InvDepthFactor, Jacobian3D ) {
// landmark 5 meters infront of camera (camera center at (0,0,1))
Point3 landmark(5, 0, 1);
// get expected projection using pinhole camera
Point2 expected_uv = level_camera.project(landmark);
// get expected landmark representation using backprojection
double inv_depth;
Vector5 inv_landmark;
InvDepthCamera3<Cal3_S2> inv_camera(level_pose, K);
std::tie(inv_landmark, inv_depth) = inv_camera.backproject(expected_uv, 5);
Vector5 expected_inv_landmark((Vector(5) << 0., 0., 1., 0., 0.).finished());
CHECK(assert_equal(expected_inv_landmark, inv_landmark, 1e-6));
CHECK(assert_equal(inv_depth, 1./5, 1e-6));
Symbol poseKey('x',1);
Symbol pointKey('l',1);
Symbol invDepthKey('d',1);
InverseDepthFactor factor(expected_uv, sigma, poseKey, pointKey, invDepthKey, K);
std::vector<Matrix> actualHs(3);
factor.unwhitenedError({{poseKey, genericValue(level_pose)},
{pointKey, genericValue(inv_landmark)},
{invDepthKey,genericValue(inv_depth)}},
actualHs);
const Matrix& H1Actual = actualHs.at(0);
const Matrix& H2Actual = actualHs.at(1);
const Matrix& H3Actual = actualHs.at(2);
// Use numerical derivatives to verify the Jacobians
Matrix H1Expected, H2Expected, H3Expected;
std::function<Matrix(const Pose3 &, const Vector5 &, const double &)>
func = std::bind(&factorError, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, factor);
H1Expected = numericalDerivative31(func, level_pose, inv_landmark, inv_depth);
H2Expected = numericalDerivative32(func, level_pose, inv_landmark, inv_depth);
H3Expected = numericalDerivative33(func, level_pose, inv_landmark, inv_depth);
// Verify the Jacobians
CHECK(assert_equal(H1Expected, H1Actual, 1e-6))
CHECK(assert_equal(H2Expected, H2Actual, 1e-6))
CHECK(assert_equal(H3Expected, H3Actual, 1e-6))
}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
/* ************************************************************************* */

4
matlab/CMakeLists.txt
View File

@ -92,8 +92,8 @@ if(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX)
endif()
# Wrap
matlab_wrap(${GTSAM_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i "gtsam" ""
"${mexFlags}" "${ignore}")
matlab_wrap(${GTSAM_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i "gtsam_unstable"
"${GTSAM_ADDITIONAL_LIBRARIES}" "" "${mexFlags}" "${ignore}")
endif(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX)
# Record the root dir for gtsam - needed during external builds, e.g., ROS

2
python/CMakeLists.txt
View File

@ -173,7 +173,7 @@ endif()
# Add custom target so we can install with `make python-install`
set(GTSAM_PYTHON_INSTALL_TARGET python-install)
add_custom_target(${GTSAM_PYTHON_INSTALL_TARGET}
COMMAND ${PYTHON_EXECUTABLE} ${GTSAM_PYTHON_BUILD_DIRECTORY}/setup.py install
COMMAND ${PYTHON_EXECUTABLE} -m pip install --user .
DEPENDS ${GTSAM_PYTHON_DEPENDENCIES}
WORKING_DIRECTORY ${GTSAM_PYTHON_BUILD_DIRECTORY})

1
python/README.md
View File

@ -8,6 +8,7 @@ For instructions on updating the version of the [wrap library](https://github.co
## Requirements
- Cmake >= 3.15
- If you want to build the GTSAM python library for a specific python version (eg 3.6),
use the `-DGTSAM_PYTHON_VERSION=3.6` option when running `cmake` otherwise the default interpreter will be used.
- If the interpreter is inside an environment (such as an anaconda environment or virtualenv environment),

9453
python/gtsam/examples/RangeISAMExample_plaza2.ipynb Normal file
View File

File diff suppressed because it is too large Load Diff

22
python/gtsam/tests/test_GaussianFactorGraph.py
View File

@ -32,14 +32,14 @@ def create_graph():
PRIOR_NOISE = gtsam.noiseModel.Diagonal.Sigmas(np.ones(1))
graph.add(x1, np.eye(1), x0, -np.eye(1), np.ones(1), BETWEEN_NOISE)
graph.add(x2, np.eye(1), x1, -np.eye(1), 2*np.ones(1), BETWEEN_NOISE)
graph.add(x2, np.eye(1), x1, -np.eye(1), 2 * np.ones(1), BETWEEN_NOISE)
graph.add(x0, np.eye(1), np.zeros(1), PRIOR_NOISE)
return graph, (x0, x1, x2)
class TestGaussianFactorGraph(GtsamTestCase):
"""Tests for Gaussian Factor Graphs."""
def test_fg(self):
"""Test solving a linear factor graph"""
graph, X = create_graph()
@ -88,5 +88,23 @@ class TestGaussianFactorGraph(GtsamTestCase):
self.assertAlmostEqual(EXPECTEDM[1], m[1], delta=1e-8)
self.assertAlmostEqual(EXPECTEDM[2], m[2], delta=1e-8)
def test_ordering(self):
"""Test ordering"""
gfg, keys = create_graph()
ordering = gtsam.Ordering()
for key in keys[::-1]:
ordering.push_back(key)
bn = gfg.eliminateSequential(ordering)
self.assertEqual(bn.size(), 3)
keyVector = gtsam.KeyVector()
keyVector.append(keys[2])
#TODO(Varun) Below code causes segfault in Debug config
# ordering = gtsam.Ordering.ColamdConstrainedLastGaussianFactorGraph(gfg, keyVector)
# bn = gfg.eliminateSequential(ordering)
# self.assertEqual(bn.size(), 3)
if __name__ == '__main__':
unittest.main()

61
python/gtsam/tests/test_Pose2.py
View File

@ -8,11 +8,11 @@ See LICENSE for the license information
Pose2 unit tests.
Author: Frank Dellaert & Duy Nguyen Ta & John Lambert
"""
import math
import unittest
import numpy as np
import gtsam
import numpy as np
from gtsam import Point2, Point2Pairs, Pose2
from gtsam.utils.test_case import GtsamTestCase
@ -26,6 +26,34 @@ class TestPose2(GtsamTestCase):
actual = Pose2.adjoint_(xi, xi)
np.testing.assert_array_equal(actual, expected)
def test_transformTo(self):
"""Test transformTo method."""
pose = Pose2(2, 4, -math.pi/2)
actual = pose.transformTo(Point2(3, 2))
expected = Point2(2, 1)
self.gtsamAssertEquals(actual, expected, 1e-6)
# multi-point version
points = np.stack([Point2(3, 2), Point2(3, 2)]).T
actual_array = pose.transformTo(points)
self.assertEqual(actual_array.shape, (2, 2))
expected_array = np.stack([expected, expected]).T
np.testing.assert_allclose(actual_array, expected_array, atol=1e-6)
def test_transformFrom(self):
"""Test transformFrom method."""
pose = Pose2(2, 4, -math.pi/2)
actual = pose.transformFrom(Point2(2, 1))
expected = Point2(3, 2)
self.gtsamAssertEquals(actual, expected, 1e-6)
# multi-point version
points = np.stack([Point2(2, 1), Point2(2, 1)]).T
actual_array = pose.transformFrom(points)
self.assertEqual(actual_array.shape, (2, 2))
expected_array = np.stack([expected, expected]).T
np.testing.assert_allclose(actual_array, expected_array, atol=1e-6)
def test_align(self) -> None:
"""Ensure estimation of the Pose2 element to align two 2d point clouds succeeds.
@ -42,27 +70,36 @@ class TestPose2(GtsamTestCase):
O---O
"""
pts_a = [
Point2(3, 1),
Point2(1, 1),
Point2(1, 3),
Point2(3, 3),
]
pts_b = [
Point2(1, -3),
Point2(1, -5),
Point2(-1, -5),
Point2(-1, -3),
]
pts_b = [
Point2(3, 1),
Point2(1, 1),
Point2(1, 3),
Point2(3, 3),
]
# fmt: on
ab_pairs = Point2Pairs(list(zip(pts_a, pts_b)))
bTa = gtsam.align(ab_pairs)
aTb = bTa.inverse()
assert aTb is not None
aTb = Pose2.Align(ab_pairs)
self.assertIsNotNone(aTb)
for pt_a, pt_b in zip(pts_a, pts_b):
pt_a_ = aTb.transformFrom(pt_b)
assert np.allclose(pt_a, pt_a_)
np.testing.assert_allclose(pt_a, pt_a_)
# Matrix version
A = np.array(pts_a).T
B = np.array(pts_b).T
aTb = Pose2.Align(A, B)
self.assertIsNotNone(aTb)
for pt_a, pt_b in zip(pts_a, pts_b):
pt_a_ = aTb.transformFrom(pt_b)
np.testing.assert_allclose(pt_a, pt_a_)
if __name__ == "__main__":

47
python/gtsam/tests/test_Pose3.py
View File

@ -15,7 +15,7 @@ import unittest
import numpy as np
import gtsam
from gtsam import Point3, Pose3, Rot3
from gtsam import Point3, Pose3, Rot3, Point3Pairs
from gtsam.utils.test_case import GtsamTestCase
@ -30,13 +30,34 @@ class TestPose3(GtsamTestCase):
actual = T2.between(T3)
self.gtsamAssertEquals(actual, expected, 1e-6)
def test_transform_to(self):
def test_transformTo(self):
"""Test transformTo method."""
transform = Pose3(Rot3.Rodrigues(0, 0, -1.570796), Point3(2, 4, 0))
actual = transform.transformTo(Point3(3, 2, 10))
pose = Pose3(Rot3.Rodrigues(0, 0, -math.pi/2), Point3(2, 4, 0))
actual = pose.transformTo(Point3(3, 2, 10))
expected = Point3(2, 1, 10)
self.gtsamAssertEquals(actual, expected, 1e-6)
# multi-point version
points = np.stack([Point3(3, 2, 10), Point3(3, 2, 10)]).T
actual_array = pose.transformTo(points)
self.assertEqual(actual_array.shape, (3, 2))
expected_array = np.stack([expected, expected]).T
np.testing.assert_allclose(actual_array, expected_array, atol=1e-6)
def test_transformFrom(self):
"""Test transformFrom method."""
pose = Pose3(Rot3.Rodrigues(0, 0, -math.pi/2), Point3(2, 4, 0))
actual = pose.transformFrom(Point3(2, 1, 10))
expected = Point3(3, 2, 10)
self.gtsamAssertEquals(actual, expected, 1e-6)
# multi-point version
points = np.stack([Point3(2, 1, 10), Point3(2, 1, 10)]).T
actual_array = pose.transformFrom(points)
self.assertEqual(actual_array.shape, (3, 2))
expected_array = np.stack([expected, expected]).T
np.testing.assert_allclose(actual_array, expected_array, atol=1e-6)
def test_range(self):
"""Test range method."""
l1 = Point3(1, 0, 0)
@ -81,6 +102,24 @@ class TestPose3(GtsamTestCase):
actual.deserialize(serialized)
self.gtsamAssertEquals(expected, actual, 1e-10)
def test_align_squares(self):
"""Test if Align method can align 2 squares."""
square = np.array([[0,0,0],[0,1,0],[1,1,0],[1,0,0]], float).T
sTt = Pose3(Rot3.Rodrigues(0, 0, -math.pi), Point3(2, 4, 0))
transformed = sTt.transformTo(square)
st_pairs = Point3Pairs()
for j in range(4):
st_pairs.append((square[:,j], transformed[:,j]))
# Recover the transformation sTt
estimated_sTt = Pose3.Align(st_pairs)
self.gtsamAssertEquals(estimated_sTt, sTt, 1e-10)
# Matrix version
estimated_sTt = Pose3.Align(square, transformed)
self.gtsamAssertEquals(estimated_sTt, sTt, 1e-10)
if __name__ == "__main__":
unittest.main()

17
python/gtsam/tests/test_VisualISAMExample.py
View File

@ -10,9 +10,6 @@ Author: Frank Dellaert & Duy Nguyen Ta (Python)
"""
import unittest
import numpy as np
import gtsam
import gtsam.utils.visual_data_generator as generator
import gtsam.utils.visual_isam as visual_isam
from gtsam import symbol
@ -20,8 +17,9 @@ from gtsam.utils.test_case import GtsamTestCase
class TestVisualISAMExample(GtsamTestCase):
"""Test class for ISAM2 with visual landmarks."""
def test_VisualISAMExample(self):
"""Test to see if ISAM works as expected for a simple visual SLAM example."""
# Data Options
options = generator.Options()
options.triangle = False
@ -39,19 +37,22 @@ class TestVisualISAMExample(GtsamTestCase):
data, truth = generator.generate_data(options)
# Initialize iSAM with the first pose and points
isam, result, nextPose = visual_isam.initialize(data, truth, isamOptions)
isam, result, nextPose = visual_isam.initialize(
data, truth, isamOptions)
# Main loop for iSAM: stepping through all poses
for currentPose in range(nextPose, options.nrCameras):
isam, result = visual_isam.step(data, isam, result, truth, currentPose)
isam, result = visual_isam.step(data, isam, result, truth,
currentPose)
for i in range(len(truth.cameras)):
for i, _ in enumerate(truth.cameras):
pose_i = result.atPose3(symbol('x', i))
self.gtsamAssertEquals(pose_i, truth.cameras[i].pose(), 1e-5)
for j in range(len(truth.points)):
for j, _ in enumerate(truth.points):
point_j = result.atPoint3(symbol('l', j))
self.gtsamAssertEquals(point_j, truth.points[j], 1e-5)
if __name__ == "__main__":
unittest.main()

