diff --git a/.github/scripts/python.sh b/.github/scripts/python.sh index 6948cc385..a71e14c97 100644 --- a/.github/scripts/python.sh +++ b/.github/scripts/python.sh @@ -43,11 +43,6 @@ if [ -z ${PYTHON_VERSION+x} ]; then exit 127 fi -if [ -z ${WRAPPER+x} ]; then - echo "Please provide the wrapper to build!" - exit 126 -fi - PYTHON="python${PYTHON_VERSION}" if [[ $(uname) == "Darwin" ]]; then @@ -61,25 +56,11 @@ PATH=$PATH:$($PYTHON -c "import site; print(site.USER_BASE)")/bin [ "${GTSAM_WITH_TBB:-OFF}" = "ON" ] && install_tbb -case $WRAPPER in -"cython") - BUILD_CYTHON="ON" - BUILD_PYBIND="OFF" - TYPEDEF_POINTS_TO_VECTORS="OFF" - sudo $PYTHON -m pip install -r $GITHUB_WORKSPACE/cython/requirements.txt - ;; -"pybind") - BUILD_CYTHON="OFF" - BUILD_PYBIND="ON" - TYPEDEF_POINTS_TO_VECTORS="ON" +BUILD_PYBIND="ON" +TYPEDEF_POINTS_TO_VECTORS="ON" - sudo $PYTHON -m pip install -r $GITHUB_WORKSPACE/python/requirements.txt - ;; -*) - exit 126 - ;; -esac +sudo $PYTHON -m pip install -r $GITHUB_WORKSPACE/python/requirements.txt mkdir $GITHUB_WORKSPACE/build cd $GITHUB_WORKSPACE/build @@ -90,7 +71,6 @@ cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=Release \ -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \ -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \ -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \ - -DGTSAM_INSTALL_CYTHON_TOOLBOX=${BUILD_CYTHON} \ -DGTSAM_BUILD_PYTHON=${BUILD_PYBIND} \ -DGTSAM_TYPEDEF_POINTS_TO_VECTORS=${TYPEDEF_POINTS_TO_VECTORS} \ -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \ @@ -98,30 +78,10 @@ cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=Release \ -DGTSAM_ALLOW_DEPRECATED_SINCE_V41=OFF \ -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install -make -j$(nproc) install & +make -j$(nproc) install -while ps -p $! > /dev/null -do - sleep 60 - now=$(date +%s) - printf "%d seconds have elapsed\n" $(( (now - start) )) -done -case $WRAPPER in -"cython") - cd $GITHUB_WORKSPACE/build/cython - $PYTHON setup.py install --user --prefix= - cd $GITHUB_WORKSPACE/build/cython/gtsam/tests - $PYTHON -m unittest discover - ;; -"pybind") - cd $GITHUB_WORKSPACE/build/python - $PYTHON setup.py install --user --prefix= - cd $GITHUB_WORKSPACE/python/gtsam/tests - $PYTHON -m unittest discover - ;; -*) - echo "THIS SHOULD NEVER HAPPEN!" - exit 125 - ;; -esac \ No newline at end of file +cd $GITHUB_WORKSPACE/build/python +$PYTHON setup.py install --user --prefix= +cd $GITHUB_WORKSPACE/python/gtsam/tests +$PYTHON -m unittest discover diff --git a/.github/scripts/unix.sh b/.github/scripts/unix.sh index f85e67dc1..55a8ac372 100644 --- a/.github/scripts/unix.sh +++ b/.github/scripts/unix.sh @@ -66,6 +66,8 @@ function configure() -DGTSAM_BUILD_EXAMPLES_ALWAYS=${GTSAM_BUILD_EXAMPLES_ALWAYS:-ON} \ -DGTSAM_ALLOW_DEPRECATED_SINCE_V41=${GTSAM_ALLOW_DEPRECATED_SINCE_V41:-OFF} \ -DGTSAM_USE_QUATERNIONS=${GTSAM_USE_QUATERNIONS:-OFF} \ + -DGTSAM_ROT3_EXPMAP=${GTSAM_ROT3_EXPMAP:-ON} \ + -DGTSAM_POSE3_EXPMAP=${GTSAM_POSE3_EXPMAP:-ON} \ -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \ -DBOOST_ROOT=$BOOST_ROOT \ -DBoost_NO_SYSTEM_PATHS=ON \ diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml index afe328c3b..d80a7f4ba 100644 --- a/.github/workflows/build-linux.yml +++ b/.github/workflows/build-linux.yml @@ -48,25 +48,32 @@ jobs: - name: Install (Linux) if: runner.os == 'Linux' run: | - # LLVM 9 is not in Bionic's repositories so we add the official LLVM repository. + # LLVM (clang) 9 is not in Bionic's repositories so we add the official LLVM repository. if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then + # (ipv4|ha).pool.sks-keyservers.net is the SKS GPG global keyserver pool + # ipv4 avoids potential timeouts because of crappy IPv6 infrastructure + # 15CF4D18AF4F7421 is the GPG key for the LLVM apt repository + # This key is not in the keystore by default for Ubuntu so we need to add it. + LLVM_KEY=15CF4D18AF4F7421 + gpg --keyserver ipv4.pool.sks-keyservers.net --recv-key $LLVM_KEY || gpg --keyserver ha.pool.sks-keyservers.net --recv-key $LLVM_KEY + gpg -a --export $LLVM_KEY | sudo apt-key add - sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main" fi sudo apt-get -y update sudo apt install cmake build-essential pkg-config libpython-dev python-numpy - echo "::set-env name=BOOST_ROOT::$(echo $BOOST_ROOT_1_69_0)" - echo "::set-env name=LD_LIBRARY_PATH::$(echo $BOOST_ROOT_1_69_0/lib)" + echo "BOOST_ROOT=$(echo $BOOST_ROOT_1_72_0)" >> $GITHUB_ENV + echo "LD_LIBRARY_PATH=$(echo $BOOST_ROOT_1_72_0/lib)" >> $GITHUB_ENV if [ "${{ matrix.compiler }}" = "gcc" ]; then sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib - echo "::set-env name=CC::gcc-${{ matrix.version }}" - echo "::set-env name=CXX::g++-${{ matrix.version }}" + echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV + echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV else sudo apt-get install -y clang-${{ matrix.version }} g++-multilib - echo "::set-env name=CC::clang-${{ matrix.version }}" - echo "::set-env name=CXX::clang++-${{ matrix.version }}" + echo "CC=clang-${{ matrix.version }}" >> $GITHUB_ENV + echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV fi - name: Check Boost version if: runner.os == 'Linux' diff --git a/.github/workflows/build-macos.yml b/.github/workflows/build-macos.yml index 363cd690f..69873980a 100644 --- a/.github/workflows/build-macos.yml +++ b/.github/workflows/build-macos.yml @@ -35,17 +35,19 @@ jobs: - name: Install (macOS) if: runner.os == 'macOS' run: | - brew install cmake ninja boost + brew tap ProfFan/robotics + brew install cmake ninja + brew install ProfFan/robotics/boost if [ "${{ matrix.compiler }}" = "gcc" ]; then brew install gcc@${{ matrix.version }} - echo "::set-env name=CC::gcc-${{ matrix.version }}" - echo "::set-env name=CXX::g++-${{ matrix.version }}" + echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV + echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV else sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app - echo "::set-env name=CC::clang" - echo "::set-env name=CXX::clang++" + echo "CC=clang" >> $GITHUB_ENV + echo "CXX=clang++" >> $GITHUB_ENV fi - name: Build and Test (macOS) if: runner.os == 'macOS' run: | - bash .github/scripts/unix.sh -t \ No newline at end of file + bash .github/scripts/unix.sh -t diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml index dc03ec6c9..3f9a2e98a 100644 --- a/.github/workflows/build-python.yml +++ b/.github/workflows/build-python.yml @@ -12,7 +12,6 @@ jobs: CTEST_PARALLEL_LEVEL: 2 CMAKE_BUILD_TYPE: ${{ matrix.build_type }} PYTHON_VERSION: ${{ matrix.python_version }} - WRAPPER: ${{ matrix.wrapper }} strategy: fail-fast: false matrix: @@ -20,7 +19,7 @@ jobs: # See https://help.github.com/en/articles/workflow-syntax-for-github-actions. name: [ ubuntu-18.04-gcc-5, - # ubuntu-18.04-gcc-9, # TODO Disabled for now because of timeouts + ubuntu-18.04-gcc-9, ubuntu-18.04-clang-9, macOS-10.15-xcode-11.3.1, ubuntu-18.04-gcc-5-tbb, @@ -28,18 +27,16 @@ jobs: build_type: [Debug, Release] python_version: [3] - wrapper: [pybind] include: - name: ubuntu-18.04-gcc-5 os: ubuntu-18.04 compiler: gcc version: "5" - # TODO Disabled for now because of timeouts - # - name: ubuntu-18.04-gcc-9 - # os: ubuntu-18.04 - # compiler: gcc - # version: "9" + - name: ubuntu-18.04-gcc-9 + os: ubuntu-18.04 + compiler: gcc + version: "9" - name: ubuntu-18.04-clang-9 os: ubuntu-18.04 @@ -63,8 +60,14 @@ jobs: - name: Install (Linux) if: runner.os == 'Linux' run: | - # LLVM 9 is not in Bionic's repositories so we add the official LLVM repository. if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then + # (ipv4|ha).pool.sks-keyservers.net is the SKS GPG global keyserver pool + # ipv4 avoids potential timeouts because of crappy IPv6 infrastructure + # 15CF4D18AF4F7421 is the GPG key for the LLVM apt repository + # This key is not in the keystore by default for Ubuntu so we need to add it. + LLVM_KEY=15CF4D18AF4F7421 + gpg --keyserver ipv4.pool.sks-keyservers.net --recv-key $LLVM_KEY || gpg --keyserver ha.pool.sks-keyservers.net --recv-key $LLVM_KEY + gpg -a --export $LLVM_KEY | sudo apt-key add - sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main" fi sudo apt-get -y update @@ -73,30 +76,32 @@ jobs: if [ "${{ matrix.compiler }}" = "gcc" ]; then sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib - echo "::set-env name=CC::gcc-${{ matrix.version }}" - echo "::set-env name=CXX::g++-${{ matrix.version }}" + echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV + echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV else sudo apt-get install -y clang-${{ matrix.version }} g++-multilib - echo "::set-env name=CC::clang-${{ matrix.version }}" - echo "::set-env name=CXX::clang++-${{ matrix.version }}" + echo "CC=clang-${{ matrix.version }}" >> $GITHUB_ENV + echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV fi - name: Install (macOS) if: runner.os == 'macOS' run: | - brew install cmake ninja boost + brew tap ProfFan/robotics + brew install cmake ninja + brew install ProfFan/robotics/boost if [ "${{ matrix.compiler }}" = "gcc" ]; then brew install gcc@${{ matrix.version }} - echo "::set-env name=CC::gcc-${{ matrix.version }}" - echo "::set-env name=CXX::g++-${{ matrix.version }}" + echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV + echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV else sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app - echo "::set-env name=CC::clang" - echo "::set-env name=CXX::clang++" + echo "CC=clang" >> $GITHUB_ENV + echo "CXX=clang++" >> $GITHUB_ENV fi - name: Set GTSAM_WITH_TBB Flag if: matrix.flag == 'tbb' run: | - echo "::set-env name=GTSAM_WITH_TBB::ON" + echo "GTSAM_WITH_TBB=ON" >> $GITHUB_ENV echo "GTSAM Uses TBB" - name: Build (Linux) if: runner.os == 'Linux' @@ -105,4 +110,4 @@ jobs: - name: Build (macOS) if: runner.os == 'macOS' run: | - bash .github/scripts/python.sh \ No newline at end of file + bash .github/scripts/python.sh diff --git a/.github/workflows/build-special.yml b/.github/workflows/build-special.yml index 648365f24..532f917c1 100644 --- a/.github/workflows/build-special.yml +++ b/.github/workflows/build-special.yml @@ -24,6 +24,7 @@ jobs: ubuntu-gcc-deprecated, ubuntu-gcc-quaternions, ubuntu-gcc-tbb, + ubuntu-cayleymap, ] build_type: [Debug, Release] @@ -47,6 +48,12 @@ jobs: version: "9" flag: tbb + - name: ubuntu-cayleymap + os: ubuntu-18.04 + compiler: gcc + version: "9" + flag: cayley + steps: - name: Checkout uses: actions/checkout@master @@ -56,23 +63,25 @@ jobs: run: | # LLVM 9 is not in Bionic's repositories so we add the official LLVM repository. if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then + gpg --keyserver pool.sks-keyservers.net --recv-key 15CF4D18AF4F7421 + gpg -a --export 15CF4D18AF4F7421 | sudo apt-key add - sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main" fi sudo apt-get -y update sudo apt install cmake build-essential pkg-config libpython-dev python-numpy - echo "::set-env name=BOOST_ROOT::$(echo $BOOST_ROOT_1_69_0)" - echo "::set-env name=LD_LIBRARY_PATH::$(echo $BOOST_ROOT_1_69_0/lib)" + echo "BOOST_ROOT=$(echo $BOOST_ROOT_1_72_0)" >> $GITHUB_ENV + echo "LD_LIBRARY_PATH=$(echo $BOOST_ROOT_1_72_0/lib)" >> $GITHUB_ENV if [ "${{ matrix.compiler }}" = "gcc" ]; then sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib - echo "::set-env name=CC::gcc-${{ matrix.version }}" - echo "::set-env name=CXX::g++-${{ matrix.version }}" + echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV + echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV else sudo apt-get install -y clang-${{ matrix.version }} g++-multilib - echo "::set-env name=CC::clang-${{ matrix.version }}" - echo "::set-env name=CXX::clang++-${{ matrix.version }}" + echo "CC=clang-${{ matrix.version }}" >> $GITHUB_ENV + echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV fi - name: Install (macOS) @@ -81,32 +90,39 @@ jobs: brew install cmake ninja boost if [ "${{ matrix.compiler }}" = "gcc" ]; then brew install gcc@${{ matrix.version }} - echo "::set-env name=CC::gcc-${{ matrix.version }}" - echo "::set-env name=CXX::g++-${{ matrix.version }}" + echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV + echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV else sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app - echo "::set-env name=CC::clang" - echo "::set-env name=CXX::clang++" + echo "CC=clang" >> $GITHUB_ENV + echo "CXX=clang++" >> $GITHUB_ENV fi - name: Set Allow Deprecated Flag if: matrix.flag == 'deprecated' run: | - echo "::set-env name=GTSAM_ALLOW_DEPRECATED_SINCE_V41::ON" + echo "GTSAM_ALLOW_DEPRECATED_SINCE_V41=ON" >> $GITHUB_ENV echo "Allow deprecated since version 4.1" - name: Set Use Quaternions Flag if: matrix.flag == 'quaternions' run: | - echo "::set-env name=GTSAM_USE_QUATERNIONS::ON" + echo "GTSAM_USE_QUATERNIONS=ON" >> $GITHUB_ENV echo "Use Quaternions for rotations" - name: Set GTSAM_WITH_TBB Flag if: matrix.flag == 'tbb' run: | - echo "::set-env name=GTSAM_WITH_TBB::ON" + echo "GTSAM_WITH_TBB=ON" >> $GITHUB_ENV echo "GTSAM Uses TBB" + - name: Use Cayley Transform for Rot3 + if: matrix.flag == 'cayley' + run: | + echo "GTSAM_POSE3_EXPMAP=OFF" >> $GITHUB_ENV + echo "GTSAM_ROT3_EXPMAP=OFF" >> $GITHUB_ENV + echo "GTSAM Uses Cayley map for Rot3" + - name: Build & Test run: | bash .github/scripts/unix.sh -t diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml index b3150a751..0a55de880 100644 --- a/.github/workflows/build-windows.yml +++ b/.github/workflows/build-windows.yml @@ -18,16 +18,19 @@ jobs: # Github Actions requires a single row to be added to the build matrix. # See https://help.github.com/en/articles/workflow-syntax-for-github-actions. name: [ - windows-2016-cl, + #TODO This build keeps timing out, need to understand why. + # windows-2016-cl, windows-2019-cl, ] build_type: [Debug, Release] build_unstable: [ON] include: - - name: windows-2016-cl - os: windows-2016 - compiler: cl + + #TODO This build keeps timing out, need to understand why. + # - name: windows-2016-cl + # os: windows-2016 + # compiler: cl - name: windows-2019-cl os: windows-2019 @@ -50,17 +53,17 @@ jobs: # See: https://github.com/DaanDeMeyer/doctest/runs/231595515 # See: https://github.community/t5/GitHub-Actions/Something-is-wrong-with-the-chocolatey-installed-version-of-gcc/td-p/32413 scoop install gcc --global - echo "::set-env name=CC::gcc" - echo "::set-env name=CXX::g++" + echo "CC=gcc" >> $GITHUB_ENV + echo "CXX=g++" >> $GITHUB_ENV } elseif ("${{ matrix.compiler }}" -eq "clang") { - echo "::set-env name=CC::clang" - echo "::set-env name=CXX::clang++" + echo "CC=clang" >> $GITHUB_ENV + echo "CXX=clang++" >> $GITHUB_ENV } else { - echo "::set-env name=CC::${{ matrix.compiler }}" - echo "::set-env name=CXX::${{ matrix.compiler }}" + echo "CC=${{ matrix.compiler }}" >> $GITHUB_ENV + echo "CXX=${{ matrix.compiler }}" >> $GITHUB_ENV } # Scoop modifies the PATH so we make the modified PATH global. - echo "::set-env name=PATH::$env:PATH" + echo "$env:PATH" >> $GITHUB_PATH - name: Build (Windows) if: runner.os == 'Windows' run: | diff --git a/.github/workflows/trigger-python.yml b/.github/workflows/trigger-python.yml index 94527e732..1e8981d99 100644 --- a/.github/workflows/trigger-python.yml +++ b/.github/workflows/trigger-python.yml @@ -1,11 +1,11 @@ -# This triggers Cython builds on `gtsam-manylinux-build` +# This triggers Python builds on `gtsam-manylinux-build` name: Trigger Python Builds on: push: branches: - develop jobs: - triggerCython: + triggerPython: runs-on: ubuntu-latest steps: - name: Repository Dispatch @@ -13,5 +13,5 @@ jobs: with: token: ${{ secrets.PYTHON_CI_REPO_ACCESS_TOKEN }} repository: borglab/gtsam-manylinux-build - event-type: cython-wrapper + event-type: python-wrapper client-payload: '{"ref": "${{ github.ref }}", "sha": "${{ github.sha }}"}' diff --git a/.gitignore b/.gitignore index c2d6ce60f..cde059767 100644 --- a/.gitignore +++ b/.gitignore @@ -9,12 +9,6 @@ *.txt.user *.txt.user.6d59f0c *.pydevproject -cython/venv -cython/gtsam.cpp -cython/gtsam.cpython-35m-darwin.so -cython/gtsam.pyx -cython/gtsam.so -cython/gtsam_wrapper.pxd .vscode .env /.vs/ diff --git a/CMakeLists.txt b/CMakeLists.txt index 644058604..35c487fd3 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -22,17 +22,10 @@ set (CMAKE_PROJECT_VERSION_PATCH ${GTSAM_VERSION_PATCH}) ############################################################################### # Gather information, perform checks, set defaults -# Set the default install path to home -#set (CMAKE_INSTALL_PREFIX ${HOME} CACHE PATH "Install prefix for library") - set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake") include(GtsamMakeConfigFile) include(GNUInstallDirs) -# Record the root dir for gtsam - needed during external builds, e.g., ROS -set(GTSAM_SOURCE_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR}) -message(STATUS "GTSAM_SOURCE_ROOT_DIR: [${GTSAM_SOURCE_ROOT_DIR}]") - # Load build type flags and default to Debug mode include(GtsamBuildTypes) @@ -45,406 +38,21 @@ if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_BINARY_DIR}) message(FATAL_ERROR "In-source builds not allowed. Please make a new directory (called a build directory) and run CMake from there. You may need to remove CMakeCache.txt. ") endif() -# See whether gtsam_unstable is available (it will be present only if we're using a git checkout) -if(EXISTS "${PROJECT_SOURCE_DIR}/gtsam_unstable" AND IS_DIRECTORY "${PROJECT_SOURCE_DIR}/gtsam_unstable") - set(GTSAM_UNSTABLE_AVAILABLE 1) -else() - set(GTSAM_UNSTABLE_AVAILABLE 0) -endif() - -# ---------------------------------------------------------------------------- -# Uninstall target, for "make uninstall" -# ---------------------------------------------------------------------------- -configure_file( - "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_uninstall.cmake.in" - "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake" - IMMEDIATE @ONLY) - -add_custom_target(uninstall - "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake") - - -############################################################################### -# Set up options - -# Configurable Options -if(GTSAM_UNSTABLE_AVAILABLE) - option(GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" ON) - option(GTSAM_UNSTABLE_BUILD_PYTHON "Enable/Disable Python wrapper for libgtsam_unstable" ON) - option(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX "Enable/Disable MATLAB wrapper for libgtsam_unstable" OFF) -endif() -option(BUILD_SHARED_LIBS "Build shared gtsam library, instead of static" ON) -option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF) -option(GTSAM_POSE3_EXPMAP "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." ON) -option(GTSAM_ROT3_EXPMAP "Ignore if GTSAM_USE_QUATERNIONS is OFF (Rot3::EXPMAP by default). Otherwise, enable Rot3::EXPMAP, or if disabled, use Rot3::CAYLEY." ON) -option(GTSAM_ENABLE_CONSISTENCY_CHECKS "Enable/Disable expensive consistency checks" OFF) -option(GTSAM_WITH_TBB "Use Intel Threaded Building Blocks (TBB) if available" ON) -option(GTSAM_WITH_EIGEN_MKL "Eigen will use Intel MKL if available" OFF) -option(GTSAM_WITH_EIGEN_MKL_OPENMP "Eigen, when using Intel MKL, will also use OpenMP for multithreading if available" OFF) -option(GTSAM_THROW_CHEIRALITY_EXCEPTION "Throw exception when a triangulated point is behind a camera" ON) -option(GTSAM_BUILD_PYTHON "Enable/Disable building & installation of Python module with pybind11" OFF) -option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" OFF) -option(GTSAM_ALLOW_DEPRECATED_SINCE_V41 "Allow use of methods/functions deprecated in GTSAM 4.1" ON) -option(GTSAM_SUPPORT_NESTED_DISSECTION "Support Metis-based nested dissection" ON) -option(GTSAM_TANGENT_PREINTEGRATION "Use new ImuFactor with integration on tangent space" ON) -if(NOT MSVC AND NOT XCODE_VERSION) - option(GTSAM_BUILD_WITH_CCACHE "Use ccache compiler cache" ON) -endif() - -if(NOT MSVC AND NOT XCODE_VERSION) - # Set the build type to upper case for downstream use - string(TOUPPER "${CMAKE_BUILD_TYPE}" CMAKE_BUILD_TYPE_UPPER) - - # Set the GTSAM_BUILD_TAG variable. - # If build type is Release, set to blank (""), else set to the build type. - if(${CMAKE_BUILD_TYPE_UPPER} STREQUAL "RELEASE") - set(GTSAM_BUILD_TAG "") # Don't create release mode tag on installed directory - else() - set(GTSAM_BUILD_TAG "${CMAKE_BUILD_TYPE}") - endif() -endif() - - -# Check / set dependent variables for MATLAB wrapper -if(GTSAM_INSTALL_MATLAB_TOOLBOX) - find_package(Matlab COMPONENTS MEX_COMPILER REQUIRED) - if(NOT Matlab_MEX_COMPILER) - message(FATAL_ERROR "Cannot find MEX compiler binary. Please check your Matlab installation and ensure MEX in installed as well.") - endif() - - if(GTSAM_BUILD_TYPE_POSTFIXES) - set(CURRENT_POSTFIX ${CMAKE_${CMAKE_BUILD_TYPE_UPPER}_POSTFIX}) - endif() - - if(NOT BUILD_SHARED_LIBS) - message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX and BUILD_SHARED_LIBS=OFF. The MATLAB wrapper cannot be compiled with a static GTSAM library because mex modules are themselves shared libraries. If you want a self-contained mex module, enable GTSAM_MEX_BUILD_STATIC_MODULE instead of BUILD_SHARED_LIBS=OFF.") - endif() -endif() - - -set(GTSAM_PYTHON_VERSION "Default" CACHE STRING "The version of Python to build the wrappers against.") - -if(GTSAM_BUILD_PYTHON) - # Get info about the Python3 interpreter - # https://cmake.org/cmake/help/latest/module/FindPython3.html#module:FindPython3 - find_package(Python3 COMPONENTS Interpreter Development) - - if(NOT ${Python3_FOUND}) - message(FATAL_ERROR "Cannot find Python3 interpreter. Please install Python >= 3.6.") - endif() - - if(${GTSAM_PYTHON_VERSION} STREQUAL "Default") - set(GTSAM_PYTHON_VERSION "${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}" - CACHE - STRING - "The version of Python to build the wrappers against." - FORCE) - endif() - - if(GTSAM_UNSTABLE_BUILD_PYTHON) - if (NOT GTSAM_BUILD_UNSTABLE) - message(WARNING "GTSAM_UNSTABLE_BUILD_PYTHON requires the unstable module to be enabled.") - set(GTSAM_UNSTABLE_BUILD_PYTHON OFF) - endif() - endif() - - set(GTSAM_PY_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/python") -endif() - -# Flags for choosing default packaging tools -set(CPACK_SOURCE_GENERATOR "TGZ" CACHE STRING "CPack Default Source Generator") -set(CPACK_GENERATOR "TGZ" CACHE STRING "CPack Default Binary Generator") - -if (CMAKE_GENERATOR STREQUAL "Ninja" AND - ((CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 4.9) OR - (CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 3.5))) - # Force colored warnings in Ninja's output, if the compiler has -fdiagnostics-color support. - # Rationale in https://github.com/ninja-build/ninja/issues/814 - add_compile_options(-fdiagnostics-color=always) -endif() - -############################################################################### -# Find boost - -# To change the path for boost, you will need to set: -# BOOST_ROOT: path to install prefix for boost -# Boost_NO_SYSTEM_PATHS: set to true to keep the find script from ignoring BOOST_ROOT - -if(MSVC) - # By default, boost only builds static libraries on windows - set(Boost_USE_STATIC_LIBS ON) # only find static libs - # If we ever reset above on windows and, ... - # If we use Boost shared libs, disable auto linking. - # Some libraries, at least Boost Program Options, rely on this to export DLL symbols. - if(NOT Boost_USE_STATIC_LIBS) - list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC BOOST_ALL_NO_LIB BOOST_ALL_DYN_LINK) - endif() - # Virtual memory range for PCH exceeded on VS2015 - if(MSVC_VERSION LESS 1910) # older than VS2017 - list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Zm295) - endif() -endif() - -# If building DLLs in MSVC, we need to avoid EIGEN_STATIC_ASSERT() -# or explicit instantiation will generate build errors. -# See: https://bitbucket.org/gtborg/gtsam/issues/417/fail-to-build-on-msvc-2017 -# -if(MSVC AND BUILD_SHARED_LIBS) - list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT) -endif() - -# Store these in variables so they are automatically replicated in GTSAMConfig.cmake and such. -set(BOOST_FIND_MINIMUM_VERSION 1.58) -set(BOOST_FIND_MINIMUM_COMPONENTS serialization system filesystem thread program_options date_time timer chrono regex) - -find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} COMPONENTS ${BOOST_FIND_MINIMUM_COMPONENTS}) - -# Required components -if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR - NOT Boost_THREAD_LIBRARY OR NOT Boost_DATE_TIME_LIBRARY) - message(FATAL_ERROR "Missing required Boost components >= v1.58, please install/upgrade Boost or configure your search paths.") -endif() - -option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF) -# Allow for not using the timer libraries on boost < 1.48 (GTSAM timing code falls back to old timer library) -set(GTSAM_BOOST_LIBRARIES - Boost::serialization - Boost::system - Boost::filesystem - Boost::thread - Boost::date_time - Boost::regex -) -if (GTSAM_DISABLE_NEW_TIMERS) - message("WARNING: GTSAM timing instrumentation manually disabled") - list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC DGTSAM_DISABLE_NEW_TIMERS) -else() - if(Boost_TIMER_LIBRARY) - list(APPEND GTSAM_BOOST_LIBRARIES Boost::timer Boost::chrono) - else() - list(APPEND GTSAM_BOOST_LIBRARIES rt) # When using the header-only boost timer library, need -lrt - message("WARNING: GTSAM timing instrumentation will use the older, less accurate, Boost timer library because boost older than 1.48 was found.") - endif() -endif() - -############################################################################### -# Find TBB -find_package(TBB 4.4 COMPONENTS tbb tbbmalloc) - -# Set up variables if we're using TBB -if(TBB_FOUND AND GTSAM_WITH_TBB) - set(GTSAM_USE_TBB 1) # This will go into config.h - if ((${TBB_VERSION_MAJOR} GREATER 2020) OR (${TBB_VERSION_MAJOR} EQUAL 2020)) - set(TBB_GREATER_EQUAL_2020 1) - else() - set(TBB_GREATER_EQUAL_2020 0) - endif() - # all definitions and link requisites will go via imported targets: - # tbb & tbbmalloc - list(APPEND GTSAM_ADDITIONAL_LIBRARIES tbb tbbmalloc) -else() - set(GTSAM_USE_TBB 0) # This will go into config.h -endif() - -############################################################################### -# Prohibit Timing build mode in combination with TBB -if(GTSAM_USE_TBB AND (CMAKE_BUILD_TYPE STREQUAL "Timing")) - message(FATAL_ERROR "Timing build mode cannot be used together with TBB. Use a sampling profiler such as Instruments or Intel VTune Amplifier instead.") -endif() - - -############################################################################### -# Find Google perftools -find_package(GooglePerfTools) - -############################################################################### -# Support ccache, if installed -if(NOT MSVC AND NOT XCODE_VERSION) - find_program(CCACHE_FOUND ccache) - if(CCACHE_FOUND) - if(GTSAM_BUILD_WITH_CCACHE) - set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache) - set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK ccache) - else() - set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "") - set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK "") - endif() - endif(CCACHE_FOUND) -endif() - -############################################################################### -# Find MKL -find_package(MKL) - -if(MKL_FOUND AND GTSAM_WITH_EIGEN_MKL) - set(GTSAM_USE_EIGEN_MKL 1) # This will go into config.h - set(EIGEN_USE_MKL_ALL 1) # This will go into config.h - it makes Eigen use MKL - list(APPEND GTSAM_ADDITIONAL_LIBRARIES ${MKL_LIBRARIES}) - - # --no-as-needed is required with gcc according to the MKL link advisor - if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") - set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--no-as-needed") - endif() -else() - set(GTSAM_USE_EIGEN_MKL 0) - set(EIGEN_USE_MKL_ALL 0) -endif() - -############################################################################### -# Find OpenMP (if we're also using MKL) -find_package(OpenMP) # do this here to generate correct message if disabled - -if(GTSAM_WITH_EIGEN_MKL AND GTSAM_WITH_EIGEN_MKL_OPENMP AND GTSAM_USE_EIGEN_MKL) - if(OPENMP_FOUND AND GTSAM_USE_EIGEN_MKL AND GTSAM_WITH_EIGEN_MKL_OPENMP) - set(GTSAM_USE_EIGEN_MKL_OPENMP 1) # This will go into config.h - list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC ${OpenMP_CXX_FLAGS}) - endif() -endif() - - -############################################################################### -# Option for using system Eigen or GTSAM-bundled Eigen -### These patches only affect usage of MKL. If you want to enable MKL, you *must* -### use our patched version of Eigen -### See: http://eigen.tuxfamily.org/bz/show_bug.cgi?id=704 (Householder QR MKL selection) -### http://eigen.tuxfamily.org/bz/show_bug.cgi?id=705 (Fix MKL LLT return code) -option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF) -option(GTSAM_WITH_EIGEN_UNSUPPORTED "Install Eigen's unsupported modules" OFF) - -# Switch for using system Eigen or GTSAM-bundled Eigen -if(GTSAM_USE_SYSTEM_EIGEN) - find_package(Eigen3 REQUIRED) - - # Use generic Eigen include paths e.g. - set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "${EIGEN3_INCLUDE_DIR}") - - # check if MKL is also enabled - can have one or the other, but not both! - # Note: Eigen >= v3.2.5 includes our patches - if(EIGEN_USE_MKL_ALL AND (EIGEN3_VERSION VERSION_LESS 3.2.5)) - message(FATAL_ERROR "MKL requires at least Eigen 3.2.5, and your system appears to have an older version. Disable GTSAM_USE_SYSTEM_EIGEN to use GTSAM's copy of Eigen, or disable GTSAM_WITH_EIGEN_MKL") - endif() - - # Check for Eigen version which doesn't work with MKL - # See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1527 for details. - if(EIGEN_USE_MKL_ALL AND (EIGEN3_VERSION VERSION_EQUAL 3.3.4)) - message(FATAL_ERROR "MKL does not work with Eigen 3.3.4 because of a bug in Eigen. See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1527. Disable GTSAM_USE_SYSTEM_EIGEN to use GTSAM's copy of Eigen, disable GTSAM_WITH_EIGEN_MKL, or upgrade/patch your installation of Eigen.") - endif() - - # The actual include directory (for BUILD cmake target interface): - set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${EIGEN3_INCLUDE_DIR}") -else() - # Use bundled Eigen include path. - # Clear any variables set by FindEigen3 - if(EIGEN3_INCLUDE_DIR) - set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE) - endif() - - # set full path to be used by external projects - # this will be added to GTSAM_INCLUDE_DIR by gtsam_extra.cmake.in - set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "include/gtsam/3rdparty/Eigen/") - - # The actual include directory (for BUILD cmake target interface): - set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${CMAKE_SOURCE_DIR}/gtsam/3rdparty/Eigen/") -endif() - -# Detect Eigen version: -set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h") -if (EXISTS ${EIGEN_VER_H}) - file(READ "${EIGEN_VER_H}" STR_EIGEN_VERSION) - - # Extract the Eigen version from the Macros.h file, lines "#define EIGEN_WORLD_VERSION XX", etc... - - string(REGEX MATCH "EIGEN_WORLD_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${STR_EIGEN_VERSION}") - string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${GTSAM_EIGEN_VERSION_WORLD}") - - string(REGEX MATCH "EIGEN_MAJOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${STR_EIGEN_VERSION}") - string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${GTSAM_EIGEN_VERSION_MAJOR}") - - string(REGEX MATCH "EIGEN_MINOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${STR_EIGEN_VERSION}") - string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${GTSAM_EIGEN_VERSION_MINOR}") - - set(GTSAM_EIGEN_VERSION "${GTSAM_EIGEN_VERSION_WORLD}.${GTSAM_EIGEN_VERSION_MAJOR}.${GTSAM_EIGEN_VERSION_MINOR}") - - message(STATUS "Found Eigen version: ${GTSAM_EIGEN_VERSION}") -else() - message(WARNING "Cannot determine Eigen version, missing file: `${EIGEN_VER_H}`") -endif () - -if (MSVC) - if (BUILD_SHARED_LIBS) - # mute eigen static assert to avoid errors in shared lib - list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT) - endif() - list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE "/wd4244") # Disable loss of precision which is thrown all over our Eigen -endif() - -if (APPLE AND BUILD_SHARED_LIBS) - # Set the default install directory on macOS - set(CMAKE_INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib") -endif() - -############################################################################### -# Global compile options - -# Build list of possible allocators -set(possible_allocators "") -if(GTSAM_USE_TBB) - list(APPEND possible_allocators TBB) - set(preferred_allocator TBB) -else() - list(APPEND possible_allocators BoostPool STL) - set(preferred_allocator STL) -endif() -if(GOOGLE_PERFTOOLS_FOUND) - list(APPEND possible_allocators tcmalloc) -endif() - -# Check if current allocator choice is valid and set cache option -list(FIND possible_allocators "${GTSAM_DEFAULT_ALLOCATOR}" allocator_valid) -if(allocator_valid EQUAL -1) - set(GTSAM_DEFAULT_ALLOCATOR ${preferred_allocator} CACHE STRING "Default allocator" FORCE) -else() - set(GTSAM_DEFAULT_ALLOCATOR ${preferred_allocator} CACHE STRING "Default allocator") -endif() -set_property(CACHE GTSAM_DEFAULT_ALLOCATOR PROPERTY STRINGS ${possible_allocators}) -mark_as_advanced(GTSAM_DEFAULT_ALLOCATOR) - -# Define compile flags depending on allocator -if("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "BoostPool") - set(GTSAM_ALLOCATOR_BOOSTPOOL 1) -elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "STL") - set(GTSAM_ALLOCATOR_STL 1) -elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "TBB") - set(GTSAM_ALLOCATOR_TBB 1) -elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "tcmalloc") - set(GTSAM_ALLOCATOR_STL 1) # tcmalloc replaces malloc, so to use it we use the STL allocator - list(APPEND GTSAM_ADDITIONAL_LIBRARIES "tcmalloc") -endif() - -if(MSVC) - list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE _CRT_SECURE_NO_WARNINGS _SCL_SECURE_NO_WARNINGS) - list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE /wd4251 /wd4275 /wd4251 /wd4661 /wd4344 /wd4503) # Disable non-DLL-exported base class and other warnings - list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE /bigobj) # Allow large object files for template-based code -endif() - -# GCC 4.8+ complains about local typedefs which we use for shared_ptr etc. -if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") - if (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 4.8) - list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Wno-unused-local-typedefs) - endif() -endif() - -# As of XCode 7, clang also complains about this -if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang") - if (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 7.0) - list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Wno-unused-local-typedefs) - endif() -endif() - -if(GTSAM_ENABLE_CONSISTENCY_CHECKS) - # This should be made PUBLIC if GTSAM_EXTRA_CONSISTENCY_CHECKS is someday used in a public .h - list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE GTSAM_EXTRA_CONSISTENCY_CHECKS) -endif() +include(cmake/HandleBoost.cmake) # Boost +include(cmake/HandleCCache.cmake) # ccache +include(cmake/HandleCPack.cmake) # CPack +include(cmake/HandleEigen.cmake) # Eigen3 +include(cmake/HandleGeneralOptions.cmake) # CMake build options +include(cmake/HandleMKL.cmake) # MKL +include(cmake/HandleOpenMP.cmake) # OpenMP +include(cmake/HandlePerfTools.cmake) # Google perftools +include(cmake/HandlePython.cmake) # Python options and commands +include(cmake/HandleTBB.cmake) # TBB +include(cmake/HandleUninstall.cmake) # for "make uninstall" + +include(cmake/HandleAllocators.cmake) # Must be after tbb, pertools + +include(cmake/HandleGlobalBuildFlags.cmake) # Build flags ############################################################################### # Add components @@ -484,7 +92,6 @@ endif() GtsamMakeConfigFile(GTSAM "${CMAKE_CURRENT_SOURCE_DIR}/gtsam_extra.cmake.in") export(TARGETS ${GTSAM_EXPORTED_TARGETS} FILE GTSAM-exports.cmake) - # Check for doxygen availability - optional dependency find_package(Doxygen) @@ -496,146 +103,11 @@ endif() # CMake Tools add_subdirectory(cmake) - -############################################################################### -# Set up CPack -set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "GTSAM") -set(CPACK_PACKAGE_VENDOR "Frank Dellaert, Georgia Institute of Technology") -set(CPACK_PACKAGE_CONTACT "Frank Dellaert, dellaert@cc.gatech.edu") -set(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_CURRENT_SOURCE_DIR}/README.md") -set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE") -set(CPACK_PACKAGE_VERSION_MAJOR ${GTSAM_VERSION_MAJOR}) -set(CPACK_PACKAGE_VERSION_MINOR ${GTSAM_VERSION_MINOR}) -set(CPACK_PACKAGE_VERSION_PATCH ${GTSAM_VERSION_PATCH}) -set(CPACK_PACKAGE_INSTALL_DIRECTORY "CMake ${CMake_VERSION_MAJOR}.${CMake_VERSION_MINOR}") -#set(CPACK_INSTALLED_DIRECTORIES "doc;.") # Include doc directory -#set(CPACK_INSTALLED_DIRECTORIES ".") # FIXME: throws error -set(CPACK_SOURCE_IGNORE_FILES "/build*;/\\\\.;/makestats.sh$") -set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/gtsam_unstable/") -set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/package_scripts/") -set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}") -#set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-aspn${GTSAM_VERSION_PATCH}") # Used for creating ASPN tarballs - -# Deb-package specific cpack -set(CPACK_DEBIAN_PACKAGE_NAME "libgtsam-dev") -set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.58)") #Example: "libc6 (>= 2.3.1-6), libgcc1 (>= 1:3.4.2-12)") - - -############################################################################### # Print configuration variables -message(STATUS "===============================================================") -message(STATUS "================ Configuration Options ======================") -print_config("CMAKE_CXX_COMPILER_ID type" "${CMAKE_CXX_COMPILER_ID}") -print_config("CMAKE_CXX_COMPILER_VERSION" "${CMAKE_CXX_COMPILER_VERSION}") -print_config("CMake version" "${CMAKE_VERSION}") -print_config("CMake generator" "${CMAKE_GENERATOR}") -print_config("CMake build tool" "${CMAKE_BUILD_TOOL}") -message(STATUS "Build flags ") -print_enabled_config(${GTSAM_BUILD_TESTS} "Build Tests") -print_enabled_config(${GTSAM_BUILD_EXAMPLES_ALWAYS} "Build examples with 'make all'") -print_enabled_config(${GTSAM_BUILD_TIMING_ALWAYS} "Build timing scripts with 'make all'") -if (DOXYGEN_FOUND) - print_enabled_config(${GTSAM_BUILD_DOCS} "Build Docs") -endif() -print_enabled_config(${BUILD_SHARED_LIBS} "Build shared GTSAM libraries") -print_enabled_config(${GTSAM_BUILD_TYPE_POSTFIXES} "Put build type in library name") -if(GTSAM_UNSTABLE_AVAILABLE) - print_enabled_config(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ") - print_enabled_config(${GTSAM_UNSTABLE_BUILD_PYTHON} "Build GTSAM unstable Python ") - print_enabled_config(${GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX} "Build MATLAB Toolbox for unstable") -endif() - -if(NOT MSVC AND NOT XCODE_VERSION) - print_enabled_config(${GTSAM_BUILD_WITH_MARCH_NATIVE} "Build for native architecture ") - print_config("Build type" "${CMAKE_BUILD_TYPE}") - print_config("C compilation flags" "${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${CMAKE_BUILD_TYPE_UPPER}}") - print_config("C++ compilation flags" "${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${CMAKE_BUILD_TYPE_UPPER}}") -endif() - -print_build_options_for_target(gtsam) - -print_config("Use System Eigen" "${GTSAM_USE_SYSTEM_EIGEN} (Using version: ${GTSAM_EIGEN_VERSION})") - -if(GTSAM_USE_TBB) - print_config("Use Intel TBB" "Yes (Version: ${TBB_VERSION})") -elseif(TBB_FOUND) - print_config("Use Intel TBB" "TBB (Version: ${TBB_VERSION}) found but GTSAM_WITH_TBB is disabled") -else() - print_config("Use Intel TBB" "TBB not found") -endif() -if(GTSAM_USE_EIGEN_MKL) - print_config("Eigen will use MKL" "Yes") -elseif(MKL_FOUND) - print_config("Eigen will use MKL" "MKL found but GTSAM_WITH_EIGEN_MKL is disabled") -else() - print_config("Eigen will use MKL" "MKL not found") -endif() -if(GTSAM_USE_EIGEN_MKL_OPENMP) - print_config("Eigen will use MKL and OpenMP" "Yes") -elseif(OPENMP_FOUND AND NOT GTSAM_WITH_EIGEN_MKL) - print_config("Eigen will use MKL and OpenMP" "OpenMP found but GTSAM_WITH_EIGEN_MKL is disabled") -elseif(OPENMP_FOUND AND NOT MKL_FOUND) - print_config("Eigen will use MKL and OpenMP" "OpenMP found but MKL not found") -elseif(OPENMP_FOUND) - print_config("Eigen will use MKL and OpenMP" "OpenMP found but GTSAM_WITH_EIGEN_MKL_OPENMP is disabled") -else() - print_config("Eigen will use MKL and OpenMP" "OpenMP not found") -endif() -print_config("Default allocator" "${GTSAM_DEFAULT_ALLOCATOR}") - -if(GTSAM_THROW_CHEIRALITY_EXCEPTION) - print_config("Cheirality exceptions enabled" "YES") -else() - print_config("Cheirality exceptions enabled" "NO") -endif() - -if(NOT MSVC AND NOT XCODE_VERSION) - if(CCACHE_FOUND AND GTSAM_BUILD_WITH_CCACHE) - print_config("Build with ccache" "Yes") - elseif(CCACHE_FOUND) - print_config("Build with ccache" "ccache found but GTSAM_BUILD_WITH_CCACHE is disabled") - else() - print_config("Build with ccache" "No") - endif() -endif() - -message(STATUS "Packaging flags") -print_config("CPack Source Generator" "${CPACK_SOURCE_GENERATOR}") -print_config("CPack Generator" "${CPACK_GENERATOR}") - -message(STATUS "GTSAM flags ") -print_enabled_config(${GTSAM_USE_QUATERNIONS} "Quaternions as default Rot3 ") -print_enabled_config(${GTSAM_ENABLE_CONSISTENCY_CHECKS} "Runtime consistency checking ") -print_enabled_config(${GTSAM_ROT3_EXPMAP} "Rot3 retract is full ExpMap ") -print_enabled_config(${GTSAM_POSE3_EXPMAP} "Pose3 retract is full ExpMap ") -print_enabled_config(${GTSAM_ALLOW_DEPRECATED_SINCE_V41} "Allow features deprecated in GTSAM 4.1") -print_enabled_config(${GTSAM_SUPPORT_NESTED_DISSECTION} "Metis-based Nested Dissection ") -print_enabled_config(${GTSAM_TANGENT_PREINTEGRATION} "Use tangent-space preintegration") - -message(STATUS "MATLAB toolbox flags") -print_enabled_config(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install MATLAB toolbox ") -if (${GTSAM_INSTALL_MATLAB_TOOLBOX}) - print_config("MATLAB root" "${MATLAB_ROOT}") - print_config("MEX binary" "${MEX_COMMAND}") -endif() -message(STATUS "Python toolbox flags ") -print_enabled_config(${GTSAM_BUILD_PYTHON} "Build Python module with pybind ") -if(GTSAM_BUILD_PYTHON) - print_config("Python version" ${GTSAM_PYTHON_VERSION}) -endif() - -message(STATUS "===============================================================") +include(cmake/HandlePrintConfiguration.cmake) # Print warnings at the end -if(GTSAM_WITH_TBB AND NOT TBB_FOUND) - message(WARNING "TBB 4.4 or newer was not found - this is ok, but note that GTSAM parallelization will be disabled. Set GTSAM_WITH_TBB to 'Off' to avoid this warning.") -endif() -if(GTSAM_WITH_EIGEN_MKL AND NOT MKL_FOUND) - message(WARNING "MKL was not found - this is ok, but note that MKL will be disabled. Set GTSAM_WITH_EIGEN_MKL to 'Off' to disable this warning. See INSTALL.md for notes on performance.") -endif() -if(GTSAM_WITH_EIGEN_MKL_OPENMP AND NOT OPENMP_FOUND AND MKL_FOUND) - message(WARNING "Your compiler does not support OpenMP. Set GTSAM_WITH_EIGEN_MKL_OPENMP to 'Off' to avoid this warning. See INSTALL.md for notes on performance.") -endif() +include(cmake/HandleFinalChecks.cmake) # Include CPack *after* all flags include(CPack) diff --git a/INSTALL.md b/INSTALL.md index cf66766a1..3dbc3a850 100644 --- a/INSTALL.md +++ b/INSTALL.md @@ -173,7 +173,7 @@ NOTE: If _GLIBCXX_DEBUG is used to compile gtsam, anything that links against g Intel has a guide for installing MKL on Linux through APT repositories at . After following the instructions, add the following to your `~/.bashrc` (and afterwards, open a new terminal before compiling GTSAM): -`LD_PRELOAD` need only be set if you are building the cython wrapper to use GTSAM from python. +`LD_PRELOAD` need only be set if you are building the python wrapper to use GTSAM from python. ```sh source /opt/intel/mkl/bin/mklvars.sh intel64 export LD_PRELOAD="$LD_PRELOAD:/opt/intel/mkl/lib/intel64/libmkl_core.so:/opt/intel/mkl/lib/intel64/libmkl_sequential.so" @@ -190,6 +190,6 @@ Failing to specify `LD_PRELOAD` may lead to errors such as: `ImportError: /opt/intel/mkl/lib/intel64/libmkl_vml_avx2.so: undefined symbol: mkl_serv_getenv` or `Intel MKL FATAL ERROR: Cannot load libmkl_avx2.so or libmkl_def.so.