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Merge remote-tracking branch 'upstream/develop' into sim3

release/4.3a0
alexma3312 2020-09-26 14:11:53 -04:00
parent 8236d69fa1 79d6d5fa2f
commit 3727cc6053
13 changed files with 107 additions and 61 deletions
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25
CMakeLists.txt
View File

@ -14,6 +14,11 @@ set (GTSAM_VERSION_PATCH 0)
math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}")
set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
set (CMAKE_PROJECT_VERSION ${GTSAM_VERSION_STRING})
set (CMAKE_PROJECT_VERSION_MAJOR ${GTSAM_VERSION_MAJOR})
set (CMAKE_PROJECT_VERSION_MINOR ${GTSAM_VERSION_MINOR})
set (CMAKE_PROJECT_VERSION_PATCH ${GTSAM_VERSION_PATCH})
###############################################################################
# Gather information, perform checks, set defaults
@ -113,6 +118,22 @@ if(GTSAM_INSTALL_MATLAB_TOOLBOX AND NOT BUILD_SHARED_LIBS)
endif()
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.")
@ -529,9 +550,9 @@ 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")
print_config("Use Intel TBB" "Yes (Version: ${TBB_VERSION})")
elseif(TBB_FOUND)
print_config("Use Intel TBB" "TBB found but GTSAM_WITH_TBB is disabled")
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()

2
README.md
View File

@ -62,7 +62,7 @@ GTSAM 4.1 added a new pybind wrapper, and **removed** the deprecated functionali
## Wrappers
We provide support for [MATLAB](matlab/README.md) and [Python](cython/README.md) wrappers for GTSAM. Please refer to the linked documents for more details.
We provide support for [MATLAB](matlab/README.md) and [Python](python/README.md) wrappers for GTSAM. Please refer to the linked documents for more details.
## The Preintegrated IMU Factor

12
cmake/FindNumPy.cmake
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@ -40,17 +40,9 @@
# Finding NumPy involves calling the Python interpreter
if(NumPy_FIND_REQUIRED)
if(GTSAM_PYTHON_VERSION STREQUAL "Default")
find_package(PythonInterp REQUIRED)
else()
find_package(PythonInterp ${GTSAM_PYTHON_VERSION} EXACT REQUIRED)
endif()
find_package(PythonInterp ${GTSAM_PYTHON_VERSION} EXACT REQUIRED)
else()
if(GTSAM_PYTHON_VERSION STREQUAL "Default")
find_package(PythonInterp)
else()
find_package(PythonInterp ${GTSAM_PYTHON_VERSION} EXACT)
endif()
find_package(PythonInterp ${GTSAM_PYTHON_VERSION} EXACT)
endif()
if(NOT PYTHONINTERP_FOUND)

22
cmake/GtsamMatlabWrap.cmake
View File

@ -215,19 +215,15 @@ function(wrap_library_internal interfaceHeader linkLibraries extraIncludeDirs ex
# Set up generation of module source file
file(MAKE_DIRECTORY "${generated_files_path}")
if(GTSAM_PYTHON_VERSION STREQUAL "Default")
find_package(PythonInterp REQUIRED)
find_package(PythonLibs REQUIRED)
else()
find_package(PythonInterp
${GTSAM_PYTHON_VERSION}
EXACT
REQUIRED)
find_package(PythonLibs
${GTSAM_PYTHON_VERSION}
EXACT
REQUIRED)
endif()
find_package(PythonInterp
${GTSAM_PYTHON_VERSION}
EXACT
REQUIRED)
find_package(PythonLibs
${GTSAM_PYTHON_VERSION}
EXACT
REQUIRED)
set(_ignore gtsam::Point2
gtsam::Point3)