55
python/gtsam/tests/test_sam.py Normal file
View File

@ -0,0 +1,55 @@
"""
GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved
See LICENSE for the license information
Basis unit tests.
Author: Frank Dellaert & Varun Agrawal (Python)
"""
import unittest
import gtsam
from gtsam.utils.test_case import GtsamTestCase
class TestSam(GtsamTestCase):
"""
Tests python binding for classes/functions in `sam.i`.
"""
def test_RangeFactor2D(self):
"""
Test that `measured` works as expected for RangeFactor2D.
"""
measurement = 10.0
factor = gtsam.RangeFactor2D(1, 2, measurement,
gtsam.noiseModel.Isotropic.Sigma(1, 1))
self.assertEqual(measurement, factor.measured())
def test_BearingFactor2D(self):
"""
Test that `measured` works as expected for BearingFactor2D.
"""
measurement = gtsam.Rot2(.3)
factor = gtsam.BearingFactor2D(1, 2, measurement,
gtsam.noiseModel.Isotropic.Sigma(1, 1))
self.gtsamAssertEquals(measurement, factor.measured())
def test_BearingRangeFactor2D(self):
"""
Test that `measured` works as expected for BearingRangeFactor2D.
"""
range_measurement = 10.0
bearing_measurement = gtsam.Rot2(0.3)
factor = gtsam.BearingRangeFactor2D(
1, 2, bearing_measurement, range_measurement,
gtsam.noiseModel.Isotropic.Sigma(2, 1))
measurement = factor.measured()
self.assertEqual(range_measurement, measurement.range())
self.gtsamAssertEquals(bearing_measurement, measurement.bearing())
if __name__ == "__main__":
unittest.main()

59
python/gtsam_unstable/tests/test_ProjectionFactorRollingShutter.py Normal file
View File

@ -0,0 +1,59 @@
"""
GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved
See LICENSE for the license information
ProjectionFactorRollingShutter unit tests.
Author: Yotam Stern
"""
import unittest
import numpy as np
import gtsam
import gtsam_unstable
from gtsam.utils.test_case import GtsamTestCase
pose1 = gtsam.Pose3()
pose2 = gtsam.Pose3(np.array([[ 0.9999375 , 0.00502487, 0.00998725, 0.1 ],
[-0.00497488, 0.999975 , -0.00502487, 0.02 ],
[-0.01001225, 0.00497488, 0.9999375 , 1. ],
[ 0. , 0. , 0. , 1. ]]))
point = np.array([2, 0, 15])
point_noise = gtsam.noiseModel.Diagonal.Sigmas(np.ones(2))
cal = gtsam.Cal3_S2()
body_p_sensor = gtsam.Pose3()
alpha = 0.1
measured = np.array([0.13257015, 0.0004157])
class TestProjectionFactorRollingShutter(GtsamTestCase):
def test_constructor(self):
'''
test constructor for the ProjectionFactorRollingShutter
'''
factor = gtsam_unstable.ProjectionFactorRollingShutter(measured, alpha, point_noise, 0, 1, 2, cal)
factor = gtsam_unstable.ProjectionFactorRollingShutter(measured, alpha, point_noise, 0, 1, 2, cal,
body_p_sensor)
factor = gtsam_unstable.ProjectionFactorRollingShutter(measured, alpha, point_noise, 0, 1, 2, cal, True, False)
factor = gtsam_unstable.ProjectionFactorRollingShutter(measured, alpha, point_noise, 0, 1, 2, cal, True, False,
body_p_sensor)
def test_error(self):
'''
test the factor error for a specific example
'''
values = gtsam.Values()
values.insert(0, pose1)
values.insert(1, pose2)
values.insert(2, point)
factor = gtsam_unstable.ProjectionFactorRollingShutter(measured, alpha, point_noise, 0, 1, 2, cal)
self.gtsamAssertEquals(factor.error(values), np.array(0), tol=1e-9)
if __name__ == '__main__':
unittest.main()

4
wrap/gtwrap/pybind_wrapper.py
View File

@ -412,7 +412,7 @@ class PybindWrapper:
def wrap_instantiated_declaration(
self, instantiated_decl: instantiator.InstantiatedDeclaration):
"""Wrap the class."""
"""Wrap the forward declaration."""
module_var = self._gen_module_var(instantiated_decl.namespaces())
cpp_class = instantiated_decl.to_cpp()
if cpp_class in self.ignore_classes:
@ -420,7 +420,7 @@ class PybindWrapper:
res = (
'\n py::class_<{cpp_class}, '
'{shared_ptr_type}::shared_ptr<{cpp_class}>>({module_var}, "{class_name}")'
'{shared_ptr_type}::shared_ptr<{cpp_class}>>({module_var}, "{class_name}");'
).format(shared_ptr_type=('boost' if self.use_boost else 'std'),
cpp_class=cpp_class,
class_name=instantiated_decl.name,

9
wrap/matlab.h
View File

@ -37,15 +37,16 @@ extern "C" {
#include <mex.h>
}
#include <boost/shared_ptr.hpp>
#include <boost/cstdint.hpp>
#include <boost/make_shared.hpp>
#include <boost/shared_ptr.hpp>
#include <list>
#include <string>
#include <sstream>
#include <typeinfo>
#include <set>
#include <sstream>
#include <streambuf>
#include <string>
#include <typeinfo>
using namespace std;
using namespace boost; // not usual, but for conciseness of generated code

2
wrap/pybind11/.appveyor.yml
View File

@ -19,7 +19,7 @@ install:
if ($env:PLATFORM -eq "x64") { $env:PYTHON = "$env:PYTHON-x64" }
$env:PATH = "C:\Python$env:PYTHON\;C:\Python$env:PYTHON\Scripts\;$env:PATH"
python -W ignore -m pip install --upgrade pip wheel
python -W ignore -m pip install pytest numpy --no-warn-script-location
python -W ignore -m pip install pytest numpy --no-warn-script-location pytest-timeout
- ps: |
Start-FileDownload 'https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.zip'
7z x eigen-3.3.7.zip -y > $null

19
wrap/pybind11/.clang-format Normal file
View File

@ -0,0 +1,19 @@
---
# See all possible options and defaults with:
# clang-format --style=llvm --dump-config
BasedOnStyle: LLVM
AccessModifierOffset: -4
AlwaysBreakTemplateDeclarations: Yes
BinPackArguments: false
BinPackParameters: false
BreakBeforeBinaryOperators: All
BreakConstructorInitializers: BeforeColon
ColumnLimit: 99
IndentCaseLabels: true
IndentPPDirectives: AfterHash
IndentWidth: 4
Language: Cpp
SpaceAfterCStyleCast: true
Standard: Cpp11
TabWidth: 4
...

61
wrap/pybind11/.clang-tidy
View File

@ -1,13 +1,66 @@
FormatStyle: file
Checks: '
*bugprone*,
cppcoreguidelines-init-variables,
cppcoreguidelines-slicing,
clang-analyzer-optin.cplusplus.VirtualCall,
google-explicit-constructor,
llvm-namespace-comment,
modernize-use-override,
readability-container-size-empty,
modernize-use-using,
modernize-use-equals-default,
misc-misplaced-const,
misc-non-copyable-objects,
misc-static-assert,
misc-throw-by-value-catch-by-reference,
misc-uniqueptr-reset-release,
misc-unused-parameters,
modernize-avoid-bind,
modernize-make-shared,
modernize-redundant-void-arg,
modernize-replace-auto-ptr,
modernize-replace-disallow-copy-and-assign-macro,
modernize-replace-random-shuffle,
modernize-shrink-to-fit,
modernize-use-auto,
modernize-use-bool-literals,
modernize-use-equals-default,
modernize-use-equals-delete,
modernize-use-default-member-init,
modernize-use-noexcept,
modernize-use-emplace,
modernize-use-override,
modernize-use-using,
*performance*,
readability-avoid-const-params-in-decls,
readability-const-return-type,
readability-container-size-empty,
readability-delete-null-pointer,
readability-else-after-return,
readability-implicit-bool-conversion,
readability-make-member-function-const,
readability-misplaced-array-index,
readability-non-const-parameter,
readability-redundant-function-ptr-dereference,
readability-redundant-smartptr-get,
readability-redundant-string-cstr,
readability-simplify-subscript-expr,
readability-static-accessed-through-instance,
readability-static-definition-in-anonymous-namespace,
readability-string-compare,
readability-suspicious-call-argument,
readability-uniqueptr-delete-release,
-bugprone-exception-escape,
-bugprone-reserved-identifier,
-bugprone-unused-raii,
'
CheckOptions:
- key: performance-for-range-copy.WarnOnAllAutoCopies
value: true
- key: performance-unnecessary-value-param.AllowedTypes
value: 'exception_ptr$;'
- key: readability-implicit-bool-conversion.AllowPointerConditions
value: true
HeaderFilterRegex: 'pybind11/.*h'
WarningsAsErrors: '*'

9
wrap/pybind11/.github/CODEOWNERS vendored Normal file
View File

@ -0,0 +1,9 @@
*.cmake @henryiii
CMakeLists.txt @henryiii
*.yml @henryiii
*.yaml @henryiii
/tools/ @henryiii
/pybind11/ @henryiii
noxfile.py @henryiii
.clang-format @henryiii
.clang-tidy @henryiii

92
wrap/pybind11/.github/CONTRIBUTING.md vendored
View File

@ -53,6 +53,33 @@ derivative works thereof, in binary and source code form.
## Development of pybind11
### Quick setup
To setup a quick development environment, use [`nox`](https://nox.thea.codes).
This will allow you to do some common tasks with minimal setup effort, but will
take more time to run and be less flexible than a full development environment.
If you use [`pipx run nox`](https://pipx.pypa.io), you don't even need to
install `nox`. Examples:
```bash
# List all available sessions
nox -l
# Run linters
nox -s lint
# Run tests on Python 3.9
nox -s tests-3.9
# Build and preview docs
nox -s docs -- serve
# Build SDists and wheels
nox -s build
```
### Full setup
To setup an ideal development environment, run the following commands on a
system with CMake 3.14+:
@ -93,7 +120,7 @@ The valid options are:
* `-DPYBIND11_NOPYTHON=ON`: Disable all Python searching (disables tests)
* `-DBUILD_TESTING=ON`: Enable the tests
* `-DDOWNLOAD_CATCH=ON`: Download catch to build the C++ tests
* `-DOWNLOAD_EIGEN=ON`: Download Eigen for the NumPy tests
* `-DDOWNLOAD_EIGEN=ON`: Download Eigen for the NumPy tests
* `-DPYBIND11_INSTALL=ON/OFF`: Enable the install target (on by default for the
master project)
* `-DUSE_PYTHON_INSTALL_DIR=ON`: Try to install into the python dir
@ -126,13 +153,26 @@ cmake --build build --target check
`--target` can be spelled `-t` in CMake 3.15+. You can also run individual
tests with these targets:
* `pytest`: Python tests only
* `pytest`: Python tests only, using the
[pytest](https://docs.pytest.org/en/stable/) framework
* `cpptest`: C++ tests only
* `test_cmake_build`: Install / subdirectory tests
If you want to build just a subset of tests, use
`-DPYBIND11_TEST_OVERRIDE="test_callbacks.cpp;test_pickling.cpp"`. If this is
empty, all tests will be built.
`-DPYBIND11_TEST_OVERRIDE="test_callbacks;test_pickling"`. If this is
empty, all tests will be built. Tests are specified without an extension if they need both a .py and
.cpp file.
You may also pass flags to the `pytest` target by editing `tests/pytest.ini` or
by using the `PYTEST_ADDOPTS` environment variable
(see [`pytest` docs](https://docs.pytest.org/en/2.7.3/customize.html#adding-default-options)). As an example:
```bash
env PYTEST_ADDOPTS="--capture=no --exitfirst" \
cmake --build build --target pytest
# Or using abbreviated flags
env PYTEST_ADDOPTS="-s -x" cmake --build build --target pytest
```
### Formatting
@ -164,16 +204,42 @@ name, pre-commit):
pre-commit install
```
### Clang-Tidy
### Clang-Format
To run Clang tidy, the following recipe should work. Files will be modified in
place, so you can use git to monitor the changes.
As of v2.6.2, pybind11 ships with a [`clang-format`][clang-format]
configuration file at the top level of the repo (the filename is
`.clang-format`). Currently, formatting is NOT applied automatically, but
manually using `clang-format` for newly developed files is highly encouraged.
To check if a file needs formatting:
```bash
docker run --rm -v $PWD:/pybind11 -it silkeh/clang:10
apt-get update && apt-get install python3-dev python3-pytest
cmake -S pybind11/ -B build -DCMAKE_CXX_CLANG_TIDY="$(which clang-tidy);-fix"
cmake --build build
clang-format -style=file --dry-run some.cpp
```
The output will show things to be fixed, if any. To actually format the file:
```bash
clang-format -style=file -i some.cpp
```
Note that the `-style-file` option searches the parent directories for the
`.clang-format` file, i.e. the commands above can be run in any subdirectory
of the pybind11 repo.
### Clang-Tidy
[`clang-tidy`][clang-tidy] performs deeper static code analyses and is
more complex to run, compared to `clang-format`, but support for `clang-tidy`
is built into the pybind11 CMake configuration. To run `clang-tidy`, the
following recipe should work. Run the `docker` command from the top-level
directory inside your pybind11 git clone. Files will be modified in place,
so you can use git to monitor the changes.
```bash
docker run --rm -v $PWD:/mounted_pybind11 -it silkeh/clang:12
apt-get update && apt-get install -y python3-dev python3-pytest
cmake -S /mounted_pybind11/ -B build -DCMAKE_CXX_CLANG_TIDY="$(which clang-tidy);-fix" -DDOWNLOAD_EIGEN=ON -DDOWNLOAD_CATCH=ON -DCMAKE_CXX_STANDARD=17
cmake --build build -j 2 -- --keep-going
```
### Include what you use
@ -186,7 +252,7 @@ cmake -S . -B build-iwyu -DCMAKE_CXX_INCLUDE_WHAT_YOU_USE=$(which include-what-y
cmake --build build
```
The report is sent to stderr; you can pip it into a file if you wish.
The report is sent to stderr; you can pipe it into a file if you wish.
### Build recipes
@ -313,6 +379,8 @@ if you really want to.
[pre-commit]: https://pre-commit.com
[clang-format]: https://clang.llvm.org/docs/ClangFormat.html
[clang-tidy]: https://clang.llvm.org/extra/clang-tidy/
[pybind11.readthedocs.org]: http://pybind11.readthedocs.org/en/latest
[issue tracker]: https://github.com/pybind/pybind11/issues
[gitter]: https://gitter.im/pybind/Lobby

28
wrap/pybind11/.github/ISSUE_TEMPLATE/bug-report.md vendored
View File

@ -1,28 +0,0 @@
---
name: Bug Report
about: File an issue about a bug
title: "[BUG] "
---
Make sure you've completed the following steps before submitting your issue -- thank you!
1. Make sure you've read the [documentation][]. Your issue may be addressed there.
2. Search the [issue tracker][] to verify that this hasn't already been reported. +1 or comment there if it has.
3. Consider asking first in the [Gitter chat room][].
4. Include a self-contained and minimal piece of code that reproduces the problem. If that's not possible, try to make the description as clear as possible.
a. If possible, make a PR with a new, failing test to give us a starting point to work on!
[documentation]: https://pybind11.readthedocs.io
[issue tracker]: https://github.com/pybind/pybind11/issues
[Gitter chat room]: https://gitter.im/pybind/Lobby
*After reading, remove this checklist and the template text in parentheses below.*
## Issue description
(Provide a short description, state the expected behavior and what actually happens.)
## Reproducible example code
(The code should be minimal, have no external dependencies, isolate the function(s) that cause breakage. Submit matched and complete C++ and Python snippets that can be easily compiled and run to diagnose the issue.)