` -when importing GTSAM using the cython wrapper in python. +when importing GTSAM using the python wrapper. diff --git a/cmake/CMakeLists.txt b/cmake/CMakeLists.txt index 9d9ecd48b..451ca38a4 100644 --- a/cmake/CMakeLists.txt +++ b/cmake/CMakeLists.txt @@ -19,7 +19,6 @@ install(FILES GtsamMatlabWrap.cmake GtsamTesting.cmake GtsamPrinting.cmake - FindCython.cmake FindNumPy.cmake README.html DESTINATION "${SCRIPT_INSTALL_DIR}/GTSAMCMakeTools") diff --git a/cmake/FindCython.cmake b/cmake/FindCython.cmake deleted file mode 100644 index e5a32c30d..000000000 --- a/cmake/FindCython.cmake +++ /dev/null @@ -1,81 +0,0 @@ -# Modifed from: https://github.com/nest/nest-simulator/blob/master/cmake/FindCython.cmake -# -# Find the Cython compiler. -# -# This code sets the following variables: -# -# CYTHON_FOUND -# CYTHON_PATH -# CYTHON_EXECUTABLE -# CYTHON_VERSION -# -# See also UseCython.cmake - -#============================================================================= -# Copyright 2011 Kitware, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -#============================================================================= - -# Use the Cython executable that lives next to the Python executable -# if it is a local installation. -if(GTSAM_PYTHON_VERSION STREQUAL "Default") - find_package(PythonInterp) -else() - find_package(PythonInterp ${GTSAM_PYTHON_VERSION} EXACT) -endif() - -if ( PYTHONINTERP_FOUND ) - execute_process( COMMAND "${PYTHON_EXECUTABLE}" "-c" - "import Cython; print(Cython.__path__[0])" - RESULT_VARIABLE RESULT - OUTPUT_VARIABLE CYTHON_PATH - OUTPUT_STRIP_TRAILING_WHITESPACE - ) -endif () - -# RESULT=0 means ok -if ( NOT RESULT ) - get_filename_component( _python_path ${PYTHON_EXECUTABLE} PATH ) - find_program( CYTHON_EXECUTABLE - NAMES cython cython.bat cython3 - HINTS ${_python_path} - ) -endif () - -# RESULT=0 means ok -if ( NOT RESULT ) - execute_process( COMMAND "${PYTHON_EXECUTABLE}" "-c" - "import Cython; print(Cython.__version__)" - RESULT_VARIABLE RESULT - OUTPUT_VARIABLE CYTHON_VAR_OUTPUT - ERROR_VARIABLE CYTHON_VAR_OUTPUT - OUTPUT_STRIP_TRAILING_WHITESPACE - ) - if ( RESULT EQUAL 0 ) - string( REGEX REPLACE ".* ([0-9]+\\.[0-9]+(\\.[0-9]+)?).*" "\\1" - CYTHON_VERSION "${CYTHON_VAR_OUTPUT}" ) - endif () -endif () - -include( FindPackageHandleStandardArgs ) -find_package_handle_standard_args( Cython - FOUND_VAR - CYTHON_FOUND - REQUIRED_VARS - CYTHON_PATH - CYTHON_EXECUTABLE - VERSION_VAR - CYTHON_VERSION - ) - diff --git a/cmake/GtsamBuildTypes.cmake b/cmake/GtsamBuildTypes.cmake index 53dacd3f5..3155161be 100644 --- a/cmake/GtsamBuildTypes.cmake +++ b/cmake/GtsamBuildTypes.cmake @@ -1,3 +1,5 @@ +include(CheckCXXCompilerFlag) # for check_cxx_compiler_flag() + # Set cmake policy to recognize the AppleClang compiler # independently from the Clang compiler. if(POLICY CMP0025) @@ -105,11 +107,14 @@ if(MSVC) else() # Common to all configurations, next for each configuration: - if ( - ((CMAKE_CXX_COMPILER_ID MATCHES "Clang") AND (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 12.0.0)) OR - (CMAKE_CXX_COMPILER_ID MATCHES "GNU") - ) - set(flag_override_ -Wsuggest-override) # -Werror=suggest-override: Add again someday + if (NOT MSVC) + check_cxx_compiler_flag(-Wsuggest-override COMPILER_HAS_WSUGGEST_OVERRIDE) + check_cxx_compiler_flag(-Wmissing COMPILER_HAS_WMISSING_OVERRIDE) + if (COMPILER_HAS_WSUGGEST_OVERRIDE) + set(flag_override_ -Wsuggest-override) # -Werror=suggest-override: Add again someday + elseif(COMPILER_HAS_WMISSING_OVERRIDE) + set(flag_override_ -Wmissing-override) # -Werror=missing-override: Add again someday + endif() endif() set(GTSAM_COMPILE_OPTIONS_PRIVATE_COMMON @@ -263,3 +268,17 @@ function(gtsam_apply_build_flags target_name_) target_compile_options(${target_name_} PRIVATE ${GTSAM_COMPILE_OPTIONS_PRIVATE}) endfunction(gtsam_apply_build_flags) + + +if(NOT MSVC AND NOT XCODE_VERSION) + # Set the build type to upper case for downstream use + string(TOUPPER "${CMAKE_BUILD_TYPE}" CMAKE_BUILD_TYPE_UPPER) + + # Set the GTSAM_BUILD_TAG variable. + # If build type is Release, set to blank (""), else set to the build type. + if(${CMAKE_BUILD_TYPE_UPPER} STREQUAL "RELEASE") + set(GTSAM_BUILD_TAG "") # Don't create release mode tag on installed directory + else() + set(GTSAM_BUILD_TAG "${CMAKE_BUILD_TYPE}") + endif() +endif() diff --git a/cmake/HandleAllocators.cmake b/cmake/HandleAllocators.cmake new file mode 100644 index 000000000..63411b17b --- /dev/null +++ b/cmake/HandleAllocators.cmake @@ -0,0 +1,34 @@ +# Build list of possible allocators +set(possible_allocators "") +if(GTSAM_USE_TBB) + list(APPEND possible_allocators TBB) + set(preferred_allocator TBB) +else() + list(APPEND possible_allocators BoostPool STL) + set(preferred_allocator STL) +endif() +if(GOOGLE_PERFTOOLS_FOUND) + list(APPEND possible_allocators tcmalloc) +endif() + +# Check if current allocator choice is valid and set cache option +list(FIND possible_allocators "${GTSAM_DEFAULT_ALLOCATOR}" allocator_valid) +if(allocator_valid EQUAL -1) + set(GTSAM_DEFAULT_ALLOCATOR ${preferred_allocator} CACHE STRING "Default allocator" FORCE) +else() + set(GTSAM_DEFAULT_ALLOCATOR ${preferred_allocator} CACHE STRING "Default allocator") +endif() +set_property(CACHE GTSAM_DEFAULT_ALLOCATOR PROPERTY STRINGS ${possible_allocators}) +mark_as_advanced(GTSAM_DEFAULT_ALLOCATOR) + +# Define compile flags depending on allocator +if("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "BoostPool") + set(GTSAM_ALLOCATOR_BOOSTPOOL 1) +elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "STL") + set(GTSAM_ALLOCATOR_STL 1) +elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "TBB") + set(GTSAM_ALLOCATOR_TBB 1) +elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "tcmalloc") + set(GTSAM_ALLOCATOR_STL 1) # tcmalloc replaces malloc, so to use it we use the STL allocator + list(APPEND GTSAM_ADDITIONAL_LIBRARIES "tcmalloc") +endif() diff --git a/cmake/HandleBoost.cmake b/cmake/HandleBoost.cmake new file mode 100644 index 000000000..e73c2237d --- /dev/null +++ b/cmake/HandleBoost.cmake @@ -0,0 +1,56 @@ +############################################################################### +# Find boost + +# To change the path for boost, you will need to set: +# BOOST_ROOT: path to install prefix for boost +# Boost_NO_SYSTEM_PATHS: set to true to keep the find script from ignoring BOOST_ROOT + +if(MSVC) + # By default, boost only builds static libraries on windows + set(Boost_USE_STATIC_LIBS ON) # only find static libs + # If we ever reset above on windows and, ... + # If we use Boost shared libs, disable auto linking. + # Some libraries, at least Boost Program Options, rely on this to export DLL symbols. + if(NOT Boost_USE_STATIC_LIBS) + list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC BOOST_ALL_NO_LIB BOOST_ALL_DYN_LINK) + endif() + # Virtual memory range for PCH exceeded on VS2015 + if(MSVC_VERSION LESS 1910) # older than VS2017 + list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Zm295) + endif() +endif() + + +# Store these in variables so they are automatically replicated in GTSAMConfig.cmake and such. +set(BOOST_FIND_MINIMUM_VERSION 1.58) +set(BOOST_FIND_MINIMUM_COMPONENTS serialization system filesystem thread program_options date_time timer chrono regex) + +find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} COMPONENTS ${BOOST_FIND_MINIMUM_COMPONENTS}) + +# Required components +if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR + NOT Boost_THREAD_LIBRARY OR NOT Boost_DATE_TIME_LIBRARY) + message(FATAL_ERROR "Missing required Boost components >= v1.58, please install/upgrade Boost or configure your search paths.") +endif() + +option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF) +# Allow for not using the timer libraries on boost < 1.48 (GTSAM timing code falls back to old timer library) +set(GTSAM_BOOST_LIBRARIES + Boost::serialization + Boost::system + Boost::filesystem + Boost::thread + Boost::date_time + Boost::regex +) +if (GTSAM_DISABLE_NEW_TIMERS) + message("WARNING: GTSAM timing instrumentation manually disabled") + list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC DGTSAM_DISABLE_NEW_TIMERS) +else() + if(Boost_TIMER_LIBRARY) + list(APPEND GTSAM_BOOST_LIBRARIES Boost::timer Boost::chrono) + else() + list(APPEND GTSAM_BOOST_LIBRARIES rt) # When using the header-only boost timer library, need -lrt + message("WARNING: GTSAM timing instrumentation will use the older, less accurate, Boost timer library because boost older than 1.48 was found.") + endif() +endif() diff --git a/cmake/HandleCCache.cmake b/cmake/HandleCCache.cmake new file mode 100644 index 000000000..9eabb1905 --- /dev/null +++ b/cmake/HandleCCache.cmake @@ -0,0 +1,14 @@ +############################################################################### +# Support ccache, if installed +if(NOT MSVC AND NOT XCODE_VERSION) + find_program(CCACHE_FOUND ccache) + if(CCACHE_FOUND) + if(GTSAM_BUILD_WITH_CCACHE) + set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache) + set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK ccache) + else() + set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "") + set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK "") + endif() + endif(CCACHE_FOUND) +endif() diff --git a/cmake/HandleCPack.cmake b/cmake/HandleCPack.cmake new file mode 100644 index 000000000..1c32433a4 --- /dev/null +++ b/cmake/HandleCPack.cmake @@ -0,0 +1,28 @@ +#JLBC: is all this actually used by someone? could it be removed? + +# Flags for choosing default packaging tools +set(CPACK_SOURCE_GENERATOR "TGZ" CACHE STRING "CPack Default Source Generator") +set(CPACK_GENERATOR "TGZ" CACHE STRING "CPack Default Binary Generator") + +############################################################################### +# Set up CPack +set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "GTSAM") +set(CPACK_PACKAGE_VENDOR "Frank Dellaert, Georgia Institute of Technology") +set(CPACK_PACKAGE_CONTACT "Frank Dellaert, dellaert@cc.gatech.edu") +set(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_CURRENT_SOURCE_DIR}/README.md") +set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE") +set(CPACK_PACKAGE_VERSION_MAJOR ${GTSAM_VERSION_MAJOR}) +set(CPACK_PACKAGE_VERSION_MINOR ${GTSAM_VERSION_MINOR}) +set(CPACK_PACKAGE_VERSION_PATCH ${GTSAM_VERSION_PATCH}) +set(CPACK_PACKAGE_INSTALL_DIRECTORY "CMake ${CMake_VERSION_MAJOR}.${CMake_VERSION_MINOR}") +#set(CPACK_INSTALLED_DIRECTORIES "doc;.") # Include doc directory +#set(CPACK_INSTALLED_DIRECTORIES ".") # FIXME: throws error +set(CPACK_SOURCE_IGNORE_FILES "/build*;/\\\\.;/makestats.sh$") +set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/gtsam_unstable/") +set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/package_scripts/") +set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}") +#set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-aspn${GTSAM_VERSION_PATCH}") # Used for creating ASPN tarballs + +# Deb-package specific cpack +set(CPACK_DEBIAN_PACKAGE_NAME "libgtsam-dev") +set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.58)") #Example: "libc6 (>= 2.3.1-6), libgcc1 (>= 1:3.4.2-12)") diff --git a/cmake/HandleEigen.cmake b/cmake/HandleEigen.cmake new file mode 100644 index 000000000..fda441907 --- /dev/null +++ b/cmake/HandleEigen.cmake @@ -0,0 +1,77 @@ +############################################################################### +# Option for using system Eigen or GTSAM-bundled Eigen + +option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF) + +if(NOT GTSAM_USE_SYSTEM_EIGEN) + # This option only makes sense if using the embedded copy of Eigen, it is + # used to decide whether to *install* the "unsupported" module: + option(GTSAM_WITH_EIGEN_UNSUPPORTED "Install Eigen's unsupported modules" OFF) +endif() + +# Switch for using system Eigen or GTSAM-bundled Eigen +if(GTSAM_USE_SYSTEM_EIGEN) + find_package(Eigen3 REQUIRED) + + # Use generic Eigen include paths e.g. + set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "${EIGEN3_INCLUDE_DIR}") + + # check if MKL is also enabled - can have one or the other, but not both! + # Note: Eigen >= v3.2.5 includes our patches + if(EIGEN_USE_MKL_ALL AND (EIGEN3_VERSION VERSION_LESS 3.2.5)) + message(FATAL_ERROR "MKL requires at least Eigen 3.2.5, and your system appears to have an older version. Disable GTSAM_USE_SYSTEM_EIGEN to use GTSAM's copy of Eigen, or disable GTSAM_WITH_EIGEN_MKL") + endif() + + # Check for Eigen version which doesn't work with MKL + # See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1527 for details. + if(EIGEN_USE_MKL_ALL AND (EIGEN3_VERSION VERSION_EQUAL 3.3.4)) + message(FATAL_ERROR "MKL does not work with Eigen 3.3.4 because of a bug in Eigen. See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1527. Disable GTSAM_USE_SYSTEM_EIGEN to use GTSAM's copy of Eigen, disable GTSAM_WITH_EIGEN_MKL, or upgrade/patch your installation of Eigen.") + endif() + + # The actual include directory (for BUILD cmake target interface): + set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${EIGEN3_INCLUDE_DIR}") +else() + # Use bundled Eigen include path. + # Clear any variables set by FindEigen3 + if(EIGEN3_INCLUDE_DIR) + set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE) + endif() + + # set full path to be used by external projects + # this will be added to GTSAM_INCLUDE_DIR by gtsam_extra.cmake.in + set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "include/gtsam/3rdparty/Eigen/") + + # The actual include directory (for BUILD cmake target interface): + set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${CMAKE_SOURCE_DIR}/gtsam/3rdparty/Eigen/") +endif() + +# Detect Eigen version: +set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h") +if (EXISTS ${EIGEN_VER_H}) + file(READ "${EIGEN_VER_H}" STR_EIGEN_VERSION) + + # Extract the Eigen version from the Macros.h file, lines "#define EIGEN_WORLD_VERSION XX", etc... + + string(REGEX MATCH "EIGEN_WORLD_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${STR_EIGEN_VERSION}") + string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${GTSAM_EIGEN_VERSION_WORLD}") + + string(REGEX MATCH "EIGEN_MAJOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${STR_EIGEN_VERSION}") + string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${GTSAM_EIGEN_VERSION_MAJOR}") + + string(REGEX MATCH "EIGEN_MINOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${STR_EIGEN_VERSION}") + string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${GTSAM_EIGEN_VERSION_MINOR}") + + set(GTSAM_EIGEN_VERSION "${GTSAM_EIGEN_VERSION_WORLD}.${GTSAM_EIGEN_VERSION_MAJOR}.${GTSAM_EIGEN_VERSION_MINOR}") + + message(STATUS "Found Eigen version: ${GTSAM_EIGEN_VERSION}") +else() + message(WARNING "Cannot determine Eigen version, missing file: `${EIGEN_VER_H}`") +endif () + +if (MSVC) + if (BUILD_SHARED_LIBS) + # mute eigen static assert to avoid errors in shared lib + list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT) + endif() + list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE "/wd4244") # Disable loss of precision which is thrown all over our Eigen +endif() diff --git a/cmake/HandleFinalChecks.cmake b/cmake/HandleFinalChecks.cmake new file mode 100644 index 000000000..f91fc7fdb --- /dev/null +++ b/cmake/HandleFinalChecks.cmake @@ -0,0 +1,10 @@ +# Print warnings at the end +if(GTSAM_WITH_TBB AND NOT TBB_FOUND) + message(WARNING "TBB 4.4 or newer was not found - this is ok, but note that GTSAM parallelization will be disabled. Set GTSAM_WITH_TBB to 'Off' to avoid this warning.") +endif() +if(GTSAM_WITH_EIGEN_MKL AND NOT MKL_FOUND) + message(WARNING "MKL was not found - this is ok, but note that MKL will be disabled. Set GTSAM_WITH_EIGEN_MKL to 'Off' to disable this warning. See INSTALL.md for notes on performance.") +endif() +if(GTSAM_WITH_EIGEN_MKL_OPENMP AND NOT OPENMP_FOUND AND MKL_FOUND) + message(WARNING "Your compiler does not support OpenMP. Set GTSAM_WITH_EIGEN_MKL_OPENMP to 'Off' to avoid this warning. See INSTALL.md for notes on performance.") +endif() diff --git a/cmake/HandleGeneralOptions.cmake b/cmake/HandleGeneralOptions.cmake new file mode 100644 index 000000000..85a529e49 --- /dev/null +++ b/cmake/HandleGeneralOptions.cmake @@ -0,0 +1,55 @@ +############################################################################### +# Set up options + +# See whether gtsam_unstable is available (it will be present only if we're using a git checkout) +if(EXISTS "${PROJECT_SOURCE_DIR}/gtsam_unstable" AND IS_DIRECTORY "${PROJECT_SOURCE_DIR}/gtsam_unstable") + set(GTSAM_UNSTABLE_AVAILABLE 1) +else() + set(GTSAM_UNSTABLE_AVAILABLE 0) +endif() + +# Configurable Options +if(GTSAM_UNSTABLE_AVAILABLE) + option(GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" ON) + option(GTSAM_UNSTABLE_BUILD_PYTHON "Enable/Disable Python wrapper for libgtsam_unstable" ON) + option(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX "Enable/Disable MATLAB wrapper for libgtsam_unstable" OFF) +endif() +option(BUILD_SHARED_LIBS "Build shared gtsam library, instead of static" ON) +option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF) +option(GTSAM_POSE3_EXPMAP "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." ON) +option(GTSAM_ROT3_EXPMAP "Ignore if GTSAM_USE_QUATERNIONS is OFF (Rot3::EXPMAP by default). Otherwise, enable Rot3::EXPMAP, or if disabled, use Rot3::CAYLEY." ON) +option(GTSAM_ENABLE_CONSISTENCY_CHECKS "Enable/Disable expensive consistency checks" OFF) +option(GTSAM_WITH_TBB "Use Intel Threaded Building Blocks (TBB) if available" ON) +option(GTSAM_WITH_EIGEN_MKL "Eigen will use Intel MKL if available" OFF) +option(GTSAM_WITH_EIGEN_MKL_OPENMP "Eigen, when using Intel MKL, will also use OpenMP for multithreading if available" OFF) +option(GTSAM_THROW_CHEIRALITY_EXCEPTION "Throw exception when a triangulated point is behind a camera" ON) +option(GTSAM_BUILD_PYTHON "Enable/Disable building & installation of Python module with pybind11" OFF) +option(GTSAM_ALLOW_DEPRECATED_SINCE_V41 "Allow use of methods/functions deprecated in GTSAM 4.1" ON) +option(GTSAM_SUPPORT_NESTED_DISSECTION "Support Metis-based nested dissection" ON) +option(GTSAM_TANGENT_PREINTEGRATION "Use new ImuFactor with integration on tangent space" ON) +if(NOT MSVC AND NOT XCODE_VERSION) + option(GTSAM_BUILD_WITH_CCACHE "Use ccache compiler cache" ON) +endif() + +# Enable GTSAM_ROT3_EXPMAP if GTSAM_POSE3_EXPMAP is enabled, and vice versa. +if(GTSAM_POSE3_EXPMAP) + message(STATUS "GTSAM_POSE3_EXPMAP=ON, enabling GTSAM_ROT3_EXPMAP as well") + set(GTSAM_ROT3_EXPMAP 1 CACHE BOOL "" FORCE) +elseif(GTSAM_ROT3_EXPMAP) + message(STATUS "GTSAM_ROT3_EXPMAP=ON, enabling GTSAM_POSE3_EXPMAP as well") + set(GTSAM_POSE3_EXPMAP 1 CACHE BOOL "" FORCE) +endif() + +# Options relating to MATLAB wrapper +# TODO: Check for matlab mex binary before handling building of binaries +option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" OFF) +set(GTSAM_PYTHON_VERSION "Default" CACHE STRING "The version of Python to build the wrappers against.") + +# Check / set dependent variables for MATLAB wrapper +if(GTSAM_INSTALL_MATLAB_TOOLBOX AND GTSAM_BUILD_TYPE_POSTFIXES) + set(CURRENT_POSTFIX ${CMAKE_${CMAKE_BUILD_TYPE_UPPER}_POSTFIX}) +endif() + +if(GTSAM_INSTALL_MATLAB_TOOLBOX AND NOT BUILD_SHARED_LIBS) + message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX and BUILD_SHARED_LIBS=OFF. The MATLAB wrapper cannot be compiled with a static GTSAM library because mex modules are themselves shared libraries. If you want a self-contained mex module, enable GTSAM_MEX_BUILD_STATIC_MODULE instead of BUILD_SHARED_LIBS=OFF.") +endif() diff --git a/cmake/HandleGlobalBuildFlags.cmake b/cmake/HandleGlobalBuildFlags.cmake new file mode 100644 index 000000000..f33e12b94 --- /dev/null +++ b/cmake/HandleGlobalBuildFlags.cmake @@ -0,0 +1,52 @@ +# JLBC: These should ideally be ported to "modern cmake" via target properties. +# + +if (CMAKE_GENERATOR STREQUAL "Ninja" AND + ((CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 4.9) OR + (CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 3.5))) + # Force colored warnings in Ninja's output, if the compiler has -fdiagnostics-color support. + # Rationale in https://github.com/ninja-build/ninja/issues/814 + add_compile_options(-fdiagnostics-color=always) +endif() + + +# If building DLLs in MSVC, we need to avoid EIGEN_STATIC_ASSERT() +# or explicit instantiation will generate build errors. +# See: https://bitbucket.org/gtborg/gtsam/issues/417/fail-to-build-on-msvc-2017 +# +if(MSVC AND BUILD_SHARED_LIBS) + list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT) +endif() + +if (APPLE AND BUILD_SHARED_LIBS) + # Set the default install directory on macOS + set(CMAKE_INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib") +endif() + +############################################################################### +# Global compile options + +if(MSVC) + list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE _CRT_SECURE_NO_WARNINGS _SCL_SECURE_NO_WARNINGS) + list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE /wd4251 /wd4275 /wd4251 /wd4661 /wd4344 /wd4503) # Disable non-DLL-exported base class and other warnings + list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE /bigobj) # Allow large object files for template-based code +endif() + +# GCC 4.8+ complains about local typedefs which we use for shared_ptr etc. +if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") + if (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 4.8) + list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Wno-unused-local-typedefs) + endif() +endif() + +# As of XCode 7, clang also complains about this +if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang") + if (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 7.0) + list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Wno-unused-local-typedefs) + endif() +endif() + +if(GTSAM_ENABLE_CONSISTENCY_CHECKS) + # This should be made PUBLIC if GTSAM_EXTRA_CONSISTENCY_CHECKS is someday used in a public .h + list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE GTSAM_EXTRA_CONSISTENCY_CHECKS) +endif() diff --git a/cmake/HandleMKL.cmake b/cmake/HandleMKL.cmake new file mode 100644 index 000000000..5d7ec365b --- /dev/null +++ b/cmake/HandleMKL.cmake @@ -0,0 +1,17 @@ +############################################################################### +# Find MKL +find_package(MKL) + +if(MKL_FOUND AND GTSAM_WITH_EIGEN_MKL) + set(GTSAM_USE_EIGEN_MKL 1) # This will go into config.h + set(EIGEN_USE_MKL_ALL 1) # This will go into config.h - it makes Eigen use MKL + list(APPEND GTSAM_ADDITIONAL_LIBRARIES ${MKL_LIBRARIES}) + + # --no-as-needed is required with gcc according to the MKL link advisor + if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") + set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--no-as-needed") + endif() +else() + set(GTSAM_USE_EIGEN_MKL 0) + set(EIGEN_USE_MKL_ALL 0) +endif() diff --git a/cmake/HandleOpenMP.cmake b/cmake/HandleOpenMP.cmake new file mode 100644 index 000000000..4f27aa633 --- /dev/null +++ b/cmake/HandleOpenMP.cmake @@ -0,0 +1,11 @@ + +############################################################################### +# Find OpenMP (if we're also using MKL) +find_package(OpenMP) # do this here to generate correct message if disabled + +if(GTSAM_WITH_EIGEN_MKL AND GTSAM_WITH_EIGEN_MKL_OPENMP AND GTSAM_USE_EIGEN_MKL) + if(OPENMP_FOUND AND GTSAM_USE_EIGEN_MKL AND GTSAM_WITH_EIGEN_MKL_OPENMP) + set(GTSAM_USE_EIGEN_MKL_OPENMP 1) # This will go into config.h + list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC ${OpenMP_CXX_FLAGS}) + endif() +endif() diff --git a/cmake/HandlePerfTools.cmake b/cmake/HandlePerfTools.cmake new file mode 100644 index 000000000..499caf80a --- /dev/null +++ b/cmake/HandlePerfTools.cmake @@ -0,0 +1,4 @@ + +############################################################################### +# Find Google perftools +find_package(GooglePerfTools) diff --git a/cmake/HandlePrintConfiguration.cmake b/cmake/HandlePrintConfiguration.cmake new file mode 100644 index 000000000..4ffd00e54 --- /dev/null +++ b/cmake/HandlePrintConfiguration.cmake @@ -0,0 +1,104 @@ +############################################################################### +# Print configuration variables +message(STATUS "===============================================================") +message(STATUS "================ Configuration Options ======================") +print_config("CMAKE_CXX_COMPILER_ID type" "${CMAKE_CXX_COMPILER_ID}") +print_config("CMAKE_CXX_COMPILER_VERSION" "${CMAKE_CXX_COMPILER_VERSION}") +print_config("CMake version" "${CMAKE_VERSION}") +print_config("CMake generator" "${CMAKE_GENERATOR}") +print_config("CMake build tool" "${CMAKE_BUILD_TOOL}") +message(STATUS "Build flags ") +print_enabled_config(${GTSAM_BUILD_TESTS} "Build Tests") +print_enabled_config(${GTSAM_BUILD_EXAMPLES_ALWAYS} "Build examples with 'make all'") +print_enabled_config(${GTSAM_BUILD_TIMING_ALWAYS} "Build timing scripts with 'make all'") +if (DOXYGEN_FOUND) + print_enabled_config(${GTSAM_BUILD_DOCS} "Build Docs") +endif() +print_enabled_config(${BUILD_SHARED_LIBS} "Build shared GTSAM libraries") +print_enabled_config(${GTSAM_BUILD_TYPE_POSTFIXES} "Put build type in library name") +if(GTSAM_UNSTABLE_AVAILABLE) + print_enabled_config(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ") + print_enabled_config(${GTSAM_UNSTABLE_BUILD_PYTHON} "Build GTSAM unstable Python ") + print_enabled_config(${GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX} "Build MATLAB Toolbox for unstable") +endif() + +if(NOT MSVC AND NOT XCODE_VERSION) + print_enabled_config(${GTSAM_BUILD_WITH_MARCH_NATIVE} "Build for native architecture ") + print_config("Build type" "${CMAKE_BUILD_TYPE}") + print_config("C compilation flags" "${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${CMAKE_BUILD_TYPE_UPPER}}") + print_config("C++ compilation flags" "${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${CMAKE_BUILD_TYPE_UPPER}}") +endif() + +print_build_options_for_target(gtsam) + +print_config("Use System Eigen" "${GTSAM_USE_SYSTEM_EIGEN} (Using version: ${GTSAM_EIGEN_VERSION})") + +if(GTSAM_USE_TBB) + print_config("Use Intel TBB" "Yes (Version: ${TBB_VERSION})") +elseif(TBB_FOUND) + print_config("Use Intel TBB" "TBB (Version: ${TBB_VERSION}) found but GTSAM_WITH_TBB is disabled") +else() + print_config("Use Intel TBB" "TBB not found") +endif() +if(GTSAM_USE_EIGEN_MKL) + print_config("Eigen will use MKL" "Yes") +elseif(MKL_FOUND) + print_config("Eigen will use MKL" "MKL found but GTSAM_WITH_EIGEN_MKL is disabled") +else() + print_config("Eigen will use MKL" "MKL not found") +endif() +if(GTSAM_USE_EIGEN_MKL_OPENMP) + print_config("Eigen will use MKL and OpenMP" "Yes") +elseif(OPENMP_FOUND AND NOT GTSAM_WITH_EIGEN_MKL) + print_config("Eigen will use MKL and OpenMP" "OpenMP found but GTSAM_WITH_EIGEN_MKL is disabled") +elseif(OPENMP_FOUND AND NOT MKL_FOUND) + print_config("Eigen will use MKL and OpenMP" "OpenMP found but MKL not found") +elseif(OPENMP_FOUND) + print_config("Eigen will use MKL and OpenMP" "OpenMP found but GTSAM_WITH_EIGEN_MKL_OPENMP is disabled") +else() + print_config("Eigen will use MKL and OpenMP" "OpenMP not found") +endif() +print_config("Default allocator" "${GTSAM_DEFAULT_ALLOCATOR}") + +if(GTSAM_THROW_CHEIRALITY_EXCEPTION) + print_config("Cheirality exceptions enabled" "YES") +else() + print_config("Cheirality exceptions enabled" "NO") +endif() + +if(NOT MSVC AND NOT XCODE_VERSION) + if(CCACHE_FOUND AND GTSAM_BUILD_WITH_CCACHE) + print_config("Build with ccache" "Yes") + elseif(CCACHE_FOUND) + print_config("Build with ccache" "ccache found but GTSAM_BUILD_WITH_CCACHE is disabled") + else() + print_config("Build with ccache" "No") + endif() +endif() + +message(STATUS "Packaging flags") +print_config("CPack Source Generator" "${CPACK_SOURCE_GENERATOR}") +print_config("CPack Generator" "${CPACK_GENERATOR}") + +message(STATUS "GTSAM flags ") +print_enabled_config(${GTSAM_USE_QUATERNIONS} "Quaternions as default Rot3 ") +print_enabled_config(${GTSAM_ENABLE_CONSISTENCY_CHECKS} "Runtime consistency checking ") +print_enabled_config(${GTSAM_ROT3_EXPMAP} "Rot3 retract is full ExpMap ") +print_enabled_config(${GTSAM_POSE3_EXPMAP} "Pose3 retract is full ExpMap ") +print_enabled_config(${GTSAM_ALLOW_DEPRECATED_SINCE_V41} "Allow features deprecated in GTSAM 4.1") +print_enabled_config(${GTSAM_SUPPORT_NESTED_DISSECTION} "Metis-based Nested Dissection ") +print_enabled_config(${GTSAM_TANGENT_PREINTEGRATION} "Use tangent-space preintegration") + +message(STATUS "MATLAB toolbox flags") +print_enabled_config(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install MATLAB toolbox ") +if (${GTSAM_INSTALL_MATLAB_TOOLBOX}) + print_config("MATLAB root" "${MATLAB_ROOT}") + print_config("MEX binary" "${MEX_COMMAND}") +endif() +message(STATUS "Python toolbox flags ") +print_enabled_config(${GTSAM_BUILD_PYTHON} "Build Python module with pybind ") +if(GTSAM_BUILD_PYTHON) + print_config("Python version" ${GTSAM_PYTHON_VERSION}) +endif() + +message(STATUS "===============================================================") diff --git a/cmake/HandlePython.cmake b/cmake/HandlePython.cmake new file mode 100644 index 000000000..e5d55b451 --- /dev/null +++ b/cmake/HandlePython.cmake @@ -0,0 +1,29 @@ +# Set Python version if either Python or MATLAB wrapper is requested. +if(GTSAM_BUILD_PYTHON OR GTSAM_INSTALL_MATLAB_TOOLBOX) + if(${GTSAM_PYTHON_VERSION} STREQUAL "Default") + # Get info about the Python3 interpreter + # https://cmake.org/cmake/help/latest/module/FindPython3.html#module:FindPython3 + find_package(Python3 COMPONENTS Interpreter Development) + + if(NOT ${Python3_FOUND}) + message(FATAL_ERROR "Cannot find Python3 interpreter. Please install Python >= 3.6.") + endif() + + set(GTSAM_PYTHON_VERSION "${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}" + CACHE + STRING + "The version of Python to build the wrappers against." + FORCE) + endif() +endif() + +if(GTSAM_BUILD_PYTHON) + if(GTSAM_UNSTABLE_BUILD_PYTHON) + if (NOT GTSAM_BUILD_UNSTABLE) + message(WARNING "GTSAM_UNSTABLE_BUILD_PYTHON requires the unstable module to be enabled.") + set(GTSAM_UNSTABLE_BUILD_PYTHON OFF) + endif() + endif() + + set(GTSAM_PY_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/python") +endif() diff --git a/cmake/HandleTBB.cmake b/cmake/HandleTBB.cmake new file mode 100644 index 000000000..cedee55ea --- /dev/null +++ b/cmake/HandleTBB.cmake @@ -0,0 +1,24 @@ +############################################################################### +# Find TBB +find_package(TBB 4.4 COMPONENTS tbb tbbmalloc) + +# Set up variables if we're using TBB +if(TBB_FOUND AND GTSAM_WITH_TBB) + set(GTSAM_USE_TBB 1) # This will go into config.h + if ((${TBB_VERSION_MAJOR} GREATER 2020) OR (${TBB_VERSION_MAJOR} EQUAL 2020)) + set(TBB_GREATER_EQUAL_2020 1) + else() + set(TBB_GREATER_EQUAL_2020 0) + endif() + # all definitions and link requisites will go via imported targets: + # tbb & tbbmalloc + list(APPEND GTSAM_ADDITIONAL_LIBRARIES tbb tbbmalloc) +else() + set(GTSAM_USE_TBB 0) # This will go into config.h +endif() + +############################################################################### +# Prohibit Timing build mode in combination with TBB +if(GTSAM_USE_TBB AND (CMAKE_BUILD_TYPE STREQUAL "Timing")) + message(FATAL_ERROR "Timing build mode cannot be used together with TBB. Use a sampling profiler such as Instruments or Intel VTune Amplifier instead.") +endif() diff --git a/cmake/HandleUninstall.cmake b/cmake/HandleUninstall.cmake new file mode 100644 index 000000000..1859b0273 --- /dev/null +++ b/cmake/HandleUninstall.cmake @@ -0,0 +1,10 @@ +# ---------------------------------------------------------------------------- +# Uninstall target, for "make uninstall" +# ---------------------------------------------------------------------------- +configure_file( + "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_uninstall.cmake.in" + "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake" + IMMEDIATE @ONLY) + +add_custom_target(uninstall + "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake") diff --git a/doc/Doxyfile.in b/doc/Doxyfile.in index d5c969a8a..fd7f4e5f6 100644 --- a/doc/Doxyfile.in +++ b/doc/Doxyfile.in @@ -1188,7 +1188,7 @@ USE_MATHJAX = YES # MathJax, but it is strongly recommended to install a local copy of MathJax # before deployment. -MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest +MATHJAX_RELPATH = https://cdn.mathjax.org/mathjax/latest # The MATHJAX_EXTENSIONS tag can be used to specify one or MathJax extension # names that should be enabled during MathJax rendering. diff --git a/docker/ubuntu-gtsam-python/Dockerfile b/docker/ubuntu-gtsam-python/Dockerfile index c733ceb19..ce5d8fdca 100644 --- a/docker/ubuntu-gtsam-python/Dockerfile +++ b/docker/ubuntu-gtsam-python/Dockerfile @@ -7,9 +7,9 @@ FROM dellaert/ubuntu-gtsam:bionic RUN apt-get install -y python3-pip python3-dev # Install python wrapper requirements -RUN python3 -m pip install -U -r /usr/src/gtsam/cython/requirements.txt +RUN python3 -m pip install -U -r /usr/src/gtsam/python/requirements.txt -# Run cmake again, now with cython toolbox on +# Run cmake again, now with python toolbox on WORKDIR /usr/src/gtsam/build RUN cmake \ -DCMAKE_BUILD_TYPE=Release \ @@ -17,7 +17,7 @@ RUN cmake \ -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \ -DGTSAM_BUILD_TIMING_ALWAYS=OFF \ -DGTSAM_BUILD_TESTS=OFF \ - -DGTSAM_INSTALL_CYTHON_TOOLBOX=ON \ + -DGTSAM_BUILD_PYTHON=ON \ -DGTSAM_PYTHON_VERSION=3\ .. @@ -25,7 +25,7 @@ RUN cmake \ RUN make -j4 install && make clean # Needed to run python wrapper: -RUN echo 'export PYTHONPATH=/usr/local/cython/:$PYTHONPATH' >> /root/.bashrc +RUN echo 'export PYTHONPATH=/usr/local/python/:$PYTHONPATH' >> /root/.bashrc # Run bash CMD ["bash"] diff --git a/docker/ubuntu-gtsam/Dockerfile b/docker/ubuntu-gtsam/Dockerfile index 187c76314..f2b476f15 100644 --- a/docker/ubuntu-gtsam/Dockerfile +++ b/docker/ubuntu-gtsam/Dockerfile @@ -23,7 +23,6 @@ RUN cmake \ -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \ -DGTSAM_BUILD_TIMING_ALWAYS=OFF \ -DGTSAM_BUILD_TESTS=OFF \ - -DGTSAM_INSTALL_CYTHON_TOOLBOX=OFF \ .. # Build diff --git a/gtsam/base/TestableAssertions.h b/gtsam/base/TestableAssertions.h index 1a31aa284..88dd619e5 100644 --- a/gtsam/base/TestableAssertions.h +++ b/gtsam/base/TestableAssertions.h @@ -23,6 +23,7 @@ #include #include #include +#include #include namespace gtsam { @@ -349,4 +350,44 @@ bool assert_inequal(const V& expected, const V& actual, double tol = 1e-9) { return false; } +/** + * Capture std out via cout stream and compare against string. + */ +template +bool assert_stdout_equal(const std::string& expected, const V& actual) { + // Redirect output to buffer so we can compare + std::stringstream buffer; + // Save the original output stream so we can reset later + std::streambuf* old = std::cout.rdbuf(buffer.rdbuf()); + + // We test against actual std::cout for faithful reproduction + std::cout << actual; + + // Get output string and reset stdout + std::string actual_ = buffer.str(); + std::cout.rdbuf(old); + + return assert_equal(expected, actual_); +} + +/** + * Capture print function output and compare against string. + */ +template +bool assert_print_equal(const std::string& expected, const V& actual) { + // Redirect output to buffer so we can compare + std::stringstream buffer; + // Save the original output stream so we can reset later + std::streambuf* old = std::cout.rdbuf(buffer.rdbuf()); + + // We test against actual std::cout for faithful reproduction + actual.print(); + + // Get output string and reset stdout + std::string actual_ = buffer.str(); + std::cout.rdbuf(old); + + return assert_equal(expected, actual_); +} + } // \namespace gtsam diff --git a/gtsam/geometry/Cal3Bundler.h b/gtsam/geometry/Cal3Bundler.h index 96765f899..2e3fab002 100644 --- a/gtsam/geometry/Cal3Bundler.h +++ b/gtsam/geometry/Cal3Bundler.h @@ -98,6 +98,17 @@ public: return k2_; } + /// image center in x + inline double px() const { + return u0_; + } + + /// image center in y + inline double py() const { + return v0_; + } + +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41 /// get parameter u0 inline double u0() const { return u0_; @@ -107,6 +118,7 @@ public: inline double v0() const { return v0_; } +#endif /** diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index de9d2b420..abd74e063 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -262,9 +262,29 @@ namespace gtsam { static Rot3 AlignTwoPairs(const Unit3& a_p, const Unit3& b_p, // const Unit3& a_q, const Unit3& b_q); - /// Static, named constructor that finds Rot3 element closest to M in Frobenius norm. + /** + * Static, named constructor that finds Rot3 element closest to M in Frobenius norm. + * + * Uses Full SVD to compute the orthogonal matrix, thus is highly accurate and robust. + * + * N. J. Higham. Matrix nearness problems and applications. + * In M. J. C. Gover and S. Barnett, editors, Applications of Matrix Theory, pages 1–27. + * Oxford University Press, 1989. + */ static Rot3 ClosestTo(const Matrix3& M) { return Rot3(SO3::ClosestTo(M)); } + /** + * Normalize rotation so that its determinant is 1. + * This means either re-orthogonalizing the Matrix representation or + * normalizing the quaternion representation. + * + * This method is akin to `ClosestTo` but uses a computationally cheaper + * algorithm. + * + * Ref: https://drive.google.com/file/d/0B9rLLz1XQKmaZTlQdV81QjNoZTA/view + */ + Rot3 normalized() const; + /// @} /// @name Testable /// @{ @@ -506,7 +526,7 @@ namespace gtsam { /** * @brief Spherical Linear intERPolation between *this and other - * @param s a value between 0 and 1 + * @param t a value between 0 and 1 * @param other final point of iterpolation geodesic on manifold */ Rot3 slerp(double t, const Rot3& other) const; diff --git a/gtsam/geometry/Rot3M.cpp b/gtsam/geometry/Rot3M.cpp index 500941a16..07cc7302a 100644 --- a/gtsam/geometry/Rot3M.cpp +++ b/gtsam/geometry/Rot3M.cpp @@ -108,6 +108,33 @@ Rot3 Rot3::RzRyRx(double x, double y, double z, OptionalJacobian<3, 1> Hx, ); } +/* ************************************************************************* */ +Rot3 Rot3::normalized() const { + /// Implementation from here: https://stackoverflow.com/a/23082112/1236990 + + /// Essentially, this computes the orthogonalization error, distributes the + /// error to the x and y rows, and then performs a Taylor expansion to + /// orthogonalize. + + Matrix3 rot = rot_.matrix(), rot_orth; + + // Check if determinant is already 1. + // If yes, then return the current Rot3. + if (std::fabs(rot.determinant()-1) < 1e-12) return Rot3(rot_); + + Vector3 x = rot.block<1, 3>(0, 0), y = rot.block<1, 3>(1, 0); + double error = x.dot(y); + + Vector3 x_ort = x - (error / 2) * y, y_ort = y - (error / 2) * x; + Vector3 z_ort = x_ort.cross(y_ort); + + rot_orth.block<1, 3>(0, 0) = 0.5 * (3 - x_ort.dot(x_ort)) * x_ort; + rot_orth.block<1, 3>(1, 0) = 0.5 * (3 - y_ort.dot(y_ort)) * y_ort; + rot_orth.block<1, 3>(2, 0) = 0.5 * (3 - z_ort.dot(z_ort)) * z_ort; + + return Rot3(rot_orth); +} + /* ************************************************************************* */ Rot3 Rot3::operator*(const Rot3& R2) const { return Rot3(rot_*R2.rot_); @@ -149,7 +176,17 @@ Vector3 Rot3::CayleyChart::Local(const Rot3& R, OptionalJacobian<3,3> H) { if (H) throw std::runtime_error("Rot3::CayleyChart::Local Derivative"); // Create a fixed-size matrix Matrix3 A = R.matrix(); - // Mathematica closed form optimization (procrastination?) gone wild: + + // Check if (A+I) is invertible. Same as checking for -1 eigenvalue. + if ((A + I_3x3).determinant() == 0.0) { + throw std::runtime_error("Rot3::CayleyChart::Local Invalid Rotation"); + } + + // Mathematica closed form optimization. + // The following are the essential computations for the following algorithm + // 1. Compute the inverse of P = (A+I), using a closed-form formula since P is 3x3 + // 2. Compute the Cayley transform C = 2 * P^{-1} * (A-I) + // 3. C is skew-symmetric, so we pick out the computations corresponding only to x, y, and z. const double a = A(0, 0), b = A(0, 1), c = A(0, 2); const double d = A(1, 0), e = A(1, 1), f = A(1, 2); const double g = A(2, 0), h = A(2, 1), i = A(2, 2); diff --git a/gtsam/geometry/Rot3Q.cpp b/gtsam/geometry/Rot3Q.cpp index 6e1871c64..523255d87 100644 --- a/gtsam/geometry/Rot3Q.cpp +++ b/gtsam/geometry/Rot3Q.cpp @@ -86,6 +86,10 @@ namespace gtsam { gtsam::Quaternion(Eigen::AngleAxisd(x, Eigen::Vector3d::UnitX()))); } + /* ************************************************************************* */ + Rot3 Rot3::normalized() const { + return Rot3(quaternion_.normalized()); + } /* ************************************************************************* */ Rot3 Rot3::operator*(const Rot3& R2) const { return Rot3(quaternion_ * R2.quaternion_); diff --git a/gtsam/geometry/tests/testCal3_S2.cpp b/gtsam/geometry/tests/testCal3_S2.cpp index ccecb09c3..55ea32e32 100644 --- a/gtsam/geometry/tests/testCal3_S2.cpp +++ b/gtsam/geometry/tests/testCal3_S2.cpp @@ -16,6 +16,7 @@ #include #include +#include #include #include @@ -127,6 +128,16 @@ TEST(Cal3_S2, between) { } +/* ************************************************************************* */ +TEST(Cal3_S2, Print) { + Cal3_S2 cal(5, 5, 5, 5, 5); + std::stringstream os; + os << "{fx: " << cal.fx() << ", fy: " << cal.fy() << ", s:" << cal.skew() << ", px:" << cal.px() + << ", py:" << cal.py() << "}"; + + EXPECT(assert_stdout_equal(os.str(), cal)); +} + /* ************************************************************************* */ int main() { TestResult tr; diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp index 9639ffbcf..6de2c0a33 100644 --- a/gtsam/geometry/tests/testPose3.cpp +++ b/gtsam/geometry/tests/testPose3.cpp @@ -18,6 +18,7 @@ #include #include #include +#include #include // for operator += using namespace boost::assign; @@ -906,9 +907,9 @@ TEST(Pose3 , ChartDerivatives) { Pose3 id; if (ROT3_DEFAULT_COORDINATES_MODE == Rot3::EXPMAP) { CHECK_CHART_DERIVATIVES(id,id); -// CHECK_CHART_DERIVATIVES(id,T2); -// CHECK_CHART_DERIVATIVES(T2,id); -// CHECK_CHART_DERIVATIVES(T2,T3); + CHECK_CHART_DERIVATIVES(id,T2); + CHECK_CHART_DERIVATIVES(T2,id); + CHECK_CHART_DERIVATIVES(T2,T3); } } @@ -1028,32 +1029,13 @@ TEST(Pose3, Create) { } /* ************************************************************************* */ -TEST(Pose3, print) { - std::stringstream redirectStream; - std::streambuf* ssbuf = redirectStream.rdbuf(); - std::streambuf* oldbuf = std::cout.rdbuf(); - // redirect cout to redirectStream - std::cout.rdbuf(ssbuf); - +TEST(Pose3, Print) { Pose3 pose(Rot3::identity(), Point3(1, 2, 3)); - // output is captured to redirectStream - pose.print(); // Generate the expected output - std::stringstream expected; - Point3 translation(1, 2, 3); + std::string expected = "R: [\n\t1, 0, 0;\n\t0, 1, 0;\n\t0, 0, 1\n]\nt: 1 2 3\n"; - // Add expected rotation - expected << "R: [\n\t1, 0, 0;\n\t0, 1, 0;\n\t0, 0, 1\n]\n"; - expected << "t: 1 2 3\n"; - - // reset cout to the original stream - std::cout.rdbuf(oldbuf); - - // Get substring corresponding to translation part - std::string actual = redirectStream.str(); - - CHECK_EQUAL(expected.str(), actual); + EXPECT(assert_print_equal(expected, pose)); } /* ************************************************************************* */ diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp index a7c6f5a77..7b792f8bd 100644 --- a/gtsam/geometry/tests/testRot3.cpp +++ b/gtsam/geometry/tests/testRot3.cpp @@ -910,6 +910,26 @@ TEST(Rot3, yaw_derivative) { CHECK(assert_equal(num, calc)); } +/* ************************************************************************* */ +TEST(Rot3, determinant) { + size_t degree = 1; + Rot3 R_w0; // Zero rotation + Rot3 R_w1 = Rot3::Ry(degree * M_PI / 180); + + Rot3 R_01, R_w2; + double actual, expected = 1.0; + + for (size_t i = 2; i < 360; ++i) { + R_01 = R_w0.between(R_w1); + R_w2 = R_w1 * R_01; + R_w0 = R_w1; + R_w1 = R_w2.normalized(); + actual = R_w2.matrix().determinant(); + + EXPECT_DOUBLES_EQUAL(expected, actual, 1e-7); + } +} + /* ************************************************************************* */ int main() { TestResult tr; diff --git a/gtsam/geometry/tests/testSerializationGeometry.cpp b/gtsam/geometry/tests/testSerializationGeometry.cpp index f7ff881eb..aa111c3ae 100644 --- a/gtsam/geometry/tests/testSerializationGeometry.cpp +++ b/gtsam/geometry/tests/testSerializationGeometry.cpp @@ -57,7 +57,7 @@ static StereoCamera cam2(pose3, cal4ptr); static StereoPoint2 spt(1.0, 2.0, 3.0); /* ************************************************************************* */ -TEST_DISABLED (Serialization, text_geometry) { +TEST (Serialization, text_geometry) { EXPECT(equalsObj(Point2(1.0, 2.0))); EXPECT(equalsObj(Pose2(1.0, 2.0, 0.3))); EXPECT(equalsObj(Rot2::fromDegrees(30.0))); @@ -82,7 +82,7 @@ TEST_DISABLED (Serialization, text_geometry) { } /* ************************************************************************* */ -TEST_DISABLED (Serialization, xml_geometry) { +TEST (Serialization, xml_geometry) { EXPECT(equalsXML(Point2(1.0, 2.0))); EXPECT(equalsXML(Pose2(1.0, 2.0, 0.3))); EXPECT(equalsXML(Rot2::fromDegrees(30.0))); @@ -106,7 +106,7 @@ TEST_DISABLED (Serialization, xml_geometry) { } /* ************************************************************************* */ -TEST_DISABLED (Serialization, binary_geometry) { +TEST (Serialization, binary_geometry) { EXPECT(equalsBinary(Point2(1.0, 2.0))); EXPECT(equalsBinary(Pose2(1.0, 2.0, 0.3))); EXPECT(equalsBinary(Rot2::fromDegrees(30.0))); diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i index e5f323d72..1b4d976da 100644 --- a/gtsam/gtsam.i +++ b/gtsam/gtsam.i @@ -93,9 +93,9 @@ * - Add "void serializable()" to a class if you only want the class to be serialized as a * part of a container (such as noisemodel). This version does not require a publicly * accessible default constructor. - * Forward declarations and class definitions for Cython: - * - Need to specify the base class (both this forward class and base class are declared in an external cython header) - * This is so Cython can generate proper inheritance. + * Forward declarations and class definitions for Pybind: + * - Need to specify the base class (both this forward class and base class are declared in an external Pybind header) + * This is so Pybind can generate proper inheritance. * Example when wrapping a gtsam-based project: * // forward declarations * virtual class gtsam::NonlinearFactor @@ -104,7 +104,7 @@ * #include * virtual class MyFactor : gtsam::NoiseModelFactor {...}; * - *DO NOT* re-define overriden function already declared in the external (forward-declared) base class - * - This will cause an ambiguity problem in Cython pxd header file + * - This will cause an ambiguity problem in Pybind header file */ /** @@ -597,6 +597,7 @@ class Rot3 { Rot3(double R11, double R12, double R13, double R21, double R22, double R23, double R31, double R32, double R33); + Rot3(double w, double x, double y, double z); static gtsam::Rot3 Rx(double t); static gtsam::Rot3 Ry(double t); @@ -980,8 +981,8 @@ class Cal3Bundler { double fy() const; double k1() const; double k2() const; - double u0() const; - double v0() const; + double px() const; + double py() const; Vector vector() const; Vector k() const; Matrix K() const; @@ -2068,7 +2069,7 @@ class NonlinearFactorGraph { gtsam::KeySet keys() const; gtsam::KeyVector keyVector() const; - template + template, gtsam::imuBias::ConstantBias}> void addPrior(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel); // NonlinearFactorGraph @@ -2157,12 +2158,13 @@ class Values { void insert(size_t j, const gtsam::SOn& P); void insert(size_t j, const gtsam::Rot3& rot3); void insert(size_t j, const gtsam::Pose3& pose3); + void insert(size_t j, const gtsam::Unit3& unit3); void insert(size_t j, const gtsam::Cal3_S2& cal3_s2); void insert(size_t j, const gtsam::Cal3DS2& cal3ds2); void insert(size_t j, const gtsam::Cal3Bundler& cal3bundler); void insert(size_t j, const gtsam::EssentialMatrix& essential_matrix); void insert(size_t j, const gtsam::PinholeCameraCal3_S2& simple_camera); - // void insert(size_t j, const gtsam::PinholeCameraCal3Bundler& camera); + void insert(size_t j, const gtsam::PinholeCamera& camera); void insert(size_t j, const gtsam::imuBias::ConstantBias& constant_bias); void insert(size_t j, const gtsam::NavState& nav_state); @@ -2175,18 +2177,19 @@ class Values { void update(size_t j, const gtsam::SOn& P); void update(size_t j, const gtsam::Rot3& rot3); void update(size_t j, const gtsam::Pose3& pose3); + void update(size_t j, const gtsam::Unit3& unit3); void update(size_t j, const gtsam::Cal3_S2& cal3_s2); void update(size_t j, const gtsam::Cal3DS2& cal3ds2); void update(size_t j, const gtsam::Cal3Bundler& cal3bundler); void update(size_t j, const gtsam::EssentialMatrix& essential_matrix); void update(size_t j, const gtsam::PinholeCameraCal3_S2& simple_camera); - // void update(size_t j, const gtsam::PinholeCameraCal3Bundler& camera); + void update(size_t j, const gtsam::PinholeCamera& camera); void update(size_t j, const gtsam::imuBias::ConstantBias& constant_bias); void update(size_t j, const gtsam::NavState& nav_state); void update(size_t j, Vector vector); void update(size_t j, Matrix matrix); - template + template, gtsam::imuBias::ConstantBias, gtsam::NavState, Vector, Matrix}> T at(size_t j); /// version for double @@ -2490,7 +2493,8 @@ class ISAM2 { template + gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, gtsam::PinholeCamera, + Vector, Matrix}> VALUE calculateEstimate(size_t key) const; gtsam::Values calculateBestEstimate() const; Matrix marginalCovariance(size_t key) const; @@ -2528,7 +2532,7 @@ class NonlinearISAM { #include #include -template +template}> virtual class PriorFactor : gtsam::NoiseModelFactor { PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel); T prior() const; @@ -2673,6 +2677,7 @@ virtual class GeneralSFMFactor : gtsam::NoiseModelFactor { typedef gtsam::GeneralSFMFactor GeneralSFMFactorCal3_S2; //TODO (Issue 237) due to lack of jacobians of Cal3DS2_Base::calibrate, GeneralSFMFactor does not apply to Cal3DS2 //typedef gtsam::GeneralSFMFactor GeneralSFMFactorCal3DS2; +typedef gtsam::GeneralSFMFactor, gtsam::Point3> GeneralSFMFactorCal3Bundler; template virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor { @@ -2759,21 +2764,36 @@ virtual class EssentialMatrixFactor : gtsam::NoiseModelFactor { }; #include + class SfmTrack { - Point3 point3() const; + SfmTrack(); + SfmTrack(const gtsam::Point3& pt); + const Point3& point3() const; + + double r; + double g; + double b; + // TODO Need to close wrap#10 to allow this to work. + // std::vector> measurements; + size_t number_measurements() const; pair measurement(size_t idx) const; pair siftIndex(size_t idx) const; + void add_measurement(size_t idx, const gtsam::Point2& m); }; class SfmData { + SfmData(); size_t number_cameras() const; size_t number_tracks() const; gtsam::PinholeCamera camera(size_t idx) const; gtsam::SfmTrack track(size_t idx) const; + void add_track(const gtsam::SfmTrack& t) ; + void add_camera(const gtsam::SfmCamera& cam); }; gtsam::SfmData readBal(string filename); +bool writeBAL(string filename, gtsam::SfmData& data); gtsam::Values initialCamerasEstimate(const gtsam::SfmData& db); gtsam::Values initialCamerasAndPointsEstimate(const gtsam::SfmData& db); @@ -2885,6 +2905,7 @@ class BinaryMeasurement { size_t key1() const; size_t key2() const; T measured() const; + gtsam::noiseModel::Base* noiseModel() const; }; typedef gtsam::BinaryMeasurement BinaryMeasurementUnit3; @@ -3018,6 +3039,26 @@ class ShonanAveraging3 { pair run(const gtsam::Values& initial, size_t min_p, size_t max_p) const; }; +#include + +class KeyPairDoubleMap { + KeyPairDoubleMap(); + KeyPairDoubleMap(const gtsam::KeyPairDoubleMap& other); + + size_t size() const; + bool empty() const; + void clear(); + size_t at(const pair& keypair) const; +}; + +class MFAS { + MFAS(const gtsam::BinaryMeasurementsUnit3& relativeTranslations, + const gtsam::Unit3& projectionDirection); + + gtsam::KeyPairDoubleMap computeOutlierWeights() const; + gtsam::KeyVector computeOrdering() const; +}; + #include class TranslationRecovery { TranslationRecovery(const gtsam::BinaryMeasurementsUnit3 &relativeTranslations, diff --git a/gtsam/inference/Symbol.h b/gtsam/inference/Symbol.h index 5be195db3..469082f16 100644 --- a/gtsam/inference/Symbol.h +++ b/gtsam/inference/Symbol.h @@ -164,8 +164,16 @@ inline Key Y(std::uint64_t j) { return Symbol('y', j); } inline Key Z(std::uint64_t j) { return Symbol('z', j); } } +/** Generates symbol shorthands with alternative names different than the + * one-letter predefined ones. */ +class SymbolGenerator { + const char c_; +public: + SymbolGenerator(const char c) : c_(c) {} + Symbol operator()(const std::uint64_t j) const { return Symbol(c_, j); } +}; + /// traits template<> struct traits : public Testable {}; } // \ namespace gtsam - diff --git a/gtsam/inference/tests/testKey.cpp b/gtsam/inference/tests/testKey.cpp index a60258581..64674c36f 100644 --- a/gtsam/inference/tests/testKey.cpp +++ b/gtsam/inference/tests/testKey.cpp @@ -40,6 +40,25 @@ TEST(Key, KeySymbolConversion) { EXPECT(assert_equal(original, actual)) } +/* ************************************************************************* */ +TEST(Key, SymbolGenerator) { + const auto x1 = gtsam::symbol_shorthand::X(1); + const auto v1 = gtsam::symbol_shorthand::V(1); + const auto a1 = gtsam::symbol_shorthand::A(1); + + const auto Z = gtsam::SymbolGenerator('x'); + const auto DZ = gtsam::SymbolGenerator('v'); + const auto DDZ = gtsam::SymbolGenerator('a'); + + const auto z1 = Z(1); + const auto dz1 = DZ(1); + const auto ddz1 = DDZ(1); + + EXPECT(assert_equal(x1, z1)); + EXPECT(assert_equal(v1, dz1)); + EXPECT(assert_equal(a1, ddz1)); +} + /* ************************************************************************* */ template Key KeyTestValue(); @@ -106,4 +125,3 @@ int main() { return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ - diff --git a/gtsam/navigation/AHRSFactor.h b/gtsam/navigation/AHRSFactor.h index ec1a07f65..34626fcf6 100644 --- a/gtsam/navigation/AHRSFactor.h +++ b/gtsam/navigation/AHRSFactor.h @@ -42,7 +42,7 @@ class GTSAM_EXPORT PreintegratedAhrsMeasurements : public PreintegratedRotation public: - /// Default constructor, only for serialization and Cython wrapper + /// Default constructor, only for serialization and wrappers PreintegratedAhrsMeasurements() {} /** diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index 387353136..efca25bff 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -145,7 +145,7 @@ public: /// @name Constructors /// @{ - /// Default constructor only for serialization and Cython wrapper + /// Default constructor only for serialization and wrappers PreintegratedCombinedMeasurements() { preintMeasCov_.setZero(); } diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index 51df3f24a..cd9c591f1 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -80,7 +80,7 @@ protected: public: - /// Default constructor for serialization and Cython wrapper + /// Default constructor for serialization and wrappers PreintegratedImuMeasurements() { preintMeasCov_.setZero(); } diff --git a/gtsam/nonlinear/Marginals.h b/gtsam/nonlinear/Marginals.h index 4e201cc38..9935bafdd 100644 --- a/gtsam/nonlinear/Marginals.h +++ b/gtsam/nonlinear/Marginals.h @@ -48,7 +48,7 @@ protected: public: - /// Default constructor only for Cython wrapper + /// Default constructor only for wrappers Marginals(){} /** Construct a marginals class from a nonlinear factor graph. @@ -156,7 +156,7 @@ protected: FastMap indices_; public: - /// Default constructor only for Cython wrapper + /// Default constructor only for wrappers JointMarginal() {} /** Access a block, corresponding to a pair of variables, of the joint diff --git a/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h b/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h index abf6b257a..a85f27425 100644 --- a/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h +++ b/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h @@ -200,6 +200,10 @@ boost::tuple nonlinearConjugateGradient(const S &system, currentValues = system.advance(prevValues, alpha, direction); currentError = system.error(currentValues); + // User hook: + if (params.iterationHook) + params.iterationHook(iteration, prevError, currentError); + // Maybe show output if (params.verbosity >= NonlinearOptimizerParams::ERROR) std::cout << "iteration: " << iteration << ", currentError: " << currentError << std::endl; diff --git a/gtsam/nonlinear/NonlinearOptimizer.cpp b/gtsam/nonlinear/NonlinearOptimizer.cpp index 9a9c487b6..0d7e9e17f 100644 --- a/gtsam/nonlinear/NonlinearOptimizer.cpp +++ b/gtsam/nonlinear/NonlinearOptimizer.cpp @@ -88,20 +88,28 @@ void NonlinearOptimizer::defaultOptimize() { } // Iterative loop + double newError = currentError; // used to avoid repeated calls to error() do { // Do next iteration - currentError = error(); // TODO(frank): don't do this twice at first !? Computed above! + currentError = newError; iterate(); tictoc_finishedIteration(); + // Update newError for either printouts or conditional-end checks: + newError = error(); + + // User hook: + if (params.iterationHook) + params.iterationHook(iterations(), currentError, newError); + // Maybe show output if (params.verbosity >= NonlinearOptimizerParams::VALUES) values().print("newValues"); if (params.verbosity >= NonlinearOptimizerParams::ERROR) - cout << "newError: " << error() << endl; + cout << "newError: " << newError << endl; } while (iterations() < params.maxIterations && !checkConvergence(params.relativeErrorTol, params.absoluteErrorTol, params.errorTol, - currentError, error(), params.verbosity) && std::isfinite(currentError)); + currentError, newError, params.verbosity) && std::isfinite(currentError)); // Printing if verbose if (params.verbosity >= NonlinearOptimizerParams::TERMINATION) { diff --git a/gtsam/nonlinear/NonlinearOptimizer.h b/gtsam/nonlinear/NonlinearOptimizer.h index 9935f44ce..6fe369dd3 100644 --- a/gtsam/nonlinear/NonlinearOptimizer.h +++ b/gtsam/nonlinear/NonlinearOptimizer.h @@ -81,7 +81,7 @@ protected: public: /** A shared pointer to this class */ - typedef boost::shared_ptr shared_ptr; + using shared_ptr = boost::shared_ptr; /// @name Standard interface /// @{ diff --git a/gtsam/nonlinear/NonlinearOptimizerParams.h b/gtsam/nonlinear/NonlinearOptimizerParams.h index 65fdd1c92..a7bc10a1f 100644 --- a/gtsam/nonlinear/NonlinearOptimizerParams.h +++ b/gtsam/nonlinear/NonlinearOptimizerParams.h @@ -38,21 +38,12 @@ public: SILENT, TERMINATION, ERROR, VALUES, DELTA, LINEAR }; - size_t maxIterations; ///< The maximum iterations to stop iterating (default 100) - double relativeErrorTol; ///< The maximum relative error decrease to stop iterating (default 1e-5) - double absoluteErrorTol; ///< The maximum absolute error decrease to stop iterating (default 1e-5) - double errorTol; ///< The maximum total error to stop iterating (default 0.0) - Verbosity verbosity; ///< The printing verbosity during optimization (default SILENT) - Ordering::OrderingType orderingType; ///< The method of ordering use during variable elimination (default COLAMD) - - NonlinearOptimizerParams() : - maxIterations(100), relativeErrorTol(1e-5), absoluteErrorTol(1e-5), errorTol( - 0.0), verbosity(SILENT), orderingType(Ordering::COLAMD), - linearSolverType(MULTIFRONTAL_CHOLESKY) {} - - virtual ~NonlinearOptimizerParams() { - } - virtual void print(const std::string& str = "") const; + size_t maxIterations = 100; ///< The maximum iterations to stop iterating (default 100) + double relativeErrorTol = 1e-5; ///< The maximum relative error decrease to stop iterating (default 1e-5) + double absoluteErrorTol = 1e-5; ///< The maximum absolute error decrease to stop iterating (default 1e-5) + double errorTol = 0.0; ///< The maximum total error to stop iterating (default 0.0) + Verbosity verbosity = SILENT; ///< The printing verbosity during optimization (default SILENT) + Ordering::OrderingType orderingType = Ordering::COLAMD; ///< The method of ordering use during variable elimination (default COLAMD) size_t getMaxIterations() const { return maxIterations; } double getRelativeErrorTol() const { return relativeErrorTol; } @@ -71,6 +62,37 @@ public: static Verbosity verbosityTranslator(const std::string &s) ; static std::string verbosityTranslator(Verbosity value) ; + /** Type for an optional user-provided hook to be called after each + * internal optimizer iteration. See iterationHook below. */ + using IterationHook = std::function< + void(size_t /*iteration*/, double/*errorBefore*/, double/*errorAfter*/)>; + + /** Optional user-provided iteration hook to be called after each + * optimization iteration (Default: none). + * Note that `IterationHook` is defined as a std::function<> with this + * signature: + * \code + * void(size_t iteration, double errorBefore, double errorAfter) + * \endcode + * which allows binding by means of a reference to a regular function: + * \code + * void foo(size_t iteration, double errorBefore, double errorAfter); + * // ... + * lmOpts.iterationHook = &foo; + * \endcode + * or to a C++11 lambda (preferred if you need to capture additional + * context variables, such that the optimizer object itself, the factor graph, + * etc.): + * \code + * lmOpts.iterationHook = [&](size_t iter, double oldError, double newError) + * { + * // ... + * }; + * \endcode + * or to the result of a properly-formed `std::bind` call. + */ + IterationHook iterationHook; + /** See NonlinearOptimizerParams::linearSolverType */ enum LinearSolverType { MULTIFRONTAL_CHOLESKY, @@ -81,10 +103,16 @@ public: CHOLMOD, /* Experimental Flag */ }; - LinearSolverType linearSolverType; ///< The type of linear solver to use in the nonlinear optimizer + LinearSolverType linearSolverType = MULTIFRONTAL_CHOLESKY; ///< The type of linear solver to use in the nonlinear optimizer boost::optional ordering; ///< The optional variable elimination ordering, or empty to use COLAMD (default: empty) IterativeOptimizationParameters::shared_ptr iterativeParams; ///< The container for iterativeOptimization parameters. used in CG Solvers. + NonlinearOptimizerParams() = default; + virtual ~NonlinearOptimizerParams() { + } + + virtual void print(const std::string& str = "") const; + inline bool isMultifrontal() const { return (linearSolverType == MULTIFRONTAL_CHOLESKY) || (linearSolverType == MULTIFRONTAL_QR); diff --git a/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp b/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp index 2f4f21286..1423b473e 100644 --- a/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp +++ b/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp @@ -41,7 +41,7 @@ struct Cal3Bundler0 : public Cal3Bundler { double v0 = 0) : Cal3Bundler(f, k1, k2, u0, v0) {} Cal3Bundler0 retract(const Vector& d) const { - return Cal3Bundler0(fx() + d(0), k1() + d(1), k2() + d(2), u0(), v0()); + return Cal3Bundler0(fx() + d(0), k1() + d(1), k2() + d(2), px(), py()); } Vector3 localCoordinates(const Cal3Bundler0& T2) const { return T2.vector() - vector(); diff --git a/gtsam/nonlinear/tests/testFunctorizedFactor.cpp b/gtsam/nonlinear/tests/testFunctorizedFactor.cpp index 48ab73ad0..cb91320cf 100644 --- a/gtsam/nonlinear/tests/testFunctorizedFactor.cpp +++ b/gtsam/nonlinear/tests/testFunctorizedFactor.cpp @@ -19,6 +19,7 @@ #include #include +#include #include #include #include @@ -115,16 +116,6 @@ TEST(FunctorizedFactor, Print) { auto factor = MakeFunctorizedFactor(key, X, model, MultiplyFunctor(multiplier)); - // redirect output to buffer so we can compare - stringstream buffer; - streambuf *old = cout.rdbuf(buffer.rdbuf()); - - factor.print(); - - // get output string and reset stdout - string actual = buffer.str(); - cout.rdbuf(old); - string expected = " keys = { X0 }\n" " noise model: unit (9) \n" @@ -135,7 +126,7 @@ TEST(FunctorizedFactor, Print) { "]\n" " noise model sigmas: 1 1 1 1 1 1 1 1 