45
wrap/pybind11/.github/ISSUE_TEMPLATE/bug-report.yml vendored Normal file
View File

@ -0,0 +1,45 @@
name: Bug Report
description: File an issue about a bug
title: "[BUG]: "
labels: [triage]
body:
- type: markdown
attributes:
value: |
Maintainers will only make a best effort to triage PRs. Please do your best to make the issue as easy to act on as possible, and only open if clearly a problem with pybind11 (ask first if unsure).
- type: checkboxes
id: steps
attributes:
label: Required prerequisites
description: Make sure you've completed the following steps before submitting your issue -- thank you!
options:
- label: Make sure you've read the [documentation](https://pybind11.readthedocs.io). Your issue may be addressed there.
required: true
- label: Search the [issue tracker](https://github.com/pybind/pybind11/issues) and [Discussions](https:/pybind/pybind11/discussions) to verify that this hasn't already been reported. +1 or comment there if it has.
required: true
- label: Consider asking first in the [Gitter chat room](https://gitter.im/pybind/Lobby) or in a [Discussion](https:/pybind/pybind11/discussions/new).
required: false
- type: textarea
id: description
attributes:
label: Problem description
placeholder: >-
Provide a short description, state the expected behavior and what
actually happens. Include relevant information like what version of
pybind11 you are using, what system you are on, and any useful commands
/ output.
validations:
required: true
- type: textarea
id: code
attributes:
label: Reproducible example code
placeholder: >-
The code should be minimal, have no external dependencies, isolate the
function(s) that cause breakage. Submit matched and complete C++ and
Python snippets that can be easily compiled and run to diagnose the
issue. If possible, make a PR with a new, failing test to give us a
starting point to work on!
render: text

3
wrap/pybind11/.github/ISSUE_TEMPLATE/config.yml vendored
View File

@ -1,5 +1,8 @@
blank_issues_enabled: false
contact_links:
- name: Ask a question
url: https://github.com/pybind/pybind11/discussions/new
about: Please ask and answer questions here, or propose new ideas.
- name: Gitter room
url: https://gitter.im/pybind/Lobby
about: A room for discussing pybind11 with an active community

16
wrap/pybind11/.github/ISSUE_TEMPLATE/feature-request.md vendored
View File

@ -1,16 +0,0 @@
---
name: Feature Request
about: File an issue about adding a feature
title: "[FEAT] "
---
Make sure you've completed the following steps before submitting your issue -- thank you!
1. Check if your feature has already been mentioned / rejected / planned in other issues.
2. If those resources didn't help, consider asking in the [Gitter chat room][] to see if this is interesting / useful to a larger audience and possible to implement reasonably,
4. If you have a useful feature that passes the previous items (or not suitable for chat), please fill in the details below.
[Gitter chat room]: https://gitter.im/pybind/Lobby
*After reading, remove this checklist.*

21
wrap/pybind11/.github/ISSUE_TEMPLATE/question.md vendored
View File

@ -1,21 +0,0 @@
---
name: Question
about: File an issue about unexplained behavior
title: "[QUESTION] "
---
If you have a question, please check the following first:
1. Check if your question has already been answered in the [FAQ][] section.
2. Make sure you've read the [documentation][]. Your issue may be addressed there.
3. If those resources didn't help and you only have a short question (not a bug report), consider asking in the [Gitter chat room][]
4. Search the [issue tracker][], including the closed issues, to see if your question has already been asked/answered. +1 or comment if it has been asked but has no answer.
5. If you have a more complex question which is not answered in the previous items (or not suitable for chat), please fill in the details below.
6. Include a self-contained and minimal piece of code that illustrates your question. If that's not possible, try to make the description as clear as possible.
[FAQ]: http://pybind11.readthedocs.io/en/latest/faq.html
[documentation]: https://pybind11.readthedocs.io
[issue tracker]: https://github.com/pybind/pybind11/issues
[Gitter chat room]: https://gitter.im/pybind/Lobby
*After reading, remove this checklist.*

16
wrap/pybind11/.github/dependabot.yml vendored Normal file
View File

@ -0,0 +1,16 @@
version: 2
updates:
# Maintain dependencies for GitHub Actions
- package-ecosystem: "github-actions"
directory: "/"
schedule:
interval: "daily"
ignore:
# Official actions have moving tags like v1
# that are used, so they don't need updates here
- dependency-name: "actions/checkout"
- dependency-name: "actions/setup-python"
- dependency-name: "actions/cache"
- dependency-name: "actions/upload-artifact"
- dependency-name: "actions/download-artifact"
- dependency-name: "actions/labeler"

8
wrap/pybind11/.github/labeler.yml vendored Normal file
View File

@ -0,0 +1,8 @@
docs:
- any:
- 'docs/**/*.rst'
- '!docs/changelog.rst'
- '!docs/upgrade.rst'
ci:
- '.github/workflows/*.yml'

3
wrap/pybind11/.github/labeler_merged.yml vendored Normal file
View File

@ -0,0 +1,3 @@
needs changelog:
- all:
- '!docs/changelog.rst'

19
wrap/pybind11/.github/pull_request_template.md vendored Normal file
View File

@ -0,0 +1,19 @@
<!--
Title (above): please place [branch_name] at the beginning if you are targeting a branch other than master. *Do not target stable*.
It is recommended to use conventional commit format, see conventionalcommits.org, but not required.
-->
## Description
<!-- Include relevant issues or PRs here, describe what changed and why -->
## Suggested changelog entry:
<!-- Fill in the below block with the expected RestructuredText entry. Delete if no entry needed;
but do not delete header or rst block if an entry is needed! Will be collected via a script. -->
```rst
```
<!-- If the upgrade guide needs updating, note that here too -->

690
wrap/pybind11/.github/workflows/ci.yml vendored
View File

@ -9,6 +9,13 @@ on:
- stable
- v*
concurrency:
group: test-${{ github.ref }}
cancel-in-progress: true
env:
PIP_ONLY_BINARY: numpy
jobs:
# This is the "main" test suite, which tests a large number of different
# versions of default compilers and Python versions in GitHub Actions.
@ -16,71 +23,42 @@ jobs:
strategy:
fail-fast: false
matrix:
runs-on: [ubuntu-latest, windows-latest, macos-latest]
arch: [x64]
runs-on: [ubuntu-latest, windows-2022, macos-latest]
python:
- 2.7
- 3.5
- 3.8
- pypy2
- pypy3
- '2.7'
- '3.5'
- '3.6'
- '3.9'
- '3.10'
- 'pypy-3.7-v7.3.7'
- 'pypy-3.8-v7.3.7'
# Items in here will either be added to the build matrix (if not
# present), or add new keys to an existing matrix element if all the
# existing keys match.
#
# We support three optional keys: args (both build), args1 (first
# build), and args2 (second build).
# We support an optional key: args, for cmake args
include:
# Just add a key
- runs-on: ubuntu-latest
python: 3.6
arch: x64
python: '3.6'
args: >
-DPYBIND11_FINDPYTHON=ON
- runs-on: windows-2016
python: 3.7
arch: x86
args2: >
-DCMAKE_CXX_FLAGS="/permissive- /EHsc /GR"
-DCMAKE_CXX_FLAGS="-D_=1"
- runs-on: windows-latest
python: 3.6
arch: x64
python: '3.6'
args: >
-DPYBIND11_FINDPYTHON=ON
- runs-on: windows-latest
python: 3.7
arch: x64
- runs-on: ubuntu-latest
python: 3.9-dev
arch: x64
- runs-on: macos-latest
python: 3.9-dev
arch: x64
args: >
-DPYBIND11_FINDPYTHON=ON
python: 'pypy-2.7'
# Inject a couple Windows 2019 runs
- runs-on: windows-2019
python: '3.9'
- runs-on: windows-2019
python: '2.7'
# These items will be removed from the build matrix, keys must match.
exclude:
# Currently 32bit only, and we build 64bit
- runs-on: windows-latest
python: pypy2
arch: x64
- runs-on: windows-latest
python: pypy3
arch: x64
# Currently broken on embed_test
- runs-on: windows-latest
python: 3.8
arch: x64
- runs-on: windows-latest
python: 3.9-dev
arch: x64
name: "🐍 ${{ matrix.python }} • ${{ matrix.runs-on }} • ${{ matrix.arch }} ${{ matrix.args }}"
name: "🐍 ${{ matrix.python }} • ${{ matrix.runs-on }} • x64 ${{ matrix.args }}"
runs-on: ${{ matrix.runs-on }}
continue-on-error: ${{ endsWith(matrix.python, 'dev') }}
steps:
- uses: actions/checkout@v2
@ -89,13 +67,18 @@ jobs:
uses: actions/setup-python@v2
with:
python-version: ${{ matrix.python }}
architecture: ${{ matrix.arch }}
- name: Setup Boost (Windows / Linux latest)
run: echo "::set-env name=BOOST_ROOT::$BOOST_ROOT_1_72_0"
- name: Setup Boost (Linux)
# Can't use boost + define _
if: runner.os == 'Linux' && matrix.python != '3.6'
run: sudo apt-get install libboost-dev
- name: Setup Boost (macOS)
if: runner.os == 'macOS'
run: brew install boost
- name: Update CMake
uses: jwlawson/actions-setup-cmake@v1.3
uses: jwlawson/actions-setup-cmake@v1.12
- name: Cache wheels
if: runner.os == 'macOS'
@ -106,10 +89,11 @@ jobs:
# for ways to do this more generally
path: ~/Library/Caches/pip
# Look to see if there is a cache hit for the corresponding requirements file
key: ${{ runner.os }}-pip-${{ matrix.python }}-${{ matrix.arch }}-${{ hashFiles('tests/requirements.txt') }}
key: ${{ runner.os }}-pip-${{ matrix.python }}-x64-${{ hashFiles('tests/requirements.txt') }}
- name: Prepare env
run: python -m pip install -r tests/requirements.txt --prefer-binary
run: |
python -m pip install -r tests/requirements.txt
- name: Setup annotations on Linux
if: runner.os == 'Linux'
@ -132,6 +116,8 @@ jobs:
run: cmake --build . --target pytest -j 2
- name: C++11 tests
# TODO: Figure out how to load the DLL on Python 3.8+
if: "!(runner.os == 'Windows' && (matrix.python == 3.8 || matrix.python == 3.9 || matrix.python == '3.10' || matrix.python == '3.11-dev' || matrix.python == 'pypy-3.8'))"
run: cmake --build . --target cpptest -j 2
- name: Interface test C++11
@ -141,7 +127,7 @@ jobs:
run: git clean -fdx
# Second build - C++17 mode and in a build directory
- name: Configure ${{ matrix.args2 }}
- name: Configure C++17
run: >
cmake -S . -B build2
-DPYBIND11_WERROR=ON
@ -149,7 +135,6 @@ jobs:
-DDOWNLOAD_EIGEN=ON
-DCMAKE_CXX_STANDARD=17
${{ matrix.args }}
${{ matrix.args2 }}
- name: Build
run: cmake --build build2 -j 2
@ -158,8 +143,28 @@ jobs:
run: cmake --build build2 --target pytest
- name: C++ tests
# TODO: Figure out how to load the DLL on Python 3.8+
if: "!(runner.os == 'Windows' && (matrix.python == 3.8 || matrix.python == 3.9 || matrix.python == '3.10' || matrix.python == '3.11-dev' || matrix.python == 'pypy-3.8'))"
run: cmake --build build2 --target cpptest
# Third build - C++17 mode with unstable ABI
- name: Configure (unstable ABI)
run: >
cmake -S . -B build3
-DPYBIND11_WERROR=ON
-DDOWNLOAD_CATCH=ON
-DDOWNLOAD_EIGEN=ON
-DCMAKE_CXX_STANDARD=17
-DPYBIND11_INTERNALS_VERSION=10000000
"-DPYBIND11_TEST_OVERRIDE=test_call_policies.cpp;test_gil_scoped.cpp;test_thread.cpp"
${{ matrix.args }}
- name: Build (unstable ABI)
run: cmake --build build3 -j 2
- name: Python tests (unstable ABI)
run: cmake --build build3 --target pytest
- name: Interface test
run: cmake --build build2 --target test_cmake_build
@ -167,21 +172,105 @@ jobs:
# MSVC, but for now, this action works:
- name: Prepare compiler environment for Windows 🐍 2.7
if: matrix.python == 2.7 && runner.os == 'Windows'
uses: ilammy/msvc-dev-cmd@v1
uses: ilammy/msvc-dev-cmd@v1.10.0
with:
arch: x64
# This makes two environment variables available in the following step(s)
- name: Set Windows 🐍 2.7 environment variables
if: matrix.python == 2.7 && runner.os == 'Windows'
shell: bash
run: |
echo "::set-env name=DISTUTILS_USE_SDK::1"
echo "::set-env name=MSSdk::1"
echo "DISTUTILS_USE_SDK=1" >> $GITHUB_ENV
echo "MSSdk=1" >> $GITHUB_ENV
# This makes sure the setup_helpers module can build packages using
# setuptools
- name: Setuptools helpers test
run: pytest tests/extra_setuptools
if: "!(matrix.python == '3.5' && matrix.runs-on == 'windows-2022')"
deadsnakes:
strategy:
fail-fast: false
matrix:
include:
# TODO: Fails on 3.10, investigate
- python-version: "3.9"
python-debug: true
valgrind: true
# - python-version: "3.11-dev"
# python-debug: false
name: "🐍 ${{ matrix.python-version }}${{ matrix.python-debug && '-dbg' || '' }} (deadsnakes)${{ matrix.valgrind && ' • Valgrind' || '' }} • x64"
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v2
- name: Setup Python ${{ matrix.python-version }} (deadsnakes)
uses: deadsnakes/action@v2.1.1
with:
python-version: ${{ matrix.python-version }}
debug: ${{ matrix.python-debug }}
- name: Update CMake
uses: jwlawson/actions-setup-cmake@v1.12
- name: Valgrind cache
if: matrix.valgrind
uses: actions/cache@v2
id: cache-valgrind
with:
path: valgrind
key: 3.16.1 # Valgrind version
- name: Compile Valgrind
if: matrix.valgrind && steps.cache-valgrind.outputs.cache-hit != 'true'
run: |
VALGRIND_VERSION=3.16.1
curl https://sourceware.org/pub/valgrind/valgrind-$VALGRIND_VERSION.tar.bz2 -o - | tar xj
mv valgrind-$VALGRIND_VERSION valgrind
cd valgrind
./configure
make -j 2 > /dev/null
- name: Install Valgrind
if: matrix.valgrind
working-directory: valgrind
run: |
sudo make install
sudo apt-get update
sudo apt-get install libc6-dbg # Needed by Valgrind
- name: Prepare env
run: |
python -m pip install -r tests/requirements.txt
- name: Configure
env:
SETUPTOOLS_USE_DISTUTILS: stdlib
run: >
cmake -S . -B build
-DCMAKE_BUILD_TYPE=Debug
-DPYBIND11_WERROR=ON
-DDOWNLOAD_CATCH=ON
-DDOWNLOAD_EIGEN=ON
-DCMAKE_CXX_STANDARD=17
- name: Build
run: cmake --build build -j 2
- name: Python tests
run: cmake --build build --target pytest
- name: C++ tests
run: cmake --build build --target cpptest
- name: Run Valgrind on Python tests
if: matrix.valgrind
run: cmake --build build --target memcheck
# Testing on clang using the excellent silkeh clang docker images
@ -194,12 +283,20 @@ jobs:
- 3.6
- 3.7
- 3.9
- 5
- 7
- 9
- dev
std:
- 11
include:
- clang: 5
std: 14
- clang: 10
std: 20
- clang: 10
std: 17
name: "🐍 3 • Clang ${{ matrix.clang }} • x64"
name: "🐍 3 • Clang ${{ matrix.clang }} • C++${{ matrix.std }} • x64"
container: "silkeh/clang:${{ matrix.clang }}"
steps:
@ -214,6 +311,7 @@ jobs:
cmake -S . -B build
-DPYBIND11_WERROR=ON
-DDOWNLOAD_CATCH=ON
-DCMAKE_CXX_STANDARD=${{ matrix.std }}
-DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)")
- name: Build
@ -252,50 +350,54 @@ jobs:
run: cmake --build build --target pytest
# Testing CentOS 8 + PGI compilers
centos-nvhpc8:
runs-on: ubuntu-latest
name: "🐍 3 • CentOS8 / PGI 20.7 • x64"
container: centos:8
steps:
- uses: actions/checkout@v2
- name: Add Python 3 and a few requirements
run: yum update -y && yum install -y git python3-devel python3-numpy python3-pytest make environment-modules
- name: Install CMake with pip
run: |
python3 -m pip install --upgrade pip
python3 -m pip install cmake --prefer-binary
- name: Install NVidia HPC SDK
run: yum -y install https://developer.download.nvidia.com/hpc-sdk/nvhpc-20-7-20.7-1.x86_64.rpm https://developer.download.nvidia.com/hpc-sdk/nvhpc-2020-20.7-1.x86_64.rpm
- name: Configure
shell: bash
run: |
source /etc/profile.d/modules.sh
module load /opt/nvidia/hpc_sdk/modulefiles/nvhpc/20.7
cmake -S . -B build -DDOWNLOAD_CATCH=ON -DCMAKE_CXX_STANDARD=14 -DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)")
- name: Build
run: cmake --build build -j 2 --verbose
- name: Python tests
run: cmake --build build --target pytest
- name: C++ tests
run: cmake --build build --target cpptest
- name: Interface test
run: cmake --build build --target test_cmake_build
# TODO: Internal compiler error - report to NVidia
# # Testing CentOS 8 + PGI compilers
# centos-nvhpc8:
# runs-on: ubuntu-latest
# name: "🐍 3 • CentOS8 / PGI 20.11 • x64"
# container: centos:8
#
# steps:
# - uses: actions/checkout@v2
#
# - name: Add Python 3 and a few requirements
# run: yum update -y && yum install -y git python3-devel python3-numpy python3-pytest make environment-modules
#
# - name: Install CMake with pip
# run: |
# python3 -m pip install --upgrade pip
# python3 -m pip install cmake --prefer-binary
#
# - name: Install NVidia HPC SDK
# run: >
# yum -y install
# https://developer.download.nvidia.com/hpc-sdk/20.11/nvhpc-20-11-20.11-1.x86_64.rpm
# https://developer.download.nvidia.com/hpc-sdk/20.11/nvhpc-2020-20.11-1.x86_64.rpm
#
# - name: Configure
# shell: bash
# run: |
# source /etc/profile.d/modules.sh
# module load /opt/nvidia/hpc_sdk/modulefiles/nvhpc/20.11
# cmake -S . -B build -DDOWNLOAD_CATCH=ON -DCMAKE_CXX_STANDARD=14 -DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)")
#
# - name: Build
# run: cmake --build build -j 2 --verbose
#
# - name: Python tests
# run: cmake --build build --target pytest
#
# - name: C++ tests
# run: cmake --build build --target cpptest
#
# - name: Interface test
# run: cmake --build build --target test_cmake_build
# Testing on CentOS 7 + PGI compilers, which seems to require more workarounds
centos-nvhpc7:
runs-on: ubuntu-latest
name: "🐍 3 • CentOS7 / PGI 20.7 • x64"
name: "🐍 3 • CentOS7 / PGI 20.9 • x64"
container: centos:7
steps:
@ -305,17 +407,17 @@ jobs:
run: yum update -y && yum install -y epel-release && yum install -y git python3-devel make environment-modules cmake3
- name: Install NVidia HPC SDK
run: yum -y install https://developer.download.nvidia.com/hpc-sdk/nvhpc-20-7-20.7-1.x86_64.rpm https://developer.download.nvidia.com/hpc-sdk/nvhpc-2020-20.7-1.x86_64.rpm
run: yum -y install https://developer.download.nvidia.com/hpc-sdk/20.9/nvhpc-20-9-20.9-1.x86_64.rpm https://developer.download.nvidia.com/hpc-sdk/20.9/nvhpc-2020-20.9-1.x86_64.rpm
# On CentOS 7, we have to filter a few tests (compiler internal error)
# and allow deeper templete recursion (not needed on CentOS 8 with a newer
# and allow deeper template recursion (not needed on CentOS 8 with a newer
# standard library). On some systems, you many need further workarounds:
# https://github.com/pybind/pybind11/pull/2475
- name: Configure
shell: bash
run: |
source /etc/profile.d/modules.sh
module load /opt/nvidia/hpc_sdk/modulefiles/nvhpc/20.7
module load /opt/nvidia/hpc_sdk/modulefiles/nvhpc/20.9
cmake3 -S . -B build -DDOWNLOAD_CATCH=ON \
-DCMAKE_CXX_STANDARD=11 \
-DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)") \
@ -340,6 +442,7 @@ jobs:
- name: Interface test
run: cmake3 --build build --target test_cmake_build
# Testing on GCC using the GCC docker images (only recent images supported)
gcc:
runs-on: ubuntu-latest
@ -349,8 +452,13 @@ jobs:
gcc:
- 7
- latest
std:
- 11
include:
- gcc: 10
std: 20
name: "🐍 3 • GCC ${{ matrix.gcc }} • x64"
name: "🐍 3 • GCC ${{ matrix.gcc }} • C++${{ matrix.std }}• x64"
container: "gcc:${{ matrix.gcc }}"
steps:
@ -362,10 +470,8 @@ jobs:
- name: Update pip
run: python3 -m pip install --upgrade pip
- name: Setup CMake 3.18
uses: jwlawson/actions-setup-cmake@v1.3
with:
cmake-version: 3.18
- name: Update CMake
uses: jwlawson/actions-setup-cmake@v1.12
- name: Configure
shell: bash
@ -373,7 +479,7 @@ jobs:
cmake -S . -B build
-DPYBIND11_WERROR=ON
-DDOWNLOAD_CATCH=ON
-DCMAKE_CXX_STANDARD=11
-DCMAKE_CXX_STANDARD=${{ matrix.std }}
-DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)")
- name: Build
@ -389,6 +495,103 @@ jobs:
run: cmake --build build --target test_cmake_build
# Testing on ICC using the oneAPI apt repo
icc:
runs-on: ubuntu-20.04
strategy:
fail-fast: false
name: "🐍 3 • ICC latest • x64"
steps:
- uses: actions/checkout@v2
- name: Add apt repo
run: |
sudo apt-get update
sudo apt-get install -y wget build-essential pkg-config cmake ca-certificates gnupg
wget https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS-2023.PUB
sudo apt-key add GPG-PUB-KEY-INTEL-SW-PRODUCTS-2023.PUB
echo "deb https://apt.repos.intel.com/oneapi all main" | sudo tee /etc/apt/sources.list.d/oneAPI.list
- name: Add ICC & Python 3
run: sudo apt-get update; sudo apt-get install -y intel-oneapi-compiler-dpcpp-cpp-and-cpp-classic cmake python3-dev python3-numpy python3-pytest python3-pip
- name: Update pip
run: |
set +e; source /opt/intel/oneapi/setvars.sh; set -e
python3 -m pip install --upgrade pip
- name: Install dependencies
run: |
set +e; source /opt/intel/oneapi/setvars.sh; set -e
python3 -m pip install -r tests/requirements.txt
- name: Configure C++11
run: |
set +e; source /opt/intel/oneapi/setvars.sh; set -e
cmake -S . -B build-11 \
-DPYBIND11_WERROR=ON \
-DDOWNLOAD_CATCH=ON \
-DDOWNLOAD_EIGEN=OFF \
-DCMAKE_CXX_STANDARD=11 \
-DCMAKE_CXX_COMPILER=$(which icpc) \
-DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)")
- name: Build C++11
run: |
set +e; source /opt/intel/oneapi/setvars.sh; set -e
cmake --build build-11 -j 2 -v
- name: Python tests C++11
run: |
set +e; source /opt/intel/oneapi/setvars.sh; set -e
sudo service apport stop
cmake --build build-11 --target check
- name: C++ tests C++11
run: |
set +e; source /opt/intel/oneapi/setvars.sh; set -e
cmake --build build-11 --target cpptest
- name: Interface test C++11
run: |
set +e; source /opt/intel/oneapi/setvars.sh; set -e
cmake --build build-11 --target test_cmake_build
- name: Configure C++17
run: |
set +e; source /opt/intel/oneapi/setvars.sh; set -e
cmake -S . -B build-17 \
-DPYBIND11_WERROR=ON \
-DDOWNLOAD_CATCH=ON \
-DDOWNLOAD_EIGEN=OFF \
-DCMAKE_CXX_STANDARD=17 \
-DCMAKE_CXX_COMPILER=$(which icpc) \
-DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)")
- name: Build C++17
run: |
set +e; source /opt/intel/oneapi/setvars.sh; set -e
cmake --build build-17 -j 2 -v
- name: Python tests C++17
run: |
set +e; source /opt/intel/oneapi/setvars.sh; set -e
sudo service apport stop
cmake --build build-17 --target check
- name: C++ tests C++17
run: |
set +e; source /opt/intel/oneapi/setvars.sh; set -e
cmake --build build-17 --target cpptest
- name: Interface test C++17
run: |
set +e; source /opt/intel/oneapi/setvars.sh; set -e
cmake --build build-17 --target test_cmake_build
# Testing on CentOS (manylinux uses a centos base, and this is an easy way
# to get GCC 4.8, which is the manylinux1 compiler).
centos:
@ -397,11 +600,11 @@ jobs:
fail-fast: false
matrix:
centos:
- 7 # GCC 4.8
- 8
- centos7 # GCC 4.8
- stream8
name: "🐍 3 • CentOS ${{ matrix.centos }} • x64"
container: "centos:${{ matrix.centos }}"
container: "quay.io/centos/centos:${{ matrix.centos }}"
steps:
- uses: actions/checkout@v2
@ -413,12 +616,14 @@ jobs:
run: python3 -m pip install --upgrade pip
- name: Install dependencies
run: python3 -m pip install cmake -r tests/requirements.txt --prefer-binary
run: |
python3 -m pip install cmake -r tests/requirements.txt
- name: Configure
shell: bash
run: >
cmake -S . -B build
-DCMAKE_BUILD_TYPE=MinSizeRel
-DPYBIND11_WERROR=ON
-DDOWNLOAD_CATCH=ON
-DDOWNLOAD_EIGEN=ON
@ -476,7 +681,7 @@ jobs:
-DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)")
working-directory: /build-tests
- name: Run tests
- name: Python tests
run: make pytest -j 2
working-directory: /build-tests
@ -493,16 +698,13 @@ jobs:
- uses: actions/setup-python@v2
- name: Install Doxygen
run: sudo apt install -y doxygen
- name: Install docs & setup requirements
run: python3 -m pip install -r docs/requirements.txt
run: sudo apt-get install -y doxygen librsvg2-bin # Changed to rsvg-convert in 20.04
- name: Build docs
run: python3 -m sphinx -W -b html docs docs/.build
run: pipx run nox -s docs
- name: Make SDist
run: python3 setup.py sdist
run: pipx run nox -s build -- --sdist
- run: git status --ignored
@ -514,6 +716,250 @@ jobs:
- name: Compare Dists (headers only)
working-directory: include
run: |
python3 -m pip install --user -U ../dist/*
python3 -m pip install --user -U ../dist/*.tar.gz
installed=$(python3 -c "import pybind11; print(pybind11.get_include() + '/pybind11')")
diff -rq $installed ./pybind11
win32:
strategy:
fail-fast: false
matrix:
python:
- 3.5
- 3.6
- 3.7
- 3.8
- 3.9
- pypy-3.6
include:
- python: 3.9
args: -DCMAKE_CXX_STANDARD=20 -DDOWNLOAD_EIGEN=OFF
- python: 3.8
args: -DCMAKE_CXX_STANDARD=17
name: "🐍 ${{ matrix.python }} • MSVC 2019 • x86 ${{ matrix.args }}"
runs-on: windows-latest
steps:
- uses: actions/checkout@v2
- name: Setup Python ${{ matrix.python }}
uses: actions/setup-python@v2
with:
python-version: ${{ matrix.python }}
architecture: x86
- name: Update CMake
uses: jwlawson/actions-setup-cmake@v1.12
- name: Prepare MSVC
uses: ilammy/msvc-dev-cmd@v1.10.0
with:
arch: x86
- name: Prepare env
run: |
python -m pip install -r tests/requirements.txt
# First build - C++11 mode and inplace
- name: Configure ${{ matrix.args }}
run: >
cmake -S . -B build
-G "Visual Studio 16 2019" -A Win32
-DPYBIND11_WERROR=ON
-DDOWNLOAD_CATCH=ON
-DDOWNLOAD_EIGEN=ON
${{ matrix.args }}
- name: Build C++11
run: cmake --build build -j 2
- name: Python tests
run: cmake --build build -t pytest
win32-msvc2015:
name: "🐍 ${{ matrix.python }} • MSVC 2015 • x64"
runs-on: windows-latest
strategy:
fail-fast: false
matrix:
python:
- 2.7
- 3.6
- 3.7
# todo: check/cpptest does not support 3.8+ yet
steps:
- uses: actions/checkout@v2
- name: Setup 🐍 ${{ matrix.python }}
uses: actions/setup-python@v2
with:
python-version: ${{ matrix.python }}
- name: Update CMake
uses: jwlawson/actions-setup-cmake@v1.12
- name: Prepare MSVC
uses: ilammy/msvc-dev-cmd@v1.10.0
with:
toolset: 14.0
- name: Prepare env
run: |
python -m pip install -r tests/requirements.txt
# First build - C++11 mode and inplace
- name: Configure
run: >
cmake -S . -B build
-G "Visual Studio 14 2015" -A x64
-DPYBIND11_WERROR=ON
-DDOWNLOAD_CATCH=ON
-DDOWNLOAD_EIGEN=ON
- name: Build C++14
run: cmake --build build -j 2
- name: Run all checks
run: cmake --build build -t check
win32-msvc2017:
name: "🐍 ${{ matrix.python }} • MSVC 2017 • x64"
runs-on: windows-2016
strategy:
fail-fast: false
matrix:
python:
- 2.7
- 3.5
- 3.7
std:
- 14
include:
- python: 2.7
std: 17
args: >
-DCMAKE_CXX_FLAGS="/permissive- /EHsc /GR"
- python: 3.7
std: 17
args: >
-DCMAKE_CXX_FLAGS="/permissive- /EHsc /GR"
steps:
- uses: actions/checkout@v2
- name: Setup 🐍 ${{ matrix.python }}
uses: actions/setup-python@v2
with:
python-version: ${{ matrix.python }}
- name: Update CMake
uses: jwlawson/actions-setup-cmake@v1.12
- name: Prepare env
run: |
python -m pip install -r tests/requirements.txt
# First build - C++11 mode and inplace
- name: Configure
run: >
cmake -S . -B build
-G "Visual Studio 15 2017" -A x64
-DPYBIND11_WERROR=ON
-DDOWNLOAD_CATCH=ON
-DDOWNLOAD_EIGEN=ON
-DCMAKE_CXX_STANDARD=${{ matrix.std }}
${{ matrix.args }}
- name: Build ${{ matrix.std }}
run: cmake --build build -j 2
- name: Run all checks
run: cmake --build build -t check
mingw:
name: "🐍 3 • windows-latest • ${{ matrix.sys }}"
runs-on: windows-latest
defaults:
run:
shell: msys2 {0}
strategy:
fail-fast: false
matrix:
include:
- { sys: mingw64, env: x86_64 }
- { sys: mingw32, env: i686 }
steps:
- uses: msys2/setup-msys2@v2
with:
msystem: ${{matrix.sys}}
install: >-
git
mingw-w64-${{matrix.env}}-gcc
mingw-w64-${{matrix.env}}-python-pip
mingw-w64-${{matrix.env}}-python-numpy
mingw-w64-${{matrix.env}}-python-scipy
mingw-w64-${{matrix.env}}-cmake
mingw-w64-${{matrix.env}}-make
mingw-w64-${{matrix.env}}-python-pytest
mingw-w64-${{matrix.env}}-eigen3
mingw-w64-${{matrix.env}}-boost
mingw-w64-${{matrix.env}}-catch
- uses: actions/checkout@v2
- name: Configure C++11
# LTO leads to many undefined reference like
# `pybind11::detail::function_call::function_call(pybind11::detail::function_call&&)
run: cmake -G "MinGW Makefiles" -DCMAKE_CXX_STANDARD=11 -S . -B build
- name: Build C++11
run: cmake --build build -j 2
- name: Python tests C++11
run: cmake --build build --target pytest -j 2
- name: C++11 tests
run: PYTHONHOME=/${{matrix.sys}} PYTHONPATH=/${{matrix.sys}} cmake --build build --target cpptest -j 2
- name: Interface test C++11
run: PYTHONHOME=/${{matrix.sys}} PYTHONPATH=/${{matrix.sys}} cmake --build build --target test_cmake_build
- name: Clean directory
run: git clean -fdx
- name: Configure C++14
run: cmake -G "MinGW Makefiles" -DCMAKE_CXX_STANDARD=14 -S . -B build2
- name: Build C++14
run: cmake --build build2 -j 2
- name: Python tests C++14
run: cmake --build build2 --target pytest -j 2
- name: C++14 tests
run: PYTHONHOME=/${{matrix.sys}} PYTHONPATH=/${{matrix.sys}} cmake --build build2 --target cpptest -j 2
- name: Interface test C++14
run: PYTHONHOME=/${{matrix.sys}} PYTHONPATH=/${{matrix.sys}} cmake --build build2 --target test_cmake_build
- name: Clean directory
run: git clean -fdx
- name: Configure C++17
run: cmake -G "MinGW Makefiles" -DCMAKE_CXX_STANDARD=17 -S . -B build3
- name: Build C++17
run: cmake --build build3 -j 2
- name: Python tests C++17
run: cmake --build build3 --target pytest -j 2
- name: C++17 tests
run: PYTHONHOME=/${{matrix.sys}} PYTHONPATH=/${{matrix.sys}} cmake --build build3 --target cpptest -j 2
- name: Interface test C++17
run: PYTHONHOME=/${{matrix.sys}} PYTHONPATH=/${{matrix.sys}} cmake --build build3 --target test_cmake_build