1\n"; - CHECK_EQUAL(expected, actual); + EXPECT(assert_print_equal(expected, factor)); } /* ************************************************************************* */ diff --git a/gtsam/nonlinear/tests/testValues.cpp b/gtsam/nonlinear/tests/testValues.cpp index 09b358efb..88cfb666f 100644 --- a/gtsam/nonlinear/tests/testValues.cpp +++ b/gtsam/nonlinear/tests/testValues.cpp @@ -595,15 +595,7 @@ TEST(Values, Demangle) { values.insert(key1, v); string expected = "Values with 1 values:\nValue v1: (Eigen::Matrix)\n[\n 5, 6, 7\n]\n\n"; - stringstream buffer; - streambuf * old = cout.rdbuf(buffer.rdbuf()); - - values.print(); - - string actual = buffer.str(); - cout.rdbuf(old); - - EXPECT(assert_equal(expected, actual)); + EXPECT(assert_print_equal(expected, values)); } /* ************************************************************************* */ diff --git a/gtsam/sfm/MFAS.cpp b/gtsam/sfm/MFAS.cpp index 6dccc2dee..913752d8a 100644 --- a/gtsam/sfm/MFAS.cpp +++ b/gtsam/sfm/MFAS.cpp @@ -111,10 +111,8 @@ void removeNodeFromGraph(const Key node, graph.erase(node); } -MFAS::MFAS(const std::shared_ptr>& nodes, - const TranslationEdges& relativeTranslations, - const Unit3& projectionDirection) - : nodes_(nodes) { +MFAS::MFAS(const TranslationEdges& relativeTranslations, + const Unit3& projectionDirection) { // Iterate over edges, obtain weights by projecting // their relativeTranslations along the projection direction for (const auto& measurement : relativeTranslations) { @@ -123,8 +121,8 @@ MFAS::MFAS(const std::shared_ptr>& nodes, } } -vector MFAS::computeOrdering() const { - vector ordering; // Nodes in MFAS order (result). +KeyVector MFAS::computeOrdering() const { + KeyVector ordering; // Nodes in MFAS order (result). // A graph is an unordered map from keys to nodes. Each node contains a list // of its adjacent nodes. Create the graph from the edgeWeights. @@ -142,7 +140,7 @@ vector MFAS::computeOrdering() const { map MFAS::computeOutlierWeights() const { // Find the ordering. - vector ordering = computeOrdering(); + KeyVector ordering = computeOrdering(); // Create a map from the node key to its position in the ordering. This makes // it easier to lookup positions of different nodes. diff --git a/gtsam/sfm/MFAS.h b/gtsam/sfm/MFAS.h index 929aa5ff0..decfbed0f 100644 --- a/gtsam/sfm/MFAS.h +++ b/gtsam/sfm/MFAS.h @@ -56,50 +56,38 @@ class MFAS { using TranslationEdges = std::vector>; private: - // pointer to nodes in the graph - const std::shared_ptr> nodes_; - // edges with a direction such that all weights are positive // i.e, edges that originally had negative weights are flipped std::map edgeWeights_; public: /** - * @brief Construct from the nodes in a graph and weighted directed edges + * @brief Construct from the weighted directed edges * between the nodes. Each node is identified by a Key. - * A shared pointer to the nodes is used as input parameter - * because, MFAS ordering is usually used to compute the ordering of a - * large graph that is already stored in memory. It is unnecessary to make a - * copy of the nodes in this class. - * @param nodes: Nodes in the graph * @param edgeWeights: weights of edges in the graph */ - MFAS(const std::shared_ptr> &nodes, - const std::map &edgeWeights) - : nodes_(nodes), edgeWeights_(edgeWeights) {} + MFAS(const std::map &edgeWeights) + : edgeWeights_(edgeWeights) {} /** * @brief Constructor to be used in the context of translation averaging. * Here, the nodes of the graph are cameras in 3D and the edges have a unit * translation direction between them. The weights of the edges is computed by * projecting them along a projection direction. - * @param nodes cameras in the epipolar graph (each camera is identified by a - * Key) * @param relativeTranslations translation directions between the cameras * @param projectionDirection direction in which edges are to be projected */ - MFAS(const std::shared_ptr> &nodes, - const TranslationEdges &relativeTranslations, + MFAS(const TranslationEdges &relativeTranslations, const Unit3 &projectionDirection); /** * @brief Computes the 1D MFAS ordering of nodes in the graph * @return orderedNodes: vector of nodes in the obtained order */ - std::vector computeOrdering() const; + KeyVector computeOrdering() const; /** - * @brief Computes the "outlier weights" of the graph. We define the outlier + * @brief Computes the outlier weights of the graph. We define the outlier * weight of a edge to be zero if the edge is an inlier and the magnitude of * its edgeWeight if it is an outlier. This function internally calls * computeOrdering and uses the obtained ordering to identify outlier edges. @@ -108,4 +96,6 @@ class MFAS { std::map computeOutlierWeights() const; }; +typedef std::map, double> KeyPairDoubleMap; + } // namespace gtsam diff --git a/gtsam/sfm/tests/testMFAS.cpp b/gtsam/sfm/tests/testMFAS.cpp index 58ea4cc84..a1f6dfa5f 100644 --- a/gtsam/sfm/tests/testMFAS.cpp +++ b/gtsam/sfm/tests/testMFAS.cpp @@ -6,7 +6,7 @@ */ #include -#include + #include using namespace std; @@ -25,7 +25,7 @@ using namespace gtsam; vector edges = {make_pair(3, 2), make_pair(0, 1), make_pair(3, 1), make_pair(1, 2), make_pair(0, 2), make_pair(3, 0)}; // nodes in the graph -vector nodes = {Key(0), Key(1), Key(2), Key(3)}; +KeyVector nodes = {Key(0), Key(1), Key(2), Key(3)}; // weights from projecting in direction-1 (bad direction, outlier accepted) vector weights1 = {2, 1.5, 0.5, 0.25, 1, 0.75}; // weights from projecting in direction-2 (good direction, outlier rejected) @@ -39,19 +39,18 @@ map getEdgeWeights(const vector &edges, for (size_t i = 0; i < edges.size(); i++) { edgeWeights[edges[i]] = weights[i]; } - cout << "returning edge weights " << edgeWeights.size() << endl; return edgeWeights; } // test the ordering and the outlierWeights function using weights2 - outlier // edge is rejected when projected in a direction that gives weights2 TEST(MFAS, OrderingWeights2) { - MFAS mfas_obj(make_shared>(nodes), getEdgeWeights(edges, weights2)); + MFAS mfas_obj(getEdgeWeights(edges, weights2)); - vector ordered_nodes = mfas_obj.computeOrdering(); + KeyVector ordered_nodes = mfas_obj.computeOrdering(); // ground truth (expected) ordering in this example - vector gt_ordered_nodes = {0, 1, 3, 2}; + KeyVector gt_ordered_nodes = {0, 1, 3, 2}; // check if the expected ordering is obtained for (size_t i = 0; i < ordered_nodes.size(); i++) { @@ -76,12 +75,12 @@ TEST(MFAS, OrderingWeights2) { // weights1 (outlier edge is accepted when projected in a direction that // produces weights1) TEST(MFAS, OrderingWeights1) { - MFAS mfas_obj(make_shared>(nodes), getEdgeWeights(edges, weights1)); + MFAS mfas_obj(getEdgeWeights(edges, weights1)); - vector ordered_nodes = mfas_obj.computeOrdering(); + KeyVector ordered_nodes = mfas_obj.computeOrdering(); // "ground truth" expected ordering in this example - vector gt_ordered_nodes = {3, 0, 1, 2}; + KeyVector gt_ordered_nodes = {3, 0, 1, 2}; // check if the expected ordering is obtained for (size_t i = 0; i < ordered_nodes.size(); i++) { diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp index 270dbeb95..74e074c9e 100644 --- a/gtsam/slam/dataset.cpp +++ b/gtsam/slam/dataset.cpp @@ -1164,8 +1164,8 @@ bool writeBAL(const string &filename, SfmData &data) { for (size_t k = 0; k < track.number_measurements(); k++) { // for each observation of the 3D point j size_t i = track.measurements[k].first; // camera id - double u0 = data.cameras[i].calibration().u0(); - double v0 = data.cameras[i].calibration().v0(); + double u0 = data.cameras[i].calibration().px(); + double v0 = data.cameras[i].calibration().py(); if (u0 != 0 || v0 != 0) { cout << "writeBAL has not been tested for calibration with nonzero " diff --git a/gtsam/slam/dataset.h b/gtsam/slam/dataset.h index a8fddcfe4..93bd2b2ee 100644 --- a/gtsam/slam/dataset.h +++ b/gtsam/slam/dataset.h @@ -211,16 +211,18 @@ GTSAM_EXPORT GraphAndValues load3D(const std::string& filename); /// A measurement with its camera index typedef std::pair SfmMeasurement; -/// SfmTrack +/// Sift index for SfmTrack typedef std::pair SiftIndex; /// Define the structure for the 3D points struct SfmTrack { SfmTrack(): p(0,0,0) {} + SfmTrack(const gtsam::Point3& pt) : p(pt) {} Point3 p; ///< 3D position of the point float r, g, b; ///< RGB color of the 3D point std::vector measurements; ///< The 2D image projections (id,(u,v)) std::vector siftIndices; + /// Total number of measurements in this track size_t number_measurements() const { return measurements.size(); @@ -233,11 +235,17 @@ struct SfmTrack { SiftIndex siftIndex(size_t idx) const { return siftIndices[idx]; } - Point3 point3() const { + /// Get 3D point + const Point3& point3() const { return p; } + /// Add measurement (camera_idx, Point2) to track + void add_measurement(size_t idx, const gtsam::Point2& m) { + measurements.emplace_back(idx, m); + } }; + /// Define the structure for the camera poses typedef PinholeCamera SfmCamera; @@ -260,6 +268,14 @@ struct SfmData { SfmTrack track(size_t idx) const { return tracks[idx]; } + /// Add a track to SfmData + void add_track(const SfmTrack& t) { + tracks.push_back(t); + } + /// Add a camera to SfmData + void add_camera(const SfmCamera& cam){ + cameras.push_back(cam); + } }; /** diff --git a/gtsam_extra.cmake.in b/gtsam_extra.cmake.in index 01ac00b37..44ba36bd6 100644 --- a/gtsam_extra.cmake.in +++ b/gtsam_extra.cmake.in @@ -7,8 +7,3 @@ set (GTSAM_VERSION_STRING "@GTSAM_VERSION_STRING@") set (GTSAM_USE_TBB @GTSAM_USE_TBB@) set (GTSAM_DEFAULT_ALLOCATOR @GTSAM_DEFAULT_ALLOCATOR@) - -if("@GTSAM_INSTALL_CYTHON_TOOLBOX@") - list(APPEND GTSAM_CYTHON_INSTALL_PATH "@GTSAM_CYTHON_INSTALL_PATH@") - list(APPEND GTSAM_EIGENCY_INSTALL_PATH "@GTSAM_EIGENCY_INSTALL_PATH@") -endif() diff --git a/gtsam_unstable/geometry/tests/testSimilarity3.cpp b/gtsam_unstable/geometry/tests/testSimilarity3.cpp index b985eb374..937761f02 100644 --- a/gtsam_unstable/geometry/tests/testSimilarity3.cpp +++ b/gtsam_unstable/geometry/tests/testSimilarity3.cpp @@ -361,8 +361,12 @@ TEST(Similarity3, AlignPose3) { vector correspondences{bTa1, bTa2}; + // Cayley transform cannot accommodate 180 degree rotations, + // hence we only test for Expmap +#ifdef GTSAM_ROT3_EXPMAP Similarity3 actual_aSb = Similarity3::Align(correspondences); EXPECT(assert_equal(expected_aSb, actual_aSb)); +#endif } //****************************************************************************** diff --git a/gtsam_unstable/linear/ActiveSetSolver-inl.h b/gtsam_unstable/linear/ActiveSetSolver-inl.h index 602012090..12374ac76 100644 --- a/gtsam_unstable/linear/ActiveSetSolver-inl.h +++ b/gtsam_unstable/linear/ActiveSetSolver-inl.h @@ -149,7 +149,7 @@ Template JacobianFactor::shared_ptr This::createDualFactor( // to compute the least-square approximation of dual variables return boost::make_shared(Aterms, b); } else { - return boost::make_shared(); + return nullptr; } } @@ -165,14 +165,13 @@ Template JacobianFactor::shared_ptr This::createDualFactor( * if lambda = 0 you are on the constraint * if lambda > 0 you are violating the constraint. */ -Template GaussianFactorGraph::shared_ptr This::buildDualGraph( +Template GaussianFactorGraph This::buildDualGraph( const InequalityFactorGraph& workingSet, const VectorValues& delta) const { - GaussianFactorGraph::shared_ptr dualGraph(new GaussianFactorGraph()); + GaussianFactorGraph dualGraph; for (Key key : constrainedKeys_) { // Each constrained key becomes a factor in the dual graph - JacobianFactor::shared_ptr dualFactor = - createDualFactor(key, workingSet, delta); - if (!dualFactor->empty()) dualGraph->push_back(dualFactor); + auto dualFactor = createDualFactor(key, workingSet, delta); + if (dualFactor) dualGraph.push_back(dualFactor); } return dualGraph; } @@ -193,19 +192,16 @@ This::buildWorkingGraph(const InequalityFactorGraph& workingSet, Template typename This::State This::iterate( const typename This::State& state) const { // Algorithm 16.3 from Nocedal06book. - // Solve with the current working set eqn 16.39, but instead of solving for p - // solve for x - GaussianFactorGraph workingGraph = - buildWorkingGraph(state.workingSet, state.values); + // Solve with the current working set eqn 16.39, but solve for x not p + auto workingGraph = buildWorkingGraph(state.workingSet, state.values); VectorValues newValues = workingGraph.optimize(); // If we CAN'T move further // if p_k = 0 is the original condition, modified by Duy to say that the state // update is zero. if (newValues.equals(state.values, 1e-7)) { // Compute lambda from the dual graph - GaussianFactorGraph::shared_ptr dualGraph = buildDualGraph(state.workingSet, - newValues); - VectorValues duals = dualGraph->optimize(); + auto dualGraph = buildDualGraph(state.workingSet, newValues); + VectorValues duals = dualGraph.optimize(); int leavingFactor = identifyLeavingConstraint(state.workingSet, duals); // If all inequality constraints are satisfied: We have the solution!! if (leavingFactor < 0) { diff --git a/gtsam_unstable/linear/ActiveSetSolver.h b/gtsam_unstable/linear/ActiveSetSolver.h index 8c3c5a7e5..318912cf3 100644 --- a/gtsam_unstable/linear/ActiveSetSolver.h +++ b/gtsam_unstable/linear/ActiveSetSolver.h @@ -154,8 +154,8 @@ protected: public: /// Just for testing... /// Builds a dual graph from the current working set. - GaussianFactorGraph::shared_ptr buildDualGraph( - const InequalityFactorGraph& workingSet, const VectorValues& delta) const; + GaussianFactorGraph buildDualGraph(const InequalityFactorGraph &workingSet, + const VectorValues &delta) const; /** * Build a working graph of cost, equality and active inequality constraints diff --git a/gtsam_unstable/linear/EqualityFactorGraph.h b/gtsam_unstable/linear/EqualityFactorGraph.h index 43befdbe0..fb3f4c076 100644 --- a/gtsam_unstable/linear/EqualityFactorGraph.h +++ b/gtsam_unstable/linear/EqualityFactorGraph.h @@ -31,6 +31,11 @@ class EqualityFactorGraph: public FactorGraph { public: typedef boost::shared_ptr shared_ptr; + /// Add a linear inequality, forwards arguments to LinearInequality. + template void add(Args &&... args) { + emplace_shared(std::forward(args)...); + } + /// Compute error of a guess. double error(const VectorValues& x) const { double total_error = 0.; diff --git a/gtsam_unstable/linear/InequalityFactorGraph.h b/gtsam_unstable/linear/InequalityFactorGraph.h index c87645697..d042b0436 100644 --- a/gtsam_unstable/linear/InequalityFactorGraph.h +++ b/gtsam_unstable/linear/InequalityFactorGraph.h @@ -47,6 +47,11 @@ public: return Base::equals(other, tol); } + /// Add a linear inequality, forwards arguments to LinearInequality. + template void add(Args &&... args) { + emplace_shared(std::forward(args)...); + } + /** * Compute error of a guess. * Infinity error if it violates an inequality; zero otherwise. */ diff --git a/gtsam_unstable/linear/LPInitSolver.h b/gtsam_unstable/linear/LPInitSolver.h index 4eb672fbc..14e5fb000 100644 --- a/gtsam_unstable/linear/LPInitSolver.h +++ b/gtsam_unstable/linear/LPInitSolver.h @@ -21,7 +21,6 @@ #include #include -#include namespace gtsam { /** @@ -83,7 +82,7 @@ private: const InequalityFactorGraph& inequalities) const; // friend class for unit-testing private methods - FRIEND_TEST(LPInitSolver, initialization); + friend class LPInitSolverInitializationTest; }; } diff --git a/gtsam_unstable/linear/tests/testLPSolver.cpp b/gtsam_unstable/linear/tests/testLPSolver.cpp index a105a39f0..53c8c7618 100644 --- a/gtsam_unstable/linear/tests/testLPSolver.cpp +++ b/gtsam_unstable/linear/tests/testLPSolver.cpp @@ -16,21 +16,23 @@ * @author Duy-Nguyen Ta */ +#include +#include + #include -#include #include -#include +#include #include +#include #include #include #include + #include + #include #include -#include -#include - using namespace std; using namespace gtsam; using namespace gtsam::symbol_shorthand; @@ -47,37 +49,27 @@ static const Vector kOne = Vector::Ones(1), kZero = Vector::Zero(1); */ LP simpleLP1() { LP lp; - lp.cost = LinearCost(1, Vector2(-1., -1.)); // min -x1-x2 (max x1+x2) - lp.inequalities.push_back( - LinearInequality(1, Vector2(-1, 0), 0, 1)); // x1 >= 0 - lp.inequalities.push_back( - LinearInequality(1, Vector2(0, -1), 0, 2)); // x2 >= 0 - lp.inequalities.push_back( - LinearInequality(1, Vector2(1, 2), 4, 3)); // x1 + 2*x2 <= 4 - lp.inequalities.push_back( - LinearInequality(1, Vector2(4, 2), 12, 4)); // 4x1 + 2x2 <= 12 - lp.inequalities.push_back( - LinearInequality(1, Vector2(-1, 1), 1, 5)); // -x1 + x2 <= 1 + lp.cost = LinearCost(1, Vector2(-1., -1.)); // min -x1-x2 (max x1+x2) + lp.inequalities.add(1, Vector2(-1, 0), 0, 1); // x1 >= 0 + lp.inequalities.add(1, Vector2(0, -1), 0, 2); // x2 >= 0 + lp.inequalities.add(1, Vector2(1, 2), 4, 3); // x1 + 2*x2 <= 4 + lp.inequalities.add(1, Vector2(4, 2), 12, 4); // 4x1 + 2x2 <= 12 + lp.inequalities.add(1, Vector2(-1, 1), 1, 5); // -x1 + x2 <= 1 return lp; } /* ************************************************************************* */ namespace gtsam { -TEST(LPInitSolver, infinite_loop_single_var) { - LP initchecker; - initchecker.cost = LinearCost(1, Vector3(0, 0, 1)); // min alpha - initchecker.inequalities.push_back( - LinearInequality(1, Vector3(-2, -1, -1), -2, 1)); //-2x-y-alpha <= -2 - initchecker.inequalities.push_back( - LinearInequality(1, Vector3(-1, 2, -1), 6, 2)); // -x+2y-alpha <= 6 - initchecker.inequalities.push_back( - LinearInequality(1, Vector3(-1, 0, -1), 0, 3)); // -x - alpha <= 0 - initchecker.inequalities.push_back( - LinearInequality(1, Vector3(1, 0, -1), 20, 4)); // x - alpha <= 20 - initchecker.inequalities.push_back( - LinearInequality(1, Vector3(0, -1, -1), 0, 5)); // -y - alpha <= 0 - LPSolver solver(initchecker); +TEST(LPInitSolver, InfiniteLoopSingleVar) { + LP lp; + lp.cost = LinearCost(1, Vector3(0, 0, 1)); // min alpha + lp.inequalities.add(1, Vector3(-2, -1, -1), -2, 1); //-2x-y-a <= -2 + lp.inequalities.add(1, Vector3(-1, 2, -1), 6, 2); // -x+2y-a <= 6 + lp.inequalities.add(1, Vector3(-1, 0, -1), 0, 3); // -x - a <= 0 + lp.inequalities.add(1, Vector3(1, 0, -1), 20, 4); // x - a <= 20 + lp.inequalities.add(1, Vector3(0, -1, -1), 0, 5); // -y - a <= 0 + LPSolver solver(lp); VectorValues starter; starter.insert(1, Vector3(0, 0, 2)); VectorValues results, duals; @@ -87,25 +79,23 @@ TEST(LPInitSolver, infinite_loop_single_var) { CHECK(assert_equal(results, expected, 1e-7)); } -TEST(LPInitSolver, infinite_loop_multi_var) { - LP initchecker; +TEST(LPInitSolver, InfiniteLoopMultiVar) { + LP lp; Key X = symbol('X', 1); Key Y = symbol('Y', 1); Key Z = symbol('Z', 1); - initchecker.cost = LinearCost(Z, kOne); // min alpha - initchecker.inequalities.push_back( - LinearInequality(X, -2.0 * kOne, Y, -1.0 * kOne, Z, -1.0 * kOne, -2, - 1)); //-2x-y-alpha <= -2 - initchecker.inequalities.push_back( - LinearInequality(X, -1.0 * kOne, Y, 2.0 * kOne, Z, -1.0 * kOne, 6, - 2)); // -x+2y-alpha <= 6 - initchecker.inequalities.push_back(LinearInequality( - X, -1.0 * kOne, Z, -1.0 * kOne, 0, 3)); // -x - alpha <= 0 - initchecker.inequalities.push_back(LinearInequality( - X, 1.0 * kOne, Z, -1.0 * kOne, 20, 4)); // x - alpha <= 20 - initchecker.inequalities.push_back(LinearInequality( - Y, -1.0 * kOne, Z, -1.0 * kOne, 0, 5)); // -y - alpha <= 0 - LPSolver solver(initchecker); + lp.cost = LinearCost(Z, kOne); // min alpha + lp.inequalities.add(X, -2.0 * kOne, Y, -1.0 * kOne, Z, -1.0 * kOne, -2, + 1); //-2x-y-alpha <= -2 + lp.inequalities.add(X, -1.0 * kOne, Y, 2.0 * kOne, Z, -1.0 * kOne, 6, + 2); // -x+2y-alpha <= 6 + lp.inequalities.add(X, -1.0 * kOne, Z, -1.0 * kOne, 0, + 3); // -x - alpha <= 0 + lp.inequalities.add(X, 1.0 * kOne, Z, -1.0 * kOne, 20, + 4); // x - alpha <= 20 + lp.inequalities.add(Y, -1.0 * kOne, Z, -1.0 * kOne, 0, + 5); // -y - alpha <= 0 + LPSolver solver(lp); VectorValues starter; starter.insert(X, kZero); starter.insert(Y, kZero); @@ -119,7 +109,7 @@ TEST(LPInitSolver, infinite_loop_multi_var) { CHECK(assert_equal(results, expected, 1e-7)); } -TEST(LPInitSolver, initialization) { +TEST(LPInitSolver, Initialization) { LP lp = simpleLP1(); LPInitSolver initSolver(lp); @@ -138,19 +128,19 @@ TEST(LPInitSolver, initialization) { LP::shared_ptr initLP = initSolver.buildInitialLP(yKey); LP expectedInitLP; expectedInitLP.cost = LinearCost(yKey, kOne); - expectedInitLP.inequalities.push_back(LinearInequality( - 1, Vector2(-1, 0), 2, Vector::Constant(1, -1), 0, 1)); // -x1 - y <= 0 - expectedInitLP.inequalities.push_back(LinearInequality( - 1, Vector2(0, -1), 2, Vector::Constant(1, -1), 0, 2)); // -x2 - y <= 0 - expectedInitLP.inequalities.push_back( - LinearInequality(1, Vector2(1, 2), 2, Vector::Constant(1, -1), 4, - 3)); // x1 + 2*x2 - y <= 4 - expectedInitLP.inequalities.push_back( - LinearInequality(1, Vector2(4, 2), 2, Vector::Constant(1, -1), 12, - 4)); // 4x1 + 2x2 - y <= 12 - expectedInitLP.inequalities.push_back( - LinearInequality(1, Vector2(-1, 1), 2, Vector::Constant(1, -1), 1, - 5)); // -x1 + x2 - y <= 1 + expectedInitLP.inequalities.add(1, Vector2(-1, 0), 2, Vector::Constant(1, -1), + 0, 1); // -x1 - y <= 0 + expectedInitLP.inequalities.add(1, Vector2(0, -1), 2, Vector::Constant(1, -1), + 0, 2); // -x2 - y <= 0 + expectedInitLP.inequalities.add(1, Vector2(1, 2), 2, Vector::Constant(1, -1), + 4, + 3); // x1 + 2*x2 - y <= 4 + expectedInitLP.inequalities.add(1, Vector2(4, 2), 2, Vector::Constant(1, -1), + 12, + 4); // 4x1 + 2x2 - y <= 12 + expectedInitLP.inequalities.add(1, Vector2(-1, 1), 2, Vector::Constant(1, -1), + 1, + 5); // -x1 + x2 - y <= 1 CHECK(assert_equal(expectedInitLP, *initLP, 1e-10)); LPSolver lpSolveInit(*initLP); VectorValues xy0(x0); @@ -164,7 +154,7 @@ TEST(LPInitSolver, initialization) { VectorValues x = initSolver.solve(); CHECK(lp.isFeasible(x)); } -} +} // namespace gtsam /* ************************************************************************* */ /** @@ -173,28 +163,24 @@ TEST(LPInitSolver, initialization) { * x - y = 5 * x + 2y = 6 */ -TEST(LPSolver, overConstrainedLinearSystem) { +TEST(LPSolver, OverConstrainedLinearSystem) { GaussianFactorGraph graph; Matrix A1 = Vector3(1, 1, 1); Matrix A2 = Vector3(1, -1, 2); Vector b = Vector3(1, 5, 6); - JacobianFactor factor(1, A1, 2, A2, b, noiseModel::Constrained::All(3)); - graph.push_back(factor); + graph.add(1, A1, 2, A2, b, noiseModel::Constrained::All(3)); VectorValues x = graph.optimize(); // This check confirms that gtsam linear constraint solver can't handle // over-constrained system - CHECK(factor.error(x) != 0.0); + CHECK(graph[0]->error(x) != 0.0); } TEST(LPSolver, overConstrainedLinearSystem2) { GaussianFactorGraph graph; - graph.emplace_shared(1, I_1x1, 2, I_1x1, kOne, - noiseModel::Constrained::All(1)); - graph.emplace_shared(1, I_1x1, 2, -I_1x1, 5 * kOne, - noiseModel::Constrained::All(1)); - graph.emplace_shared(1, I_1x1, 2, 2 * I_1x1, 6 * kOne, - noiseModel::Constrained::All(1)); + graph.add(1, I_1x1, 2, I_1x1, kOne, noiseModel::Constrained::All(1)); + graph.add(1, I_1x1, 2, -I_1x1, 5 * kOne, noiseModel::Constrained::All(1)); + graph.add(1, I_1x1, 2, 2 * I_1x1, 6 * kOne, noiseModel::Constrained::All(1)); VectorValues x = graph.optimize(); // This check confirms that gtsam linear constraint solver can't handle // over-constrained system @@ -202,7 +188,7 @@ TEST(LPSolver, overConstrainedLinearSystem2) { } /* ************************************************************************* */ -TEST(LPSolver, simpleTest1) { +TEST(LPSolver, SimpleTest1) { LP lp = simpleLP1(); LPSolver lpSolver(lp); VectorValues init; @@ -222,7 +208,7 @@ TEST(LPSolver, simpleTest1) { } /* ************************************************************************* */ -TEST(LPSolver, testWithoutInitialValues) { +TEST(LPSolver, TestWithoutInitialValues) { LP lp = simpleLP1(); LPSolver lpSolver(lp); VectorValues result, duals, expectedResult; diff --git a/gtsam_unstable/linear/tests/testQPSolver.cpp b/gtsam_unstable/linear/tests/testQPSolver.cpp index 2292c63d7..67a0c971e 100644 --- a/gtsam_unstable/linear/tests/testQPSolver.cpp +++ b/gtsam_unstable/linear/tests/testQPSolver.cpp @@ -17,10 +17,12 @@ * @author Ivan Dario Jimenez */ +#include +#include + #include #include -#include -#include + #include using namespace std; @@ -40,15 +42,15 @@ QP createTestCase() { // Hence, we have G11=2, G12 = -1, g1 = +3, G22 = 2, g2 = 0, f = 10 //TODO: THIS TEST MIGHT BE WRONG : the last parameter might be 5 instead of 10 because the form of the equation // Should be 0.5x'Gx + gx + f : Nocedal 449 - qp.cost.push_back( - HessianFactor(X(1), X(2), 2.0 * I_1x1, -I_1x1, 3.0 * I_1x1, 2.0 * I_1x1, - Z_1x1, 10.0)); + qp.cost.push_back(HessianFactor(X(1), X(2), 2.0 * I_1x1, -I_1x1, 3.0 * I_1x1, + 2.0 * I_1x1, Z_1x1, 10.0)); // Inequality constraints - qp.inequalities.push_back(LinearInequality(X(1), I_1x1, X(2), I_1x1, 2, 0)); // x1 + x2 <= 2 --> x1 + x2 -2 <= 0, --> b=2 - qp.inequalities.push_back(LinearInequality(X(1), -I_1x1, 0, 1)); // -x1 <= 0 - qp.inequalities.push_back(LinearInequality(X(2), -I_1x1, 0, 2)); // -x2 <= 0 - qp.inequalities.push_back(LinearInequality(X(1), I_1x1, 1.5, 3)); // x1 <= 3/2 + qp.inequalities.add(X(1), I_1x1, X(2), I_1x1, 2, + 0); // x1 + x2 <= 2 --> x1 + x2 -2 <= 0, --> b=2 + qp.inequalities.add(X(1), -I_1x1, 0, 1); // -x1 <= 0 + qp.inequalities.add(X(2), -I_1x1, 0, 2); // -x2 <= 0 + qp.inequalities.add(X(1), I_1x1, 1.5, 3); // x1 <= 3/2 return qp; } @@ -94,16 +96,15 @@ QP createEqualityConstrainedTest() { // Note the Hessian encodes: // 0.5*x1'*G11*x1 + x1'*G12*x2 + 0.5*x2'*G22*x2 - x1'*g1 - x2'*g2 + 0.5*f // Hence, we have G11=2, G12 = 0, g1 = 0, G22 = 2, g2 = 0, f = 0 - qp.cost.push_back( - HessianFactor(X(1), X(2), 2.0 * I_1x1, Z_1x1, Z_1x1, 2.0 * I_1x1, Z_1x1, - 0.0)); + qp.cost.push_back(HessianFactor(X(1), X(2), 2.0 * I_1x1, Z_1x1, Z_1x1, + 2.0 * I_1x1, Z_1x1, 0.0)); // Equality constraints // x1 + x2 = 1 --> x1 + x2 -1 = 0, hence we negate the b vector Matrix A1 = I_1x1; Matrix A2 = I_1x1; Vector b = -kOne; - qp.equalities.push_back(LinearEquality(X(1), A1, X(2), A2, b, 0)); + qp.equalities.add(X(1), A1, X(2), A2, b, 0); return qp; } @@ -118,9 +119,8 @@ TEST(QPSolver, dual) { QPSolver solver(qp); - GaussianFactorGraph::shared_ptr dualGraph = solver.buildDualGraph( - qp.inequalities, initialValues); - VectorValues dual = dualGraph->optimize(); + auto dualGraph = solver.buildDualGraph(qp.inequalities, initialValues); + VectorValues dual = dualGraph.optimize(); VectorValues expectedDual; expectedDual.insert(0, (Vector(1) << 2.0).finished()); CHECK(assert_equal(expectedDual, dual, 1e-10)); @@ -135,19 +135,19 @@ TEST(QPSolver, indentifyActiveConstraints) { currentSolution.insert(X(1), Z_1x1); currentSolution.insert(X(2), Z_1x1); - InequalityFactorGraph workingSet = solver.identifyActiveConstraints( - qp.inequalities, currentSolution); + auto workingSet = + solver.identifyActiveConstraints(qp.inequalities, currentSolution); CHECK(!workingSet.at(0)->active()); // inactive - CHECK(workingSet.at(1)->active());// active - CHECK(workingSet.at(2)->active());// active - CHECK(!workingSet.at(3)->active());// inactive + CHECK(workingSet.at(1)->active()); // active + CHECK(workingSet.at(2)->active()); // active + CHECK(!workingSet.at(3)->active()); // inactive VectorValues solution = solver.buildWorkingGraph(workingSet).optimize(); - VectorValues expectedSolution; - expectedSolution.insert(X(1), kZero); - expectedSolution.insert(X(2), kZero); - CHECK(assert_equal(expectedSolution, solution, 1e-100)); + VectorValues expected; + expected.insert(X(1), kZero); + expected.insert(X(2), kZero); + CHECK(assert_equal(expected, solution, 1e-100)); } /* ************************************************************************* */ @@ -159,24 +159,24 @@ TEST(QPSolver, iterate) { currentSolution.insert(X(1), Z_1x1); currentSolution.insert(X(2), Z_1x1); - std::vector expectedSolutions(4), expectedDuals(4); - expectedSolutions[0].insert(X(1), kZero); - expectedSolutions[0].insert(X(2), kZero); + std::vector expected(4), expectedDuals(4); + expected[0].insert(X(1), kZero); + expected[0].insert(X(2), kZero); expectedDuals[0].insert(1, (Vector(1) << 3).finished()); expectedDuals[0].insert(2, kZero); - expectedSolutions[1].insert(X(1), (Vector(1) << 1.5).finished()); - expectedSolutions[1].insert(X(2), kZero); + expected[1].insert(X(1), (Vector(1) << 1.5).finished()); + expected[1].insert(X(2), kZero); expectedDuals[1].insert(3, (Vector(1) << 1.5).finished()); - expectedSolutions[2].insert(X(1), (Vector(1) << 1.5).finished()); - expectedSolutions[2].insert(X(2), (Vector(1) << 0.75).finished()); + expected[2].insert(X(1), (Vector(1) << 1.5).finished()); + expected[2].insert(X(2), (Vector(1) << 0.75).finished()); - expectedSolutions[3].insert(X(1), (Vector(1) << 1.5).finished()); - expectedSolutions[3].insert(X(2), (Vector(1) << 0.5).finished()); + expected[3].insert(X(1), (Vector(1) << 1.5).finished()); + expected[3].insert(X(2), (Vector(1) << 0.5).finished()); - InequalityFactorGraph workingSet = solver.identifyActiveConstraints( - qp.inequalities, currentSolution); + auto workingSet = + solver.identifyActiveConstraints(qp.inequalities, currentSolution); QPSolver::State state(currentSolution, VectorValues(), workingSet, false, 100); @@ -188,12 +188,12 @@ TEST(QPSolver, iterate) { // Forst10book do not follow exactly what we implemented from Nocedal06book. // Specifically, we do not re-identify active constraints and // do not recompute dual variables after every step!!! -// CHECK(assert_equal(expectedSolutions[it], state.values, 1e-10)); -// CHECK(assert_equal(expectedDuals[it], state.duals, 1e-10)); + // CHECK(assert_equal(expected[it], state.values, 1e-10)); + // CHECK(assert_equal(expectedDuals[it], state.duals, 1e-10)); it++; } - CHECK(assert_equal(expectedSolutions[3], state.values, 1e-10)); + CHECK(assert_equal(expected[3], state.values, 1e-10)); } /* ************************************************************************* */ @@ -204,182 +204,161 @@ TEST(QPSolver, optimizeForst10book_pg171Ex5) { VectorValues initialValues; initialValues.insert(X(1), Z_1x1); initialValues.insert(X(2), Z_1x1); - VectorValues solution; - boost::tie(solution, boost::tuples::ignore) = solver.optimize(initialValues); - VectorValues expectedSolution; - expectedSolution.insert(X(1), (Vector(1) << 1.5).finished()); - expectedSolution.insert(X(2), (Vector(1) << 0.5).finished()); - CHECK(assert_equal(expectedSolution, solution, 1e-100)); + VectorValues solution = solver.optimize(initialValues).first; + VectorValues expected; + expected.insert(X(1), (Vector(1) << 1.5).finished()); + expected.insert(X(2), (Vector(1) << 0.5).finished()); + CHECK(assert_equal(expected, solution, 1e-100)); } pair testParser(QPSParser parser) { QP exampleqp = parser.Parse(); - QP expectedqp; + QP expected; Key X1(Symbol('X', 1)), X2(Symbol('X', 2)); // min f(x,y) = 4 + 1.5x -y + 0.58x^2 + 2xy + 2yx + 10y^2 - expectedqp.cost.push_back( - HessianFactor(X1, X2, 8.0 * I_1x1, 2.0 * I_1x1, -1.5 * kOne, 10.0 * I_1x1, - 2.0 * kOne, 8.0)); - // 2x + y >= 2 - // -x + 2y <= 6 - expectedqp.inequalities.push_back( - LinearInequality(X1, -2.0 * I_1x1, X2, -I_1x1, -2, 0)); - expectedqp.inequalities.push_back( - LinearInequality(X1, -I_1x1, X2, 2.0 * I_1x1, 6, 1)); - // x<= 20 - expectedqp.inequalities.push_back(LinearInequality(X1, I_1x1, 20, 4)); - //x >= 0 - expectedqp.inequalities.push_back(LinearInequality(X1, -I_1x1, 0, 2)); - // y > = 0 - expectedqp.inequalities.push_back(LinearInequality(X2, -I_1x1, 0, 3)); - return std::make_pair(expectedqp, exampleqp); -} -; + expected.cost.push_back(HessianFactor(X1, X2, 8.0 * I_1x1, 2.0 * I_1x1, + -1.5 * kOne, 10.0 * I_1x1, 2.0 * kOne, + 8.0)); + + expected.inequalities.add(X1, -2.0 * I_1x1, X2, -I_1x1, -2, 0); // 2x + y >= 2 + expected.inequalities.add(X1, -I_1x1, X2, 2.0 * I_1x1, 6, 1); // -x + 2y <= 6 + expected.inequalities.add(X1, I_1x1, 20, 4); // x<= 20 + expected.inequalities.add(X1, -I_1x1, 0, 2); // x >= 0 + expected.inequalities.add(X2, -I_1x1, 0, 3); // y > = 0 + return {expected, exampleqp}; +}; TEST(QPSolver, ParserSyntaticTest) { - auto expectedActual = testParser(QPSParser("QPExample.QPS")); - CHECK(assert_equal(expectedActual.first.cost, expectedActual.second.cost, + auto result = testParser(QPSParser("QPExample.QPS")); + CHECK(assert_equal(result.first.cost, result.second.cost, 1e-7)); + CHECK(assert_equal(result.first.inequalities, result.second.inequalities, 1e-7)); - CHECK(assert_equal(expectedActual.first.inequalities, - expectedActual.second.inequalities, 1e-7)); - CHECK(assert_equal(expectedActual.first.equalities, - expectedActual.second.equalities, 1e-7)); + CHECK(assert_equal(result.first.equalities, result.second.equalities, 1e-7)); } TEST(QPSolver, ParserSemanticTest) { - auto expected_actual = testParser(QPSParser("QPExample.QPS")); - VectorValues actualSolution, expectedSolution; - boost::tie(expectedSolution, boost::tuples::ignore) = - QPSolver(expected_actual.first).optimize(); - boost::tie(actualSolution, boost::tuples::ignore) = - QPSolver(expected_actual.second).optimize(); - CHECK(assert_equal(actualSolution, expectedSolution, 1e-7)); + auto result = testParser(QPSParser("QPExample.QPS")); + VectorValues expected = QPSolver(result.first).optimize().first; + VectorValues actual = QPSolver(result.second).optimize().first; + CHECK(assert_equal(actual, expected, 1e-7)); } -TEST(QPSolver, QPExampleTest){ +TEST(QPSolver, QPExampleTest) { QP problem = QPSParser("QPExample.QPS").Parse(); - VectorValues actualSolution; auto solver = QPSolver(problem); - boost::tie(actualSolution, boost::tuples::ignore) = solver.optimize(); - VectorValues expectedSolution; - expectedSolution.insert(Symbol('X',1),0.7625*I_1x1); - expectedSolution.insert(Symbol('X',2),0.4750*I_1x1); - double error_expected = problem.cost.error(expectedSolution); - double error_actual = problem.cost.error(actualSolution); - CHECK(assert_equal(expectedSolution, actualSolution, 1e-7)) + VectorValues actual = solver.optimize().first; + VectorValues expected; + expected.insert(Symbol('X', 1), 0.7625 * I_1x1); + expected.insert(Symbol('X', 2), 0.4750 * I_1x1); + double error_expected = problem.cost.error(expected); + double error_actual = problem.cost.error(actual); + CHECK(assert_equal(expected, actual, 1e-7)) CHECK(assert_equal(error_expected, error_actual)) } TEST(QPSolver, HS21) { QP problem = QPSParser("HS21.QPS").Parse(); - VectorValues actualSolution; - VectorValues expectedSolution; - expectedSolution.insert(Symbol('X',1), 2.0*I_1x1); - expectedSolution.insert(Symbol('X',2), 0.0*I_1x1); - boost::tie(actualSolution, boost::tuples::ignore) = QPSolver(problem).optimize(); - double error_actual = problem.cost.error(actualSolution); + VectorValues expected; + expected.insert(Symbol('X', 1), 2.0 * I_1x1); + expected.insert(Symbol('X', 2), 0.0 * I_1x1); + VectorValues actual = QPSolver(problem).optimize().first; + double error_actual = problem.cost.error(actual); CHECK(assert_equal(-99.9599999, error_actual, 1e-7)) - CHECK(assert_equal(expectedSolution, actualSolution)) + CHECK(assert_equal(expected, actual)) } TEST(QPSolver, HS35) { QP problem = QPSParser("HS35.QPS").Parse(); - VectorValues actualSolution; - boost::tie(actualSolution, boost::tuples::ignore) = QPSolver(problem).optimize(); - double error_actual = problem.cost.error(actualSolution); - CHECK(assert_equal(1.11111111e-01,error_actual, 1e-7)) + VectorValues actual = QPSolver(problem).optimize().first; + double error_actual = problem.cost.error(actual); + CHECK(assert_equal(1.11111111e-01, error_actual, 1e-7)) } TEST(QPSolver, HS35MOD) { QP problem = QPSParser("HS35MOD.QPS").Parse(); - VectorValues actualSolution; - boost::tie(actualSolution, boost::tuples::ignore) = QPSolver(problem).optimize(); - double error_actual = problem.cost.error(actualSolution); - CHECK(assert_equal(2.50000001e-01,error_actual, 1e-7)) + VectorValues actual = QPSolver(problem).optimize().first; + double error_actual = problem.cost.error(actual); + CHECK(assert_equal(2.50000001e-01, error_actual, 1e-7)) } TEST(QPSolver, HS51) { QP problem = QPSParser("HS51.QPS").Parse(); - VectorValues actualSolution; - boost::tie(actualSolution, boost::tuples::ignore) = QPSolver(problem).optimize(); - double error_actual = problem.cost.error(actualSolution); - CHECK(assert_equal(8.88178420e-16,error_actual, 1e-7)) + VectorValues actual = QPSolver(problem).optimize().first; + double error_actual = problem.cost.error(actual); + CHECK(assert_equal(8.88178420e-16, error_actual, 1e-7)) } TEST(QPSolver, HS52) { QP problem = QPSParser("HS52.QPS").Parse(); - VectorValues actualSolution; - boost::tie(actualSolution, boost::tuples::ignore) = QPSolver(problem).optimize(); - double error_actual = problem.cost.error(actualSolution); - CHECK(assert_equal(5.32664756,error_actual, 1e-7)) + VectorValues actual = QPSolver(problem).optimize().first; + double error_actual = problem.cost.error(actual); + CHECK(assert_equal(5.32664756, error_actual, 1e-7)) } -TEST(QPSolver, HS268) { // This test needs an extra order of magnitude of tolerance than the rest +TEST(QPSolver, HS268) { // This test needs an extra order of magnitude of + // tolerance than the rest QP problem = QPSParser("HS268.QPS").Parse(); - VectorValues actualSolution; - boost::tie(actualSolution, boost::tuples::ignore) = QPSolver(problem).optimize(); - double error_actual = problem.cost.error(actualSolution); - CHECK(assert_equal(5.73107049e-07,error_actual, 1e-6)) + VectorValues actual = QPSolver(problem).optimize().first; + double error_actual = problem.cost.error(actual); + CHECK(assert_equal(5.73107049e-07, error_actual, 1e-6)) } TEST(QPSolver, QPTEST) { // REQUIRES Jacobian Fix QP problem = QPSParser("QPTEST.QPS").Parse(); - VectorValues actualSolution; - boost::tie(actualSolution, boost::tuples::ignore) = QPSolver(problem).optimize(); - double error_actual = problem.cost.error(actualSolution); - CHECK(assert_equal(0.437187500e01,error_actual, 1e-7)) + VectorValues actual = QPSolver(problem).optimize().first; + double error_actual = problem.cost.error(actual); + CHECK(assert_equal(0.437187500e01, error_actual, 1e-7)) } /* ************************************************************************* */ -// Create Matlab's test graph as in http://www.mathworks.com/help/optim/ug/quadprog.html +// Create Matlab's test graph as in +// http://www.mathworks.com/help/optim/ug/quadprog.html QP createTestMatlabQPEx() { QP qp; // Objective functions 0.5*x1^2 + x2^2 - x1*x2 - 2*x1 -6*x2 // Note the Hessian encodes: - // 0.5*x1'*G11*x1 + x1'*G12*x2 + 0.5*x2'*G22*x2 - x1'*g1 - x2'*g2 + 0.5*f + // 0.5*x1'*G11*x1 + x1'*G12*x2 + 0.5*x2'*G22*x2 - x1'*g1 - x2'*g2 + + // 0.5*f // Hence, we have G11=1, G12 = -1, g1 = +2, G22 = 2, g2 = +6, f = 0 - qp.cost.push_back( - HessianFactor(X(1), X(2), 1.0 * I_1x1, -I_1x1, 2.0 * I_1x1, 2.0 * I_1x1, - 6 * I_1x1, 1000.0)); + qp.cost.push_back(HessianFactor(X(1), X(2), 1.0 * I_1x1, -I_1x1, 2.0 * I_1x1, + 2.0 * I_1x1, 6 * I_1x1, 1000.0)); // Inequality constraints - qp.inequalities.push_back(LinearInequality(X(1), I_1x1, X(2), I_1x1, 2, 0)); // x1 + x2 <= 2 - qp.inequalities.push_back( - LinearInequality(X(1), -I_1x1, X(2), 2 * I_1x1, 2, 1)); //-x1 + 2*x2 <=2 - qp.inequalities.push_back( - LinearInequality(X(1), 2 * I_1x1, X(2), I_1x1, 3, 2)); // 2*x1 + x2 <=3 - qp.inequalities.push_back(LinearInequality(X(1), -I_1x1, 0, 3)); // -x1 <= 0 - qp.inequalities.push_back(LinearInequality(X(2), -I_1x1, 0, 4)); // -x2 <= 0 + qp.inequalities.add(X(1), I_1x1, X(2), I_1x1, 2, 0); // x1 + x2 <= 2 + qp.inequalities.add(X(1), -I_1x1, X(2), 2 * I_1x1, 2, 1); //-x1 + 2*x2 <=2 + qp.inequalities.add(X(1), 2 * I_1x1, X(2), I_1x1, 3, 2); // 2*x1 + x2 <=3 + qp.inequalities.add(X(1), -I_1x1, 0, 3); // -x1 <= 0 + qp.inequalities.add(X(2), -I_1x1, 0, 4); // -x2 <= 0 return qp; } -///* ************************************************************************* */ +///* ************************************************************************* +///*/ TEST(QPSolver, optimizeMatlabEx) { QP qp = createTestMatlabQPEx(); QPSolver solver(qp); VectorValues initialValues; initialValues.insert(X(1), Z_1x1); initialValues.insert(X(2), Z_1x1); - VectorValues solution; - boost::tie(solution, boost::tuples::ignore) = solver.optimize(initialValues); - VectorValues expectedSolution; - expectedSolution.insert(X(1), (Vector(1) << 2.0 / 3.0).finished()); - expectedSolution.insert(X(2), (Vector(1) << 4.0 / 3.0).finished()); - CHECK(assert_equal(expectedSolution, solution, 1e-7)); + VectorValues solution = solver.optimize(initialValues).first; + VectorValues expected; + expected.insert(X(1), (Vector(1) << 2.0 / 3.0).finished()); + expected.insert(X(2), (Vector(1) << 4.0 / 3.0).finished()); + CHECK(assert_equal(expected, solution, 1e-7)); } -///* ************************************************************************* */ +///* ************************************************************************* +///*/ TEST(QPSolver, optimizeMatlabExNoinitials) { QP qp = createTestMatlabQPEx(); QPSolver solver(qp); - VectorValues solution; - boost::tie(solution, boost::tuples::ignore) = solver.optimize(); - VectorValues expectedSolution; - expectedSolution.insert(X(1), (Vector(1) << 2.0 / 3.0).finished()); - expectedSolution.insert(X(2), (Vector(1) << 4.0 / 3.0).finished()); - CHECK(assert_equal(expectedSolution, solution, 1e-7)); + VectorValues solution = solver.optimize().first; + VectorValues expected; + expected.insert(X(1), (Vector(1) << 2.0 / 3.0).finished()); + expected.insert(X(2), (Vector(1) << 4.0 / 3.0).finished()); + CHECK(assert_equal(expected, solution, 1e-7)); } /* ************************************************************************* */ @@ -387,18 +366,15 @@ TEST(QPSolver, optimizeMatlabExNoinitials) { QP createTestNocedal06bookEx16_4() { QP qp; - qp.cost.push_back(JacobianFactor(X(1), I_1x1, I_1x1)); - qp.cost.push_back(JacobianFactor(X(2), I_1x1, 2.5 * I_1x1)); + qp.cost.add(X(1), I_1x1, I_1x1); + qp.cost.add(X(2), I_1x1, 2.5 * I_1x1); // Inequality constraints - qp.inequalities.push_back( - LinearInequality(X(1), -I_1x1, X(2), 2 * I_1x1, 2, 0)); - qp.inequalities.push_back( - LinearInequality(X(1), I_1x1, X(2), 2 * I_1x1, 6, 1)); - qp.inequalities.push_back( - LinearInequality(X(1), I_1x1, X(2), -2 * I_1x1, 2, 2)); - qp.inequalities.push_back(LinearInequality(X(1), -I_1x1, 0.0, 3)); - qp.inequalities.push_back(LinearInequality(X(2), -I_1x1, 0.0, 4)); + qp.inequalities.add(X(1), -I_1x1, X(2), 2 * I_1x1, 2, 0); + qp.inequalities.add(X(1), I_1x1, X(2), 2 * I_1x1, 6, 1); + qp.inequalities.add(X(1), I_1x1, X(2), -2 * I_1x1, 2, 2); + qp.inequalities.add(X(1), -I_1x1, 0.0, 3); + qp.inequalities.add(X(2), -I_1x1, 0.0, 4); return qp; } @@ -410,21 +386,19 @@ TEST(QPSolver, optimizeNocedal06bookEx16_4) { initialValues.insert(X(1), (Vector(1) << 2.0).finished()); initialValues.insert(X(2), Z_1x1); - VectorValues solution; - boost::tie(solution, boost::tuples::ignore) = solver.optimize(initialValues); - VectorValues expectedSolution; - expectedSolution.insert(X(1), (Vector(1) << 1.4).finished()); - expectedSolution.insert(X(2), (Vector(1) << 1.7).finished()); - CHECK(assert_equal(expectedSolution, solution, 1e-7)); + VectorValues solution = solver.optimize(initialValues).first; + VectorValues expected; + expected.insert(X(1), (Vector(1) << 1.4).finished()); + expected.insert(X(2), (Vector(1) << 1.7).finished()); + CHECK(assert_equal(expected, solution, 1e-7)); } /* ************************************************************************* */ TEST(QPSolver, failedSubproblem) { QP qp; - qp.cost.push_back(JacobianFactor(X(1), I_2x2, Z_2x1)); + qp.cost.add(X(1), I_2x2, Z_2x1); qp.cost.push_back(HessianFactor(X(1), Z_2x2, Z_2x1, 