58
wrap/pybind11/.github/workflows/configure.yml vendored
View File

@ -18,7 +18,7 @@ jobs:
matrix:
runs-on: [ubuntu-latest, macos-latest, windows-latest]
arch: [x64]
cmake: [3.18]
cmake: ["3.21"]
include:
- runs-on: ubuntu-latest
@ -55,7 +55,7 @@ jobs:
# An action for adding a specific version of CMake:
# https://github.com/jwlawson/actions-setup-cmake
- name: Setup CMake ${{ matrix.cmake }}
uses: jwlawson/actions-setup-cmake@v1.3
uses: jwlawson/actions-setup-cmake@v1.12
with:
cmake-version: ${{ matrix.cmake }}
@ -82,57 +82,3 @@ jobs:
working-directory: build dir
if: github.event_name == 'workflow_dispatch'
run: cmake --build . --config Release --target check
# This builds the sdists and wheels and makes sure the files are exactly as
# expected. Using Windows and Python 2.7, since that is often the most
# challenging matrix element.
test-packaging:
name: 🐍 2.7 • 📦 tests • windows-latest
runs-on: windows-latest
steps:
- uses: actions/checkout@v2
- name: Setup 🐍 2.7
uses: actions/setup-python@v2
with:
python-version: 2.7
- name: Prepare env
run: python -m pip install -r tests/requirements.txt --prefer-binary
- name: Python Packaging tests
run: pytest tests/extra_python_package/
# This runs the packaging tests and also builds and saves the packages as
# artifacts.
packaging:
name: 🐍 3.8 • 📦 & 📦 tests • ubuntu-latest
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v2
- name: Setup 🐍 3.8
uses: actions/setup-python@v2
with:
python-version: 3.8
- name: Prepare env
run: python -m pip install -r tests/requirements.txt build twine --prefer-binary
- name: Python Packaging tests
run: pytest tests/extra_python_package/
- name: Build SDist and wheels
run: |
python -m build -s -w .
PYBIND11_GLOBAL_SDIST=1 python -m build -s -w .
- name: Check metadata
run: twine check dist/*
- uses: actions/upload-artifact@v2
with:
path: dist/*

17
wrap/pybind11/.github/workflows/format.yml vendored
View File

@ -19,15 +19,17 @@ jobs:
steps:
- uses: actions/checkout@v2
- uses: actions/setup-python@v2
- uses: pre-commit/action@v2.0.0
- uses: pre-commit/action@v2.0.3
with:
# Slow hooks are marked with manual - slow is okay here, run them too
extra_args: --hook-stage manual
extra_args: --hook-stage manual --all-files
clang-tidy:
# When making changes here, please also review the "Clang-Tidy" section
# in .github/CONTRIBUTING.md and update as needed.
name: Clang-Tidy
runs-on: ubuntu-latest
container: silkeh/clang:10
container: silkeh/clang:12
steps:
- uses: actions/checkout@v2
@ -35,7 +37,12 @@ jobs:
run: apt-get update && apt-get install -y python3-dev python3-pytest
- name: Configure
run: cmake -S . -B build -DCMAKE_CXX_CLANG_TIDY="$(which clang-tidy);--warnings-as-errors=*"
run: >
cmake -S . -B build
-DCMAKE_CXX_CLANG_TIDY="$(which clang-tidy)"
-DDOWNLOAD_EIGEN=ON
-DDOWNLOAD_CATCH=ON
-DCMAKE_CXX_STANDARD=17
- name: Build
run: cmake --build build -j 2
run: cmake --build build -j 2 -- --keep-going

16
wrap/pybind11/.github/workflows/labeler.yml vendored Normal file
View File

@ -0,0 +1,16 @@
name: Labeler
on:
pull_request_target:
types: [closed]
jobs:
label:
name: Labeler
runs-on: ubuntu-latest
steps:
- uses: actions/labeler@main
if: github.event.pull_request.merged == true
with:
repo-token: ${{ secrets.GITHUB_TOKEN }}
configuration-path: .github/labeler_merged.yml

108
wrap/pybind11/.github/workflows/pip.yml vendored Normal file
View File

@ -0,0 +1,108 @@
name: Pip
on:
workflow_dispatch:
pull_request:
push:
branches:
- master
- stable
- v*
release:
types:
- published
env:
PIP_ONLY_BINARY: numpy
jobs:
# This builds the sdists and wheels and makes sure the files are exactly as
# expected. Using Windows and Python 2.7, since that is often the most
# challenging matrix element.
test-packaging:
name: 🐍 2.7 • 📦 tests • windows-latest
runs-on: windows-latest
steps:
- uses: actions/checkout@v2
- name: Setup 🐍 2.7
uses: actions/setup-python@v2
with:
python-version: 2.7
- name: Prepare env
run: |
python -m pip install -r tests/requirements.txt
- name: Python Packaging tests
run: pytest tests/extra_python_package/
# This runs the packaging tests and also builds and saves the packages as
# artifacts.
packaging:
name: 🐍 3.8 • 📦 & 📦 tests • ubuntu-latest
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v2
- name: Setup 🐍 3.8
uses: actions/setup-python@v2
with:
python-version: 3.8
- name: Prepare env
run: |
python -m pip install -r tests/requirements.txt build twine
- name: Python Packaging tests
run: pytest tests/extra_python_package/
- name: Build SDist and wheels
run: |
python -m build
PYBIND11_GLOBAL_SDIST=1 python -m build
- name: Check metadata
run: twine check dist/*
- name: Save standard package
uses: actions/upload-artifact@v2
with:
name: standard
path: dist/pybind11-*
- name: Save global package
uses: actions/upload-artifact@v2
with:
name: global
path: dist/pybind11_global-*
# When a GitHub release is made, upload the artifacts to PyPI
upload:
name: Upload to PyPI
runs-on: ubuntu-latest
if: github.event_name == 'release' && github.event.action == 'published'
needs: [packaging]
steps:
- uses: actions/setup-python@v2
# Downloads all to directories matching the artifact names
- uses: actions/download-artifact@v2
- name: Publish standard package
uses: pypa/gh-action-pypi-publish@v1.5.0
with:
password: ${{ secrets.pypi_password }}
packages_dir: standard/
- name: Publish global package
uses: pypa/gh-action-pypi-publish@v1.5.0
with:
password: ${{ secrets.pypi_password_global }}
packages_dir: global/