100.0)); - qp.inequalities.push_back( - LinearInequality(X(1), (Matrix(1, 2) << -1.0, 0.0).finished(), -1.0, 0)); + qp.inequalities.add(X(1), (Matrix(1, 2) << -1.0, 0.0).finished(), -1.0, 0); VectorValues expected; expected.insert(X(1), (Vector(2) << 1.0, 0.0).finished()); @@ -433,8 +407,7 @@ TEST(QPSolver, failedSubproblem) { initialValues.insert(X(1), (Vector(2) << 10.0, 100.0).finished()); QPSolver solver(qp); - VectorValues solution; - boost::tie(solution, boost::tuples::ignore) = solver.optimize(initialValues); + VectorValues solution = solver.optimize(initialValues).first; CHECK(assert_equal(expected, solution, 1e-7)); } @@ -442,10 +415,9 @@ TEST(QPSolver, failedSubproblem) { /* ************************************************************************* */ TEST(QPSolver, infeasibleInitial) { QP qp; - qp.cost.push_back(JacobianFactor(X(1), I_2x2, Vector::Zero(2))); + qp.cost.add(X(1), I_2x2, Vector::Zero(2)); qp.cost.push_back(HessianFactor(X(1), Z_2x2, Vector::Zero(2), 100.0)); - qp.inequalities.push_back( - LinearInequality(X(1), (Matrix(1, 2) << -1.0, 0.0).finished(), -1.0, 0)); + qp.inequalities.add(X(1), (Matrix(1, 2) << -1.0, 0.0).finished(), -1.0, 0); VectorValues expected; expected.insert(X(1), (Vector(2) << 1.0, 0.0).finished()); @@ -464,4 +436,3 @@ int main() { return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ - diff --git a/matlab/CMakeLists.txt b/matlab/CMakeLists.txt index 9abd4e31d..52d56a2b5 100644 --- a/matlab/CMakeLists.txt +++ b/matlab/CMakeLists.txt @@ -2,6 +2,10 @@ include(GtsamMatlabWrap) +# Record the root dir for gtsam - needed during external builds, e.g., ROS +set(GTSAM_SOURCE_ROOT_DIR ${GTSAM_SOURCE_DIR}) +message(STATUS "GTSAM_SOURCE_ROOT_DIR: [${GTSAM_SOURCE_ROOT_DIR}]") + # Tests #message(STATUS "Installing Matlab Toolbox") install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/" "*.m;*.fig") @@ -21,7 +25,7 @@ install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/" "README-gtsam-toolbox. file(GLOB matlab_examples_data_graph "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.graph") file(GLOB matlab_examples_data_mat "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.mat") file(GLOB matlab_examples_data_txt "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.txt") -set(matlab_examples_data ${matlab_examples_data_graph} ${matlab_examples_data_mat} ${matlab_examples_data_txt}) +set(matlab_examples_data ${matlab_examples_data_graph} ${matlab_examples_data_mat} ${matlab_examples_data_txt}) if(GTSAM_BUILD_TYPE_POSTFIXES) foreach(build_type ${CMAKE_CONFIGURATION_TYPES}) string(TOUPPER "${build_type}" build_type_upper) @@ -38,4 +42,3 @@ if(GTSAM_BUILD_TYPE_POSTFIXES) else() install(FILES ${matlab_examples_data} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples/Data) endif() - diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index bec02fb64..00b537340 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -37,7 +37,8 @@ set(ignore gtsam::Point2Vector gtsam::Pose3Vector gtsam::KeyVector - gtsam::BinaryMeasurementsUnit3) + gtsam::BinaryMeasurementsUnit3 + gtsam::KeyPairDoubleMap) pybind_wrap(gtsam_py # target ${PROJECT_SOURCE_DIR}/gtsam/gtsam.i # interface_header @@ -80,7 +81,9 @@ set(ignore gtsam::Pose3Vector gtsam::KeyVector gtsam::FixedLagSmootherKeyTimestampMapValue - gtsam::BinaryMeasurementsUnit3) + gtsam::BinaryMeasurementsUnit3 + gtsam::KeyPairDoubleMap) + pybind_wrap(gtsam_unstable_py # target ${PROJECT_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i # interface_header "gtsam_unstable.cpp" # generated_cpp diff --git a/python/gtsam/examples/README.md b/python/gtsam/examples/README.md index e05a0c7e1..2a2c9f2ef 100644 --- a/python/gtsam/examples/README.md +++ b/python/gtsam/examples/README.md @@ -39,7 +39,7 @@ | SelfCalibrationExample | | | SFMdata | | | SFMExample_bal_COLAMD_METIS | | -| SFMExample_bal | | +| SFMExample_bal | :heavy_check_mark: | | SFMExample | :heavy_check_mark: | | SFMExampleExpressions_bal | | | SFMExampleExpressions | | diff --git a/python/gtsam/examples/SFMExample_bal.py b/python/gtsam/examples/SFMExample_bal.py new file mode 100644 index 000000000..dfe8b523c --- /dev/null +++ b/python/gtsam/examples/SFMExample_bal.py @@ -0,0 +1,118 @@ +""" + 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 + + Solve a structure-from-motion problem from a "Bundle Adjustment in the Large" file + Author: Frank Dellaert (Python: Akshay Krishnan, John Lambert) +""" + +import argparse +import logging +import sys + +import matplotlib.pyplot as plt +import numpy as np + +import gtsam +from gtsam import ( + GeneralSFMFactorCal3Bundler, + PinholeCameraCal3Bundler, + PriorFactorPinholeCameraCal3Bundler, + readBal, + symbol_shorthand +) + +C = symbol_shorthand.C +P = symbol_shorthand.P + + +logging.basicConfig(stream=sys.stdout, level=logging.DEBUG) + +def run(args): + """ Run LM optimization with BAL input data and report resulting error """ + input_file = gtsam.findExampleDataFile(args.input_file) + + # Load the SfM data from file + scene_data = readBal(input_file) + logging.info(f"read {scene_data.number_tracks()} tracks on {scene_data.number_cameras()} cameras\n") + + # Create a factor graph + graph = gtsam.NonlinearFactorGraph() + + # We share *one* noiseModel between all projection factors + noise = gtsam.noiseModel.Isotropic.Sigma(2, 1.0) # one pixel in u and v + + # Add measurements to the factor graph + j = 0 + for t_idx in range(scene_data.number_tracks()): + track = scene_data.track(t_idx) # SfmTrack + # retrieve the SfmMeasurement objects + for m_idx in range(track.number_measurements()): + # i represents the camera index, and uv is the 2d measurement + i, uv = track.measurement(m_idx) + # note use of shorthand symbols C and P + graph.add(GeneralSFMFactorCal3Bundler(uv, noise, C(i), P(j))) + j += 1 + + # Add a prior on pose x1. This indirectly specifies where the origin is. + graph.push_back( + gtsam.PriorFactorPinholeCameraCal3Bundler( + C(0), scene_data.camera(0), gtsam.noiseModel.Isotropic.Sigma(9, 0.1) + ) + ) + # Also add a prior on the position of the first landmark to fix the scale + graph.push_back( + gtsam.PriorFactorPoint3( + P(0), scene_data.track(0).point3(), gtsam.noiseModel.Isotropic.Sigma(3, 0.1) + ) + ) + + # Create initial estimate + initial = gtsam.Values() + + i = 0 + # add each PinholeCameraCal3Bundler + for cam_idx in range(scene_data.number_cameras()): + camera = scene_data.camera(cam_idx) + initial.insert(C(i), camera) + i += 1 + + j = 0 + # add each SfmTrack + for t_idx in range(scene_data.number_tracks()): + track = scene_data.track(t_idx) + initial.insert(P(j), track.point3()) + j += 1 + + # Optimize the graph and print results + try: + params = gtsam.LevenbergMarquardtParams() + params.setVerbosityLM("ERROR") + lm = gtsam.LevenbergMarquardtOptimizer(graph, initial, params) + result = lm.optimize() + except Exception as e: + logging.exception("LM Optimization failed") + return + # Error drops from ~2764.22 to ~0.046 + logging.info(f"final error: {graph.error(result)}") + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument( + '-i', + '--input_file', + type=str, + default="dubrovnik-3-7-pre", + help='Read SFM data from the specified BAL file' + 'The data format is described here: https://grail.cs.washington.edu/projects/bal/.' + 'BAL files contain (nrPoses, nrPoints, nrObservations), followed by (i,j,u,v) tuples, ' + 'then (wx,wy,wz,tx,ty,tz,f,k1,k1) as Bundler camera calibrations w/ Rodrigues vector' + 'and (x,y,z) 3d point initializations.' + ) + run(parser.parse_args()) + diff --git a/python/gtsam/examples/TranslationAveragingExample.py b/python/gtsam/examples/TranslationAveragingExample.py new file mode 100644 index 000000000..054b61126 --- /dev/null +++ b/python/gtsam/examples/TranslationAveragingExample.py @@ -0,0 +1,144 @@ +""" +GTSAM Copyright 2010-2018, 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 + +This example shows how 1dsfm uses outlier rejection (MFAS) and optimization (translation recovery) +together for estimating global translations from relative translation directions and global rotations. +The purpose of this example is to illustrate the connection between these two classes using a small SfM dataset. + +Author: Akshay Krishnan +Date: September 2020 +""" + +from collections import defaultdict +from typing import List, Tuple + +import numpy as np + +import gtsam +from gtsam.examples import SFMdata + +# Hyperparameters for 1dsfm, values used from Kyle Wilson's code. +MAX_1DSFM_PROJECTION_DIRECTIONS = 48 +OUTLIER_WEIGHT_THRESHOLD = 0.1 + + +def get_data() -> Tuple[gtsam.Values, List[gtsam.BinaryMeasurementUnit3]]: + """"Returns global rotations and unit translation directions between 8 cameras + that lie on a circle and face the center. The poses of 8 cameras are obtained from SFMdata + and the unit translations directions between some camera pairs are computed from their + global translations. """ + fx, fy, s, u0, v0 = 50.0, 50.0, 0.0, 50.0, 50.0 + wTc_list = SFMdata.createPoses(gtsam.Cal3_S2(fx, fy, s, u0, v0)) + # Rotations of the cameras in the world frame. + wRc_values = gtsam.Values() + # Normalized translation directions from camera i to camera j + # in the coordinate frame of camera i. + i_iZj_list = [] + for i in range(0, len(wTc_list) - 2): + # Add the rotation. + wRi = wTc_list[i].rotation() + wRc_values.insert(i, wRi) + # Create unit translation measurements with next two poses. + for j in range(i + 1, i + 3): + # Compute the translation from pose i to pose j, in the world reference frame. + w_itj = wTc_list[j].translation() - wTc_list[i].translation() + # Obtain the translation in the camera i's reference frame. + i_itj = wRi.unrotate(w_itj) + # Compute the normalized unit translation direction. + i_iZj = gtsam.Unit3(i_itj) + i_iZj_list.append(gtsam.BinaryMeasurementUnit3( + i, j, i_iZj, gtsam.noiseModel.Isotropic.Sigma(3, 0.01))) + # Add the last two rotations. + wRc_values.insert(len(wTc_list) - 1, wTc_list[-1].rotation()) + wRc_values.insert(len(wTc_list) - 2, wTc_list[-2].rotation()) + return wRc_values, i_iZj_list + + +def filter_outliers(w_iZj_list: gtsam.BinaryMeasurementsUnit3) -> gtsam.BinaryMeasurementsUnit3: + """Removes outliers from a list of Unit3 measurements that are the + translation directions from camera i to camera j in the world frame.""" + + # Indices of measurements that are to be used as projection directions. + # These are randomly chosen. All sampled directions must be unique. + num_directions_to_sample = min( + MAX_1DSFM_PROJECTION_DIRECTIONS, len(w_iZj_list)) + sampled_indices = np.random.choice( + len(w_iZj_list), num_directions_to_sample, replace=False) + + # Sample projection directions from the measurements. + projection_directions = [w_iZj_list[idx].measured() + for idx in sampled_indices] + + outlier_weights = [] + # Find the outlier weights for each direction using MFAS. + for direction in projection_directions: + algorithm = gtsam.MFAS(w_iZj_list, direction) + outlier_weights.append(algorithm.computeOutlierWeights()) + + # Compute average of outlier weights. Each outlier weight is a map from a pair of Keys + # (camera IDs) to a weight, where weights are proportional to the probability of the edge + # being an outlier. + avg_outlier_weights = defaultdict(float) + for outlier_weight_dict in outlier_weights: + for keypair, weight in outlier_weight_dict.items(): + avg_outlier_weights[keypair] += weight / len(outlier_weights) + + # Remove w_iZj that have weight greater than threshold, these are outliers. + w_iZj_inliers = gtsam.BinaryMeasurementsUnit3() + [w_iZj_inliers.append(w_iZj) for w_iZj in w_iZj_list if avg_outlier_weights[( + w_iZj.key1(), w_iZj.key2())] < OUTLIER_WEIGHT_THRESHOLD] + + return w_iZj_inliers + + +def estimate_poses(i_iZj_list: gtsam.BinaryMeasurementsUnit3, + wRc_values: gtsam.Values) -> gtsam.Values: + """Estimate poses given rotations and normalized translation directions between cameras. + + Args: + i_iZj_list: List of normalized translation direction measurements between camera pairs, + Z here refers to measurements. The measurements are of camera j with reference + to camera i (iZj), in camera i's coordinate frame (i_). iZj represents a unit + vector to j in i's frame and is not a transformation. + wRc_values: Rotations of the cameras in the world frame. + + Returns: + gtsam.Values: Estimated poses. + """ + + # Convert the translation direction measurements to world frame using the rotations. + w_iZj_list = gtsam.BinaryMeasurementsUnit3() + for i_iZj in i_iZj_list: + w_iZj = gtsam.Unit3(wRc_values.atRot3(i_iZj.key1()) + .rotate(i_iZj.measured().point3())) + w_iZj_list.append(gtsam.BinaryMeasurementUnit3( + i_iZj.key1(), i_iZj.key2(), w_iZj, i_iZj.noiseModel())) + + # Remove the outliers in the unit translation directions. + w_iZj_inliers = filter_outliers(w_iZj_list) + + # Run the optimizer to obtain translations for normalized directions. + wtc_values = gtsam.TranslationRecovery(w_iZj_inliers).run() + + wTc_values = gtsam.Values() + for key in wRc_values.keys(): + wTc_values.insert(key, gtsam.Pose3( + wRc_values.atRot3(key), wtc_values.atPoint3(key))) + return wTc_values + + +def main(): + wRc_values, i_iZj_list = get_data() + wTc_values = estimate_poses(i_iZj_list, wRc_values) + print("**** Translation averaging output ****") + print(wTc_values) + print("**************************************") + + +if __name__ == '__main__': + main() diff --git a/python/gtsam/specializations.h b/python/gtsam/specializations.h index 3f6b8fa38..cacad874c 100644 --- a/python/gtsam/specializations.h +++ b/python/gtsam/specializations.h @@ -12,3 +12,4 @@ py::bind_vector py::bind_vector > >(m_, "BinaryMeasurementsUnit3"); py::bind_map(m_, "IndexPairSetMap"); py::bind_vector(m_, "IndexPairVector"); +py::bind_map(m_, "KeyPairDoubleMap"); diff --git a/python/gtsam/tests/test_JacobianFactor.py b/python/gtsam/tests/test_JacobianFactor.py index 6e049ed47..79f512f60 100644 --- a/python/gtsam/tests/test_JacobianFactor.py +++ b/python/gtsam/tests/test_JacobianFactor.py @@ -19,7 +19,7 @@ from gtsam.utils.test_case import GtsamTestCase class TestJacobianFactor(GtsamTestCase): def test_eliminate(self): - # Recommended way to specify a matrix (see cython/README) + # Recommended way to specify a matrix (see python/README) Ax2 = np.array( [[-5., 0.], [+0., -5.], diff --git a/python/gtsam/tests/test_Pose3.py b/python/gtsam/tests/test_Pose3.py index 138f1ff13..e07b904a9 100644 --- a/python/gtsam/tests/test_Pose3.py +++ b/python/gtsam/tests/test_Pose3.py @@ -65,6 +65,14 @@ class TestPose3(GtsamTestCase): actual = Pose3.adjoint_(xi, xi) np.testing.assert_array_equal(actual, expected) + def test_serialization(self): + """Test if serialization is working normally""" + expected = Pose3(Rot3.Ypr(0.0, 1.0, 0.0), Point3(1, 1, 0)) + actual = Pose3() + serialized = expected.serialize() + actual.deserialize(serialized) + self.gtsamAssertEquals(expected, actual, 1e-10) + if __name__ == "__main__": unittest.main() diff --git a/python/gtsam/tests/test_SfmData.py b/python/gtsam/tests/test_SfmData.py new file mode 100644 index 000000000..9c965ddc5 --- /dev/null +++ b/python/gtsam/tests/test_SfmData.py @@ -0,0 +1,79 @@ +""" +GTSAM Copyright 2010-2019, Georgia Tech Research Corporation, +Atlanta, Georgia 30332-0415 +All Rights Reserved + +See LICENSE for the license information + +Unit tests for testing dataset access. +Author: Frank Dellaert (Python: Sushmita Warrier) +""" +# pylint: disable=invalid-name, no-name-in-module, no-member + +from __future__ import print_function + +import unittest + +import numpy as np + +import gtsam +from gtsam.utils.test_case import GtsamTestCase + + +class TestSfmData(GtsamTestCase): + """Tests for SfmData and SfmTrack modules.""" + + def setUp(self): + """Initialize SfmData and SfmTrack""" + self.data = gtsam.SfmData() + # initialize SfmTrack with 3D point + self.tracks = gtsam.SfmTrack() + + def test_tracks(self): + """Test functions in SfmTrack""" + # measurement is of format (camera_idx, imgPoint) + # create arbitrary camera indices for two cameras + i1, i2 = 4,5 + # create arbitrary image measurements for cameras i1 and i2 + uv_i1 = gtsam.Point2(12.6, 82) + # translating point uv_i1 along X-axis + uv_i2 = gtsam.Point2(24.88, 82) + # add measurements to the track + self.tracks.add_measurement(i1, uv_i1) + self.tracks.add_measurement(i2, uv_i2) + # Number of measurements in the track is 2 + self.assertEqual(self.tracks.number_measurements(), 2) + # camera_idx in the first measurement of the track corresponds to i1 + cam_idx, img_measurement = self.tracks.measurement(0) + self.assertEqual(cam_idx, i1) + np.testing.assert_array_almost_equal( + gtsam.Point3(0.,0.,0.), + self.tracks.point3() + ) + + + def test_data(self): + """Test functions in SfmData""" + # Create new track with 3 measurements + i1, i2, i3 = 3,5,6 + uv_i1 = gtsam.Point2(21.23, 45.64) + # translating along X-axis + uv_i2 = gtsam.Point2(45.7, 45.64) + uv_i3 = gtsam.Point2(68.35, 45.64) + # add measurements and arbitrary point to the track + measurements = [(i1, uv_i1), (i2, uv_i2), (i3, uv_i3)] + pt = gtsam.Point3(1.0, 6.0, 2.0) + track2 = gtsam.SfmTrack(pt) + track2.add_measurement(i1, uv_i1) + track2.add_measurement(i2, uv_i2) + track2.add_measurement(i3, uv_i3) + self.data.add_track(self.tracks) + self.data.add_track(track2) + # Number of tracks in SfmData is 2 + self.assertEqual(self.data.number_tracks(), 2) + # camera idx of first measurement of second track corresponds to i1 + cam_idx, img_measurement = self.data.track(1).measurement(0) + self.assertEqual(cam_idx, i1) + +if __name__ == '__main__': + unittest.main() diff --git a/tests/testNonlinearOptimizer.cpp b/tests/testNonlinearOptimizer.cpp index dc19801a2..6415174d5 100644 --- a/tests/testNonlinearOptimizer.cpp +++ b/tests/testNonlinearOptimizer.cpp @@ -566,6 +566,58 @@ TEST( NonlinearOptimizer, logfile ) // EXPECT(actual.str()==expected.str()); } +/* ************************************************************************* */ +TEST( NonlinearOptimizer, iterationHook_LM ) +{ + NonlinearFactorGraph fg(example::createReallyNonlinearFactorGraph()); + + Point2 x0(3,3); + Values c0; + c0.insert(X(1), x0); + + // Levenberg-Marquardt + LevenbergMarquardtParams lmParams; + size_t lastIterCalled = 0; + lmParams.iterationHook = [&](size_t iteration, double oldError, double newError) + { + // Tests: + lastIterCalled = iteration; + EXPECT(newError " << newError <<"\n"; + }; + LevenbergMarquardtOptimizer(fg, c0, lmParams).optimize(); + + EXPECT(lastIterCalled>5); +} +/* ************************************************************************* */ +TEST( NonlinearOptimizer, iterationHook_CG ) +{ + NonlinearFactorGraph fg(example::createReallyNonlinearFactorGraph()); + + Point2 x0(3,3); + Values c0; + c0.insert(X(1), x0); + + // Levenberg-Marquardt + NonlinearConjugateGradientOptimizer::Parameters cgParams; + size_t lastIterCalled = 0; + cgParams.iterationHook = [&](size_t iteration, double oldError, double newError) + { + // Tests: + lastIterCalled = iteration; + EXPECT(newError " << newError <<"\n"; + }; + NonlinearConjugateGradientOptimizer(fg, c0, cgParams).optimize(); + + EXPECT(lastIterCalled>5); +} + + /* ************************************************************************* */ //// Minimal traits example struct MyType : public Vector3 { diff --git a/wrap/cmake/PybindWrap.cmake b/wrap/cmake/PybindWrap.cmake index 85f956d50..ff69b5aed 100644 --- a/wrap/cmake/PybindWrap.cmake +++ b/wrap/cmake/PybindWrap.cmake @@ -146,7 +146,7 @@ function(install_python_scripts else() set(build_type_tag "") endif() - # Split up filename to strip trailing '/' in WRAP_CYTHON_INSTALL_PATH if + # Split up filename to strip trailing '/' in GTSAM_PY_INSTALL_PATH if # there is one get_filename_component(location "${dest_directory}" PATH) get_filename_component(name "${dest_directory}" NAME) diff --git a/wrap/pybind_wrapper.py b/wrap/pybind_wrapper.py index 3624d06df..326d9be52 100755 --- a/wrap/pybind_wrapper.py +++ b/wrap/pybind_wrapper.py @@ -69,13 +69,13 @@ class PybindWrapper(object): return textwrap.dedent(''' .def("serialize", []({class_inst} self){{ - return gtsam::serialize(self); + return gtsam::serialize(*self); }} ) .def("deserialize", []({class_inst} self, string serialized){{ - return gtsam::deserialize(serialized, self); - }}) + gtsam::deserialize(serialized, *self); + }}, py::arg("serialized")) '''.format(class_inst=cpp_class + '*')) is_method = isinstance(method, instantiator.InstantiatedMethod) diff --git a/wrap/tests/expected-python/geometry_pybind.cpp b/wrap/tests/expected-python/geometry_pybind.cpp index 6e18f83d7..3eee55bf4 100644 --- a/wrap/tests/expected-python/geometry_pybind.cpp +++ b/wrap/tests/expected-python/geometry_pybind.cpp @@ -40,13 +40,13 @@ PYBIND11_MODULE(geometry_py, m_) { .def("vectorConfusion",[](gtsam::Point2* self){return self->vectorConfusion();}) .def("serialize", [](gtsam::Point2* self){ - return gtsam::serialize(self); + return gtsam::serialize(*self); } ) .def("deserialize", [](gtsam::Point2* self, string serialized){ - return gtsam::deserialize(serialized, self); - }) + gtsam::deserialize(serialized, *self); + }, py::arg("serialized")) ; py::class_>(m_gtsam, "Point3") @@ -54,13 +54,13 @@ PYBIND11_MODULE(geometry_py, m_) { .def("norm",[](gtsam::Point3* self){return self->norm();}) .def("serialize", [](gtsam::Point3* self){ - return gtsam::serialize(self); + return gtsam::serialize(*self); } ) .def("deserialize", [](gtsam::Point3* self, string serialized){ - return gtsam::deserialize(serialized, self); - }) + gtsam::deserialize(serialized, *self); + }, py::arg("serialized")) .def_static("staticFunction",[](){return gtsam::Point3::staticFunction();}) .def_static("StaticFunctionRet",[]( double z){return gtsam::Point3::StaticFunctionRet(z);}, py::arg("z"));