112
wrap/pybind11/.github/workflows/upstream.yml vendored Normal file
View File

@ -0,0 +1,112 @@
name: Upstream
on:
workflow_dispatch:
pull_request:
concurrency:
group: upstream-${{ github.ref }}
cancel-in-progress: true
env:
PIP_ONLY_BINARY: numpy
jobs:
standard:
name: "🐍 3.11 dev • ubuntu-latest • x64"
runs-on: ubuntu-latest
if: "contains(github.event.pull_request.labels.*.name, 'python dev')"
steps:
- uses: actions/checkout@v2
- name: Setup Python 3.11
uses: actions/setup-python@v2
with:
python-version: "3.11-dev"
- name: Setup Boost (Linux)
if: runner.os == 'Linux'
run: sudo apt-get install libboost-dev
- name: Update CMake
uses: jwlawson/actions-setup-cmake@v1.12
- name: Prepare env
run: |
python -m pip install -r tests/requirements.txt
- name: Setup annotations on Linux
if: runner.os == 'Linux'
run: python -m pip install pytest-github-actions-annotate-failures
# First build - C++11 mode and inplace
- name: Configure C++11
run: >
cmake -S . -B .
-DPYBIND11_WERROR=ON
-DDOWNLOAD_CATCH=ON
-DDOWNLOAD_EIGEN=ON
-DCMAKE_CXX_STANDARD=11
- name: Build C++11
run: cmake --build . -j 2
- name: Python tests C++11
run: cmake --build . --target pytest -j 2
- name: C++11 tests
run: cmake --build . --target cpptest -j 2
- name: Interface test C++11
run: cmake --build . --target test_cmake_build
- name: Clean directory
run: git clean -fdx
# Second build - C++17 mode and in a build directory
- name: Configure C++17
run: >
cmake -S . -B build2
-DPYBIND11_WERROR=ON
-DDOWNLOAD_CATCH=ON
-DDOWNLOAD_EIGEN=ON
-DCMAKE_CXX_STANDARD=17
${{ matrix.args }}
${{ matrix.args2 }}
- name: Build
run: cmake --build build2 -j 2
- name: Python tests
run: cmake --build build2 --target pytest
- name: C++ tests
run: cmake --build build2 --target cpptest
# Third build - C++17 mode with unstable ABI
- name: Configure (unstable ABI)
run: >
cmake -S . -B build3
-DPYBIND11_WERROR=ON
-DDOWNLOAD_CATCH=ON
-DDOWNLOAD_EIGEN=ON
-DCMAKE_CXX_STANDARD=17
-DPYBIND11_INTERNALS_VERSION=10000000
"-DPYBIND11_TEST_OVERRIDE=test_call_policies.cpp;test_gil_scoped.cpp;test_thread.cpp"
${{ matrix.args }}
- name: Build (unstable ABI)
run: cmake --build build3 -j 2
- name: Python tests (unstable ABI)
run: cmake --build build3 --target pytest
- name: Interface test
run: cmake --build build2 --target test_cmake_build
# This makes sure the setup_helpers module can build packages using
# setuptools
- name: Setuptools helpers test
run: pytest tests/extra_setuptools

2
wrap/pybind11/.gitignore vendored
View File

@ -41,3 +41,5 @@ pybind11Targets.cmake
/.vscode
/pybind11/include/*
/pybind11/share/*
/docs/_build/*
.ipynb_checkpoints/

85
wrap/pybind11/.pre-commit-config.yaml
View File

@ -15,12 +15,14 @@
repos:
# Standard hooks
- repo: https://github.com/pre-commit/pre-commit-hooks
rev: v3.2.0
rev: v4.1.0
hooks:
- id: check-added-large-files
- id: check-case-conflict
- id: check-docstring-first
- id: check-merge-conflict
- id: check-symlinks
- id: check-toml
- id: check-yaml
- id: debug-statements
- id: end-of-file-fixer
@ -28,54 +30,115 @@ repos:
- id: requirements-txt-fixer
- id: trailing-whitespace
- id: fix-encoding-pragma
exclude: ^noxfile.py$
- repo: https://github.com/asottile/pyupgrade
rev: v2.31.0
hooks:
- id: pyupgrade
- repo: https://github.com/PyCQA/isort
rev: 5.10.1
hooks:
- id: isort
# Black, the code formatter, natively supports pre-commit
- repo: https://github.com/psf/black
rev: 20.8b1
rev: 21.12b0 # Keep in sync with blacken-docs
hooks:
- id: black
# Not all Python files are Blacked, yet
files: ^(setup.py|pybind11|tests/extra)
- repo: https://github.com/asottile/blacken-docs
rev: v1.12.0
hooks:
- id: blacken-docs
additional_dependencies:
- black==21.12b0 # keep in sync with black hook
# Changes tabs to spaces
- repo: https://github.com/Lucas-C/pre-commit-hooks
rev: v1.1.9
rev: v1.1.10
hooks:
- id: remove-tabs
# Autoremoves unused imports
- repo: https://github.com/hadialqattan/pycln
rev: v1.1.0
hooks:
- id: pycln
- repo: https://github.com/pre-commit/pygrep-hooks
rev: v1.9.0
hooks:
- id: python-check-blanket-noqa
- id: python-check-blanket-type-ignore
- id: python-no-log-warn
- id: rst-backticks
- id: rst-directive-colons
- id: rst-inline-touching-normal
# Flake8 also supports pre-commit natively (same author)
- repo: https://gitlab.com/pycqa/flake8
rev: 3.8.3
- repo: https://github.com/PyCQA/flake8
rev: 4.0.1
hooks:
- id: flake8
additional_dependencies: [flake8-bugbear, pep8-naming]
additional_dependencies: &flake8_dependencies
- flake8-bugbear
- pep8-naming
exclude: ^(docs/.*|tools/.*)$
- repo: https://github.com/asottile/yesqa
rev: v1.3.0
hooks:
- id: yesqa
additional_dependencies: *flake8_dependencies
# CMake formatting
- repo: https://github.com/cheshirekow/cmake-format-precommit
rev: v0.6.11
rev: v0.6.13
hooks:
- id: cmake-format
additional_dependencies: [pyyaml]
types: [file]
files: (\.cmake|CMakeLists.txt)(.in)?$
# Check static types with mypy
- repo: https://github.com/pre-commit/mirrors-mypy
rev: v0.931
hooks:
- id: mypy
# Running per-file misbehaves a bit, so just run on all files, it's fast
pass_filenames: false
additional_dependencies: [typed_ast]
# Checks the manifest for missing files (native support)
- repo: https://github.com/mgedmin/check-manifest
rev: "0.42"
rev: "0.47"
hooks:
- id: check-manifest
# This is a slow hook, so only run this if --hook-stage manual is passed
stages: [manual]
additional_dependencies: [cmake, ninja]
- repo: https://github.com/codespell-project/codespell
rev: v2.1.0
hooks:
- id: codespell
exclude: ".supp$"
args: ["-L", "nd,ot,thist"]
- repo: https://github.com/shellcheck-py/shellcheck-py
rev: v0.8.0.3
hooks:
- id: shellcheck
# The original pybind11 checks for a few C++ style items
- repo: local
hooks:
- id: disallow-caps
name: Disallow improper capitalization
language: pygrep
entry: PyBind|Numpy|Cmake
entry: PyBind|Numpy|Cmake|CCache|PyTest
exclude: .pre-commit-config.yaml
- repo: local

84
wrap/pybind11/CMakeLists.txt
View File

@ -7,13 +7,18 @@
cmake_minimum_required(VERSION 3.4)
# The `cmake_minimum_required(VERSION 3.4...3.18)` syntax does not work with
# The `cmake_minimum_required(VERSION 3.4...3.22)` syntax does not work with
# some versions of VS that have a patched CMake 3.11. This forces us to emulate
# the behavior using the following workaround:
if(${CMAKE_VERSION} VERSION_LESS 3.18)
if(${CMAKE_VERSION} VERSION_LESS 3.22)
cmake_policy(VERSION ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION})
else()
cmake_policy(VERSION 3.18)
cmake_policy(VERSION 3.22)
endif()
# Avoid infinite recursion if tests include this as a subdirectory
if(DEFINED PYBIND11_MASTER_PROJECT)
return()
endif()
# Extract project version from source
@ -73,6 +78,10 @@ if(CMAKE_SOURCE_DIR STREQUAL PROJECT_SOURCE_DIR)
set(CMAKE_CXX_EXTENSIONS OFF)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
endif()
set(pybind11_system "")
set_property(GLOBAL PROPERTY USE_FOLDERS ON)
else()
set(PYBIND11_MASTER_PROJECT OFF)
set(pybind11_system SYSTEM)
@ -82,6 +91,9 @@ endif()
option(PYBIND11_INSTALL "Install pybind11 header files?" ${PYBIND11_MASTER_PROJECT})
option(PYBIND11_TEST "Build pybind11 test suite?" ${PYBIND11_MASTER_PROJECT})
option(PYBIND11_NOPYTHON "Disable search for Python" OFF)
set(PYBIND11_INTERNALS_VERSION
""
CACHE STRING "Override the ABI version, may be used to enable the unstable ABI.")
cmake_dependent_option(
USE_PYTHON_INCLUDE_DIR
@ -98,6 +110,7 @@ set(PYBIND11_HEADERS
include/pybind11/detail/descr.h
include/pybind11/detail/init.h
include/pybind11/detail/internals.h
include/pybind11/detail/type_caster_base.h
include/pybind11/detail/typeid.h
include/pybind11/attr.h
include/pybind11/buffer_info.h
@ -109,6 +122,7 @@ set(PYBIND11_HEADERS
include/pybind11/eigen.h
include/pybind11/embed.h
include/pybind11/eval.h
include/pybind11/gil.h
include/pybind11/iostream.h
include/pybind11/functional.h
include/pybind11/numpy.h
@ -116,7 +130,8 @@ set(PYBIND11_HEADERS
include/pybind11/pybind11.h
include/pybind11/pytypes.h
include/pybind11/stl.h
include/pybind11/stl_bind.h)
include/pybind11/stl_bind.h
include/pybind11/stl/filesystem.h)
# Compare with grep and warn if mismatched
if(PYBIND11_MASTER_PROJECT AND NOT CMAKE_VERSION VERSION_LESS 3.12)
@ -142,22 +157,45 @@ endif()
string(REPLACE "include/" "${CMAKE_CURRENT_SOURCE_DIR}/include/" PYBIND11_HEADERS
"${PYBIND11_HEADERS}")
# Cache variables so pybind11_add_module can be used in parent projects
set(PYBIND11_INCLUDE_DIR
# Cache variable so this can be used in parent projects
set(pybind11_INCLUDE_DIR
"${CMAKE_CURRENT_LIST_DIR}/include"
CACHE INTERNAL "Directory where pybind11 headers are located")
# Backward compatible variable for add_subdirectory mode
if(NOT PYBIND11_MASTER_PROJECT)
set(PYBIND11_INCLUDE_DIR
"${pybind11_INCLUDE_DIR}"
CACHE INTERNAL "")
endif()
# Note: when creating targets, you cannot use if statements at configure time -
# you need generator expressions, because those will be placed in the target file.
# You can also place ifs *in* the Config.in, but not here.
# This section builds targets, but does *not* touch Python
# Non-IMPORT targets cannot be defined twice
if(NOT TARGET pybind11_headers)
# Build the headers-only target (no Python included):
# (long name used here to keep this from clashing in subdirectory mode)
add_library(pybind11_headers INTERFACE)
add_library(pybind11::pybind11_headers ALIAS pybind11_headers) # to match exported target
add_library(pybind11::headers ALIAS pybind11_headers) # easier to use/remember
# Build the headers-only target (no Python included):
# (long name used here to keep this from clashing in subdirectory mode)
add_library(pybind11_headers INTERFACE)
add_library(pybind11::pybind11_headers ALIAS pybind11_headers) # to match exported target
add_library(pybind11::headers ALIAS pybind11_headers) # easier to use/remember
target_include_directories(
pybind11_headers ${pybind11_system} INTERFACE $<BUILD_INTERFACE:${pybind11_INCLUDE_DIR}>
$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
target_compile_features(pybind11_headers INTERFACE cxx_inheriting_constructors cxx_user_literals
cxx_right_angle_brackets)
if(NOT "${PYBIND11_INTERNALS_VERSION}" STREQUAL "")
target_compile_definitions(
pybind11_headers INTERFACE "PYBIND11_INTERNALS_VERSION=${PYBIND11_INTERNALS_VERSION}")
endif()
else()
# It is invalid to install a target twice, too.
set(PYBIND11_INSTALL OFF)
endif()
include("${CMAKE_CURRENT_SOURCE_DIR}/tools/pybind11Common.cmake")
@ -168,21 +206,18 @@ elseif(USE_PYTHON_INCLUDE_DIR AND DEFINED PYTHON_INCLUDE_DIR)
file(RELATIVE_PATH CMAKE_INSTALL_INCLUDEDIR ${CMAKE_INSTALL_PREFIX} ${PYTHON_INCLUDE_DIRS})
endif()
# Fill in headers target
target_include_directories(
pybind11_headers ${pybind11_system} INTERFACE $<BUILD_INTERFACE:${PYBIND11_INCLUDE_DIR}>
$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
target_compile_features(pybind11_headers INTERFACE cxx_inheriting_constructors cxx_user_literals
cxx_right_angle_brackets)
if(PYBIND11_INSTALL)
install(DIRECTORY ${PYBIND11_INCLUDE_DIR}/pybind11 DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
# GNUInstallDirs "DATADIR" wrong here; CMake search path wants "share".
install(DIRECTORY ${pybind11_INCLUDE_DIR}/pybind11 DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
set(PYBIND11_CMAKECONFIG_INSTALL_DIR
"share/cmake/${PROJECT_NAME}"
"${CMAKE_INSTALL_DATAROOTDIR}/cmake/${PROJECT_NAME}"
CACHE STRING "install path for pybind11Config.cmake")
if(IS_ABSOLUTE "${CMAKE_INSTALL_INCLUDEDIR}")
set(pybind11_INCLUDEDIR "${CMAKE_INSTALL_FULL_INCLUDEDIR}")
else()
set(pybind11_INCLUDEDIR "\$\{PACKAGE_PREFIX_DIR\}/${CMAKE_INSTALL_INCLUDEDIR}")
endif()
configure_package_config_file(
tools/${PROJECT_NAME}Config.cmake.in "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
INSTALL_DESTINATION ${PYBIND11_CMAKECONFIG_INSTALL_DIR})
@ -260,8 +295,5 @@ endif()
if(NOT PYBIND11_MASTER_PROJECT)
set(pybind11_FOUND
TRUE
CACHE INTERNAL "true if pybind11 and all required components found on the system")
set(pybind11_INCLUDE_DIR
"${PYBIND11_INCLUDE_DIR}"
CACHE INTERNAL "Directory where pybind11 headers are located")
CACHE INTERNAL "True if pybind11 and all required components found on the system")
endif()

4
wrap/pybind11/MANIFEST.in
View File

@ -1,4 +1,6 @@
recursive-include pybind11/include/pybind11 *.h
recursive-include pybind11 *.py
recursive-include pybind11 py.typed
recursive-include pybind11 *.pyi
include pybind11/share/cmake/pybind11/*.cmake
include LICENSE README.md pyproject.toml setup.py setup.cfg
include LICENSE README.rst pyproject.toml setup.py setup.cfg

145
wrap/pybind11/README.md
View File

@ -1,145 +0,0 @@
![pybind11 logo](https://github.com/pybind/pybind11/raw/master/docs/pybind11-logo.png)
# pybind11 — Seamless operability between C++11 and Python
[![Documentation Status](https://readthedocs.org/projects/pybind11/badge/?version=master)](http://pybind11.readthedocs.org/en/master/?badge=master)
[![Documentation Status](https://readthedocs.org/projects/pybind11/badge/?version=stable)](http://pybind11.readthedocs.org/en/stable/?badge=stable)
[![Gitter chat](https://img.shields.io/gitter/room/gitterHQ/gitter.svg)](https://gitter.im/pybind/Lobby)
[![CI](https://github.com/pybind/pybind11/workflows/CI/badge.svg)](https://github.com/pybind/pybind11/actions)
[![Build status](https://ci.appveyor.com/api/projects/status/riaj54pn4h08xy40?svg=true)](https://ci.appveyor.com/project/wjakob/pybind11)
**pybind11** is a lightweight header-only library that exposes C++ types in
Python and vice versa, mainly to create Python bindings of existing C++ code.
Its goals and syntax are similar to the excellent [Boost.Python][] library by
David Abrahams: to minimize boilerplate code in traditional extension modules
by inferring type information using compile-time introspection.
The main issue with Boost.Python—and the reason for creating such a similar
project—is Boost. Boost is an enormously large and complex suite of utility
libraries that works with almost every C++ compiler in existence. This
compatibility has its cost: arcane template tricks and workarounds are
necessary to support the oldest and buggiest of compiler specimens. Now that
C++11-compatible compilers are widely available, this heavy machinery has
become an excessively large and unnecessary dependency.
Think of this library as a tiny self-contained version of Boost.Python with
everything stripped away that isn't relevant for binding generation. Without
comments, the core header files only require ~4K lines of code and depend on
Python (2.7 or 3.5+, or PyPy) and the C++ standard library. This compact
implementation was possible thanks to some of the new C++11 language features
(specifically: tuples, lambda functions and variadic templates). Since its
creation, this library has grown beyond Boost.Python in many ways, leading to
dramatically simpler binding code in many common situations.
Tutorial and reference documentation is provided at
[pybind11.readthedocs.org][]. A PDF version of the manual is available
[here][docs-pdf].
## Core features
pybind11 can map the following core C++ features to Python:
- Functions accepting and returning custom data structures per value, reference, or pointer
- Instance methods and static methods
- Overloaded functions
- Instance attributes and static attributes
- Arbitrary exception types
- Enumerations
- Callbacks
- Iterators and ranges
- Custom operators
- Single and multiple inheritance
- STL data structures
- Smart pointers with reference counting like `std::shared_ptr`
- Internal references with correct reference counting
- C++ classes with virtual (and pure virtual) methods can be extended in Python
## Goodies
In addition to the core functionality, pybind11 provides some extra goodies:
- Python 2.7, 3.5+, and PyPy (tested on 7.3) are supported with an implementation-agnostic
interface.
- It is possible to bind C++11 lambda functions with captured variables. The
lambda capture data is stored inside the resulting Python function object.
- pybind11 uses C++11 move constructors and move assignment operators whenever
possible to efficiently transfer custom data types.
- It's easy to expose the internal storage of custom data types through
Pythons' buffer protocols. This is handy e.g. for fast conversion between
C++ matrix classes like Eigen and NumPy without expensive copy operations.
- pybind11 can automatically vectorize functions so that they are transparently
applied to all entries of one or more NumPy array arguments.
- Python's slice-based access and assignment operations can be supported with
just a few lines of code.
- Everything is contained in just a few header files; there is no need to link
against any additional libraries.
- Binaries are generally smaller by a factor of at least 2 compared to
equivalent bindings generated by Boost.Python. A recent pybind11 conversion
of PyRosetta, an enormous Boost.Python binding project,
[reported][pyrosetta-report] a binary size reduction of **5.4x** and compile
time reduction by **5.8x**.
- Function signatures are precomputed at compile time (using `constexpr`),
leading to smaller binaries.
- With little extra effort, C++ types can be pickled and unpickled similar to
regular Python objects.
## Supported compilers
1. Clang/LLVM 3.3 or newer (for Apple Xcode's clang, this is 5.0.0 or newer)
2. GCC 4.8 or newer
3. Microsoft Visual Studio 2015 Update 3 or newer
4. Intel C++ compiler 17 or newer (16 with pybind11 v2.0 and 15 with pybind11
v2.0 and a [workaround][intel-15-workaround])
5. Cygwin/GCC (tested on 2.5.1)
6. NVCC (CUDA 11 tested)
7. NVIDIA PGI (20.7 tested)
## About
This project was created by [Wenzel Jakob](http://rgl.epfl.ch/people/wjakob).
Significant features and/or improvements to the code were contributed by
Jonas Adler,
Lori A. Burns,
Sylvain Corlay,
Trent Houliston,
Axel Huebl,
@hulucc,
Sergey Lyskov
Johan Mabille,
Tomasz Miąsko,
Dean Moldovan,
Ben Pritchard,
Jason Rhinelander,
Boris Schäling,
Pim Schellart,
Henry Schreiner,
Ivan Smirnov, and
Patrick Stewart.
### Contributing
See the [contributing guide][] for information on building and contributing to
pybind11.
### License
pybind11 is provided under a BSD-style license that can be found in the
[`LICENSE`][] file. By using, distributing, or contributing to this project,
you agree to the terms and conditions of this license.
[pybind11.readthedocs.org]: http://pybind11.readthedocs.org/en/master
[docs-pdf]: https://media.readthedocs.org/pdf/pybind11/master/pybind11.pdf
[Boost.Python]: http://www.boost.org/doc/libs/1_58_0/libs/python/doc/
[pyrosetta-report]: http://graylab.jhu.edu/RosettaCon2016/PyRosetta-4.pdf
[contributing guide]: https://github.com/pybind/pybind11/blob/master/.github/CONTRIBUTING.md
[`LICENSE`]: https://github.com/pybind/pybind11/blob/master/LICENSE
[intel-15-workaround]: https://github.com/pybind/pybind11/issues/276

180
wrap/pybind11/README.rst Normal file
View File

@ -0,0 +1,180 @@
.. figure:: https://github.com/pybind/pybind11/raw/master/docs/pybind11-logo.png
:alt: pybind11 logo
**pybind11 — Seamless operability between C++11 and Python**
|Latest Documentation Status| |Stable Documentation Status| |Gitter chat| |GitHub Discussions| |CI| |Build status|
|Repology| |PyPI package| |Conda-forge| |Python Versions|
`Setuptools example <https://github.com/pybind/python_example>`_
• `Scikit-build example <https://github.com/pybind/scikit_build_example>`_
• `CMake example <https://github.com/pybind/cmake_example>`_
.. start
**pybind11** is a lightweight header-only library that exposes C++ types
in Python and vice versa, mainly to create Python bindings of existing
C++ code. Its goals and syntax are similar to the excellent
`Boost.Python <http://www.boost.org/doc/libs/1_58_0/libs/python/doc/>`_
library by David Abrahams: to minimize boilerplate code in traditional
extension modules by inferring type information using compile-time
introspection.
The main issue with Boost.Python—and the reason for creating such a
similar project—is Boost. Boost is an enormously large and complex suite
of utility libraries that works with almost every C++ compiler in
existence. This compatibility has its cost: arcane template tricks and
workarounds are necessary to support the oldest and buggiest of compiler
specimens. Now that C++11-compatible compilers are widely available,
this heavy machinery has become an excessively large and unnecessary
dependency.
Think of this library as a tiny self-contained version of Boost.Python
with everything stripped away that isn’t relevant for binding
generation. Without comments, the core header files only require ~4K
lines of code and depend on Python (2.7 or 3.5+, or PyPy) and the C++
standard library. This compact implementation was possible thanks to
some of the new C++11 language features (specifically: tuples, lambda
functions and variadic templates). Since its creation, this library has
grown beyond Boost.Python in many ways, leading to dramatically simpler
binding code in many common situations.
Tutorial and reference documentation is provided at
`pybind11.readthedocs.io <https://pybind11.readthedocs.io/en/latest>`_.
A PDF version of the manual is available
`here <https://pybind11.readthedocs.io/_/downloads/en/latest/pdf/>`_.
And the source code is always available at
`github.com/pybind/pybind11 <https://github.com/pybind/pybind11>`_.
Core features
-------------
pybind11 can map the following core C++ features to Python:
- Functions accepting and returning custom data structures per value,
reference, or pointer
- Instance methods and static methods
- Overloaded functions
- Instance attributes and static attributes
- Arbitrary exception types
- Enumerations
- Callbacks
- Iterators and ranges
- Custom operators
- Single and multiple inheritance
- STL data structures
- Smart pointers with reference counting like ``std::shared_ptr``
- Internal references with correct reference counting
- C++ classes with virtual (and pure virtual) methods can be extended
in Python
Goodies
-------
In addition to the core functionality, pybind11 provides some extra
goodies:
- Python 2.7, 3.5+, and PyPy/PyPy3 7.3 are supported with an
implementation-agnostic interface.
- It is possible to bind C++11 lambda functions with captured
variables. The lambda capture data is stored inside the resulting
Python function object.
- pybind11 uses C++11 move constructors and move assignment operators
whenever possible to efficiently transfer custom data types.
- It’s easy to expose the internal storage of custom data types through
Pythons’ buffer protocols. This is handy e.g. for fast conversion
between C++ matrix classes like Eigen and NumPy without expensive
copy operations.
- pybind11 can automatically vectorize functions so that they are
transparently applied to all entries of one or more NumPy array
arguments.
- Python's slice-based access and assignment operations can be
supported with just a few lines of code.
- Everything is contained in just a few header files; there is no need
to link against any additional libraries.
- Binaries are generally smaller by a factor of at least 2 compared to
equivalent bindings generated by Boost.Python. A recent pybind11
conversion of PyRosetta, an enormous Boost.Python binding project,
`reported <https://graylab.jhu.edu/Sergey/2016.RosettaCon/PyRosetta-4.pdf>`_
a binary size reduction of **5.4x** and compile time reduction by
**5.8x**.
- Function signatures are precomputed at compile time (using
``constexpr``), leading to smaller binaries.
- With little extra effort, C++ types can be pickled and unpickled
similar to regular Python objects.
Supported compilers
-------------------
1. Clang/LLVM 3.3 or newer (for Apple Xcode’s clang, this is 5.0.0 or
newer)
2. GCC 4.8 or newer
3. Microsoft Visual Studio 2015 Update 3 or newer
4. Intel classic C++ compiler 18 or newer (ICC 20.2 tested in CI)
5. Cygwin/GCC (previously tested on 2.5.1)
6. NVCC (CUDA 11.0 tested in CI)
7. NVIDIA PGI (20.9 tested in CI)
About
-----
This project was created by `Wenzel
Jakob <http://rgl.epfl.ch/people/wjakob>`_. Significant features and/or
improvements to the code were contributed by Jonas Adler, Lori A. Burns,
Sylvain Corlay, Eric Cousineau, Aaron Gokaslan, Ralf Grosse-Kunstleve, Trent Houliston, Axel
Huebl, @hulucc, Yannick Jadoul, Sergey Lyskov Johan Mabille, Tomasz Miąsko,
Dean Moldovan, Ben Pritchard, Jason Rhinelander, Boris Schäling, Pim
Schellart, Henry Schreiner, Ivan Smirnov, Boris Staletic, and Patrick Stewart.
We thank Google for a generous financial contribution to the continuous
integration infrastructure used by this project.
Contributing
~~~~~~~~~~~~
See the `contributing
guide <https://github.com/pybind/pybind11/blob/master/.github/CONTRIBUTING.md>`_
for information on building and contributing to pybind11.
License
~~~~~~~
pybind11 is provided under a BSD-style license that can be found in the
`LICENSE <https://github.com/pybind/pybind11/blob/master/LICENSE>`_
file. By using, distributing, or contributing to this project, you agree
to the terms and conditions of this license.
.. |Latest Documentation Status| image:: https://readthedocs.org/projects/pybind11/badge?version=latest
:target: http://pybind11.readthedocs.org/en/latest
.. |Stable Documentation Status| image:: https://img.shields.io/badge/docs-stable-blue.svg
:target: http://pybind11.readthedocs.org/en/stable
.. |Gitter chat| image:: https://img.shields.io/gitter/room/gitterHQ/gitter.svg
:target: https://gitter.im/pybind/Lobby
.. |CI| image:: https://github.com/pybind/pybind11/workflows/CI/badge.svg
:target: https://github.com/pybind/pybind11/actions
.. |Build status| image:: https://ci.appveyor.com/api/projects/status/riaj54pn4h08xy40?svg=true
:target: https://ci.appveyor.com/project/wjakob/pybind11
.. |PyPI package| image:: https://img.shields.io/pypi/v/pybind11.svg
:target: https://pypi.org/project/pybind11/
.. |Conda-forge| image:: https://img.shields.io/conda/vn/conda-forge/pybind11.svg
:target: https://github.com/conda-forge/pybind11-feedstock
.. |Repology| image:: https://repology.org/badge/latest-versions/python:pybind11.svg
:target: https://repology.org/project/python:pybind11/versions
.. |Python Versions| image:: https://img.shields.io/pypi/pyversions/pybind11.svg
:target: https://pypi.org/project/pybind11/
.. |GitHub Discussions| image:: https://img.shields.io/static/v1?label=Discussions&message=Ask&color=blue&logo=github
:target: https://github.com/pybind/pybind11/discussions

4
wrap/pybind11/docs/Doxyfile
View File

@ -18,5 +18,5 @@ ALIASES += "endrst=\endverbatim"
QUIET = YES
WARNINGS = YES
WARN_IF_UNDOCUMENTED = NO
PREDEFINED = DOXYGEN_SHOULD_SKIP_THIS \
PY_MAJOR_VERSION=3
PREDEFINED = PY_MAJOR_VERSION=3 \
PYBIND11_NOINLINE

4
wrap/pybind11/docs/advanced/cast/custom.rst
View File

@ -26,7 +26,9 @@ The following Python snippet demonstrates the intended usage from the Python sid
def __int__(self):
return 123
from example import print
print(A())
To register the necessary conversion routines, it is necessary to add an
@ -44,7 +46,7 @@ type is explicitly allowed.
* function signatures and declares a local variable
* 'value' of type inty
*/
PYBIND11_TYPE_CASTER(inty, _("inty"));
PYBIND11_TYPE_CASTER(inty, const_name("inty"));
/**
* Conversion part 1 (Python->C++): convert a PyObject into a inty

4
wrap/pybind11/docs/advanced/cast/eigen.rst
View File

@ -52,7 +52,7 @@ can be mapped *and* if the numpy array is writeable (that is
the passed variable will be transparently carried out directly on the
``numpy.ndarray``.
This means you can can write code such as the following and have it work as
This means you can write code such as the following and have it work as
expected:
.. code-block:: cpp
@ -203,7 +203,7 @@ adding the ``order='F'`` option when creating an array:
.. code-block:: python
myarray = np.array(source, order='F')
myarray = np.array(source, order="F")
Such an object will be passable to a bound function accepting an
``Eigen::Ref<MatrixXd>`` (or similar column-major Eigen type).

94
wrap/pybind11/docs/advanced/cast/overview.rst
View File

@ -75,91 +75,97 @@ The following basic data types are supported out of the box (some may require
an additional extension header to be included). To pass other data structures
as arguments and return values, refer to the section on binding :ref:`classes`.
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| Data type | Description | Header file |
+====================================+===========================+===============================+
+====================================+===========================+===================================+
| ``int8_t``, ``uint8_t`` | 8-bit integers | :file:`pybind11/pybind11.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``int16_t``, ``uint16_t`` | 16-bit integers | :file:`pybind11/pybind11.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``int32_t``, ``uint32_t`` | 32-bit integers | :file:`pybind11/pybind11.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``int64_t``, ``uint64_t`` | 64-bit integers | :file:`pybind11/pybind11.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``ssize_t``, ``size_t`` | Platform-dependent size | :file:`pybind11/pybind11.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``float``, ``double`` | Floating point types | :file:`pybind11/pybind11.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``bool`` | Two-state Boolean type | :file:`pybind11/pybind11.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``char`` | Character literal | :file:`pybind11/pybind11.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``char16_t`` | UTF-16 character literal | :file:`pybind11/pybind11.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``char32_t`` | UTF-32 character literal | :file:`pybind11/pybind11.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``wchar_t`` | Wide character literal | :file:`pybind11/pybind11.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``const char *`` | UTF-8 string literal | :file:`pybind11/pybind11.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``const char16_t *`` | UTF-16 string literal | :file:`pybind11/pybind11.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``const char32_t *`` | UTF-32 string literal | :file:`pybind11/pybind11.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``const wchar_t *`` | Wide string literal | :file:`pybind11/pybind11.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``std::string`` | STL dynamic UTF-8 string | :file:`pybind11/pybind11.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``std::u16string`` | STL dynamic UTF-16 string | :file:`pybind11/pybind11.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``std::u32string`` | STL dynamic UTF-32 string | :file:`pybind11/pybind11.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``std::wstring`` | STL dynamic wide string | :file:`pybind11/pybind11.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``std::string_view``, | STL C++17 string views | :file:`pybind11/pybind11.h` |
| ``std::u16string_view``, etc. | | |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``std::pair<T1, T2>`` | Pair of two custom types | :file:`pybind11/pybind11.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``std::tuple<...>`` | Arbitrary tuple of types | :file:`pybind11/pybind11.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``std::reference_wrapper<...>`` | Reference type wrapper | :file:`pybind11/pybind11.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``std::complex<T>`` | Complex numbers | :file:`pybind11/complex.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``std::array<T, Size>`` | STL static array | :file:`pybind11/stl.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``std::vector<T>`` | STL dynamic array | :file:`pybind11/stl.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``std::deque<T>`` | STL double-ended queue | :file:`pybind11/stl.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``std::valarray<T>`` | STL value array | :file:`pybind11/stl.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``std::list<T>`` | STL linked list | :file:`pybind11/stl.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``std::map<T1, T2>`` | STL ordered map | :file:`pybind11/stl.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``std::unordered_map<T1, T2>`` | STL unordered map | :file:`pybind11/stl.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``std::set<T>`` | STL ordered set | :file:`pybind11/stl.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``std::unordered_set<T>`` | STL unordered set | :file:`pybind11/stl.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``std::optional<T>`` | STL optional type (C++17) | :file:`pybind11/stl.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``std::experimental::optional<T>`` | STL optional type (exp.) | :file:`pybind11/stl.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``std::variant<...>`` | Type-safe union (C++17) | :file:`pybind11/stl.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``std::filesystem::path<T>`` | STL path (C++17) [#]_ | :file:`pybind11/stl/filesystem.h` |
+------------------------------------+---------------------------+-----------------------------------+
| ``std::function<...>`` | STL polymorphic function | :file:`pybind11/functional.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``std::chrono::duration<...>`` | STL time duration | :file:`pybind11/chrono.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``std::chrono::time_point<...>`` | STL date/time | :file:`pybind11/chrono.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``Eigen::Matrix<...>`` | Eigen: dense matrix | :file:`pybind11/eigen.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``Eigen::Map<...>`` | Eigen: mapped memory | :file:`pybind11/eigen.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
| ``Eigen::SparseMatrix<...>`` | Eigen: sparse matrix | :file:`pybind11/eigen.h` |
+------------------------------------+---------------------------+-------------------------------+
+------------------------------------+---------------------------+-----------------------------------+
.. [#] ``std::filesystem::path`` is converted to ``pathlib.Path`` and
``os.PathLike`` is converted to ``std::filesystem::path``, but this requires
Python 3.6 (for ``__fspath__`` support).

13
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@ -5,7 +5,7 @@ Automatic conversion
====================
When including the additional header file :file:`pybind11/stl.h`, conversions
between ``std::vector<>``/``std::deque<>``/``std::list<>``/``std::array<>``,
between ``std::vector<>``/``std::deque<>``/``std::list<>``/``std::array<>``/``std::valarray<>``,
``std::set<>``/``std::unordered_set<>``, and
``std::map<>``/``std::unordered_map<>`` and the Python ``list``, ``set`` and
``dict`` data structures are automatically enabled. The types ``std::pair<>``
@ -72,6 +72,17 @@ The ``visit_helper`` specialization is not required if your ``name::variant`` pr
a ``name::visit()`` function. For any other function name, the specialization must be
included to tell pybind11 how to visit the variant.
.. warning::
When converting a ``variant`` type, pybind11 follows the same rules as when
determining which function overload to call (:ref:`overload_resolution`), and
so the same caveats hold. In particular, the order in which the ``variant``'s
alternatives are listed is important, since pybind11 will try conversions in
this order. This means that, for example, when converting ``variant<int, bool>``,
the ``bool`` variant will never be selected, as any Python ``bool`` is already
an ``int`` and is convertible to a C++ ``int``. Changing the order of alternatives
(and using ``variant<bool, int>``, in this example) provides a solution.
.. note::
pybind11 only supports the modern implementation of ``boost::variant``

32
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@ -36,13 +36,13 @@ everywhere <http://utf8everywhere.org/>`_.
}
);
.. code-block:: python
.. code-block:: pycon
>>> utf8_test('🎂')
>>> utf8_test("🎂")
utf-8 is icing on the cake.
🎂
>>> utf8_charptr('🍕')
>>> utf8_charptr("🍕")
My favorite food is
🍕
@ -80,7 +80,7 @@ raise a ``UnicodeDecodeError``.
}
);
.. code-block:: python
.. code-block:: pycon
>>> isinstance(example.std_string_return(), str)
True
@ -114,7 +114,7 @@ conversion has the same overhead as implicit conversion.
}
);
.. code-block:: python
.. code-block:: pycon
>>> str_output()
'Send your résumé to Alice in HR'
@ -143,7 +143,7 @@ returned to Python as ``bytes``, then one can return the data as a
}
);
.. code-block:: python
.. code-block:: pycon
>>> example.return_bytes()
b'\xba\xd0\xba\xd0'
@ -160,7 +160,7 @@ encoding, but cannot convert ``std::string`` back to ``bytes`` implicitly.
}
);
.. code-block:: python
.. code-block:: pycon
>>> isinstance(example.asymmetry(b"have some bytes"), str)
True
@ -229,16 +229,16 @@ character.
m.def("pass_char", [](char c) { return c; });
m.def("pass_wchar", [](wchar_t w) { return w; });
.. code-block:: python
.. code-block:: pycon
>>> example.pass_char('A')
>>> example.pass_char("A")
'A'
While C++ will cast integers to character types (``char c = 0x65;``), pybind11
does not convert Python integers to characters implicitly. The Python function
``chr()`` can be used to convert integers to characters.
.. code-block:: python
.. code-block:: pycon
>>> example.pass_char(0x65)
TypeError
@ -259,17 +259,17 @@ a combining acute accent). The combining character will be lost if the
two-character sequence is passed as an argument, even though it renders as a
single grapheme.
.. code-block:: python
.. code-block:: pycon
>>> example.pass_wchar('é')
>>> example.pass_wchar("é")
'é'
>>> combining_e_acute = 'e' + '\u0301'
>>> combining_e_acute = "e" + "\u0301"
>>> combining_e_acute
'é'
>>> combining_e_acute == 'é'
>>> combining_e_acute == "é"
False
>>> example.pass_wchar(combining_e_acute)
@ -278,9 +278,9 @@ single grapheme.
Normalizing combining characters before passing the character literal to C++
may resolve *some* of these issues:
.. code-block:: python
.. code-block:: pycon
>>> example.pass_wchar(unicodedata.normalize('NFC', combining_e_acute))
>>> example.pass_wchar(unicodedata.normalize("NFC", combining_e_acute))
'é'
In some languages (Thai for example), there are `graphemes that cannot be

96
wrap/pybind11/docs/advanced/classes.rst
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@ -9,7 +9,7 @@ that you are already familiar with the basics from :doc:`/classes`.
Overriding virtual functions in Python
======================================
Suppose that a C++ class or interface has a virtual function that we'd like to
Suppose that a C++ class or interface has a virtual function that we'd like
to override from within Python (we'll focus on the class ``Animal``; ``Dog`` is
given as a specific example of how one would do this with traditional C++
code).
@ -161,6 +161,7 @@ Here is an example:
def __init__(self, name):
Dog.__init__(self) # Without this, a TypeError is raised.
self.name = name
def bark(self):
return "yap!"
@ -259,7 +260,7 @@ override the ``name()`` method):
.. note::
Note the trailing commas in the ``PYBIND11_OVERIDE`` calls to ``name()``
Note the trailing commas in the ``PYBIND11_OVERRIDE`` calls to ``name()``
and ``bark()``. These are needed to portably implement a trampoline for a
function that does not take any arguments. For functions that take
a nonzero number of arguments, the trailing comma must be omitted.
@ -804,7 +805,7 @@ to bind these two functions:
}
));
The ``__setstate__`` part of the ``py::picke()`` definition follows the same
The ``__setstate__`` part of the ``py::pickle()`` definition follows the same
rules as the single-argument version of ``py::init()``. The return type can be
a value, pointer or holder type. See :ref:`custom_constructors` for details.
@ -1153,12 +1154,65 @@ error:
>>> class PyFinalChild(IsFinal):
... pass
...
TypeError: type 'IsFinal' is not an acceptable base type
.. note:: This attribute is currently ignored on PyPy
.. versionadded:: 2.6
Binding classes with template parameters
========================================
pybind11 can also wrap classes that have template parameters. Consider these classes:
.. code-block:: cpp
struct Cat {};
struct Dog {};
template <typename PetType>
struct Cage {
Cage(PetType& pet);
PetType& get();
};
C++ templates may only be instantiated at compile time, so pybind11 can only
wrap instantiated templated classes. You cannot wrap a non-instantiated template:
.. code-block:: cpp
// BROKEN (this will not compile)
py::class_<Cage>(m, "Cage");
.def("get", &Cage::get);
You must explicitly specify each template/type combination that you want to
wrap separately.
.. code-block:: cpp
// ok
py::class_<Cage<Cat>>(m, "CatCage")
.def("get", &Cage<Cat>::get);
// ok
py::class_<Cage<Dog>>(m, "DogCage")
.def("get", &Cage<Dog>::get);
If your class methods have template parameters you can wrap those as well,
but once again each instantiation must be explicitly specified:
.. code-block:: cpp
typename <typename T>
struct MyClass {
template <typename V>
T fn(V v);
};
py::class<MyClass<int>>(m, "MyClassT")
.def("fn", &MyClass<int>::fn<std::string>);
Custom automatic downcasters
============================
@ -1247,7 +1301,7 @@ Accessing the type object
You can get the type object from a C++ class that has already been registered using:
.. code-block:: python
.. code-block:: cpp
py::type T_py = py::type::of<T>();
@ -1259,3 +1313,37 @@ object, just like ``type(ob)`` in Python.
Other types, like ``py::type::of<int>()``, do not work, see :ref:`type-conversions`.
.. versionadded:: 2.6
Custom type setup
=================
For advanced use cases, such as enabling garbage collection support, you may
wish to directly manipulate the ``PyHeapTypeObject`` corresponding to a
``py::class_`` definition.
You can do that using ``py::custom_type_setup``:
.. code-block:: cpp
struct OwnsPythonObjects {
py::object value = py::none();
};
py::class_<OwnsPythonObjects> cls(
m, "OwnsPythonObjects", py::custom_type_setup([](PyHeapTypeObject *heap_type) {
auto *type = &heap_type->ht_type;
type->tp_flags |= Py_TPFLAGS_HAVE_GC;
type->tp_traverse = [](PyObject *self_base, visitproc visit, void *arg) {
auto &self = py::cast<OwnsPythonObjects&>(py::handle(self_base));
Py_VISIT(self.value.ptr());
return 0;
};
type->tp_clear = [](PyObject *self_base) {
auto &self = py::cast<OwnsPythonObjects&>(py::handle(self_base));
self.value = py::none();
return 0;
};
}));
cls.def(py::init<>());
cls.def_readwrite("value", &OwnsPythonObjects::value);
.. versionadded:: 2.8

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