8
cmake/GtsamPrinting.cmake
View File

@ -46,16 +46,16 @@ endfunction()
# Prints all the relevant CMake build options for a given target:
function(print_build_options_for_target target_name_)
print_padded(GTSAM_COMPILE_FEATURES_PUBLIC)
print_padded(GTSAM_COMPILE_OPTIONS_PRIVATE)
# print_padded(GTSAM_COMPILE_OPTIONS_PRIVATE)
print_padded(GTSAM_COMPILE_OPTIONS_PUBLIC)
print_padded(GTSAM_COMPILE_DEFINITIONS_PRIVATE)
# print_padded(GTSAM_COMPILE_DEFINITIONS_PRIVATE)
print_padded(GTSAM_COMPILE_DEFINITIONS_PUBLIC)
foreach(build_type ${GTSAM_CMAKE_CONFIGURATION_TYPES})
string(TOUPPER "${build_type}" build_type_toupper)
print_padded(GTSAM_COMPILE_OPTIONS_PRIVATE_${build_type_toupper})
# print_padded(GTSAM_COMPILE_OPTIONS_PRIVATE_${build_type_toupper})
print_padded(GTSAM_COMPILE_OPTIONS_PUBLIC_${build_type_toupper})
print_padded(GTSAM_COMPILE_DEFINITIONS_PRIVATE_${build_type_toupper})
# print_padded(GTSAM_COMPILE_DEFINITIONS_PRIVATE_${build_type_toupper})
print_padded(GTSAM_COMPILE_DEFINITIONS_PUBLIC_${build_type_toupper})
endforeach()
endfunction()

20
gtsam/geometry/Pose3.cpp
View File

@ -190,15 +190,7 @@ Vector6 Pose3::ChartAtOrigin::Local(const Pose3& pose, ChartJacobian Hpose) {
}
/* ************************************************************************* */
/**
* Compute the 3x3 bottom-left block Q of the SE3 Expmap derivative matrix
* J(xi) = [J_(w) Z_3x3;
* Q J_(w)]
* where J_(w) is the SO3 Expmap derivative.
* (see Chirikjian11book2, pg 44, eq 10.95.
* The closed-form formula is similar to formula 102 in Barfoot14tro)
*/
static Matrix3 computeQforExpmapDerivative(const Vector6& xi) {
Matrix3 Pose3::ComputeQforExpmapDerivative(const Vector6& xi, double nearZeroThreshold) {
const auto w = xi.head<3>();
const auto v = xi.tail<3>();
const Matrix3 V = skewSymmetric(v);
@ -220,7 +212,7 @@ static Matrix3 computeQforExpmapDerivative(const Vector6& xi) {
#else
// The closed-form formula in Barfoot14tro eq. (102)
double phi = w.norm();
if (std::abs(phi)>1e-5) {
if (std::abs(phi)>nearZeroThreshold) {
const double sinPhi = sin(phi), cosPhi = cos(phi);
const double phi2 = phi * phi, phi3 = phi2 * phi, phi4 = phi3 * phi, phi5 = phi4 * phi;
// Invert the sign of odd-order terms to have the right Jacobian
@ -230,8 +222,8 @@ static Matrix3 computeQforExpmapDerivative(const Vector6& xi) {
}
else {
Q = -0.5*V + 1./6.*(W*V + V*W - W*V*W)
+ 1./24.*(W*W*V + V*W*W - 3*W*V*W)
- 0.5*(1./24. + 3./120.)*(W*V*W*W + W*W*V*W);
- 1./24.*(W*W*V + V*W*W - 3*W*V*W)
+ 1./120.*(W*V*W*W + W*W*V*W);
}
#endif
@ -242,7 +234,7 @@ static Matrix3 computeQforExpmapDerivative(const Vector6& xi) {
Matrix6 Pose3::ExpmapDerivative(const Vector6& xi) {
const Vector3 w = xi.head<3>();
const Matrix3 Jw = Rot3::ExpmapDerivative(w);
const Matrix3 Q = computeQforExpmapDerivative(xi);
const Matrix3 Q = ComputeQforExpmapDerivative(xi);
Matrix6 J;
J << Jw, Z_3x3, Q, Jw;
return J;
@ -253,7 +245,7 @@ Matrix6 Pose3::LogmapDerivative(const Pose3& pose) {
const Vector6 xi = Logmap(pose);
const Vector3 w = xi.head<3>();
const Matrix3 Jw = Rot3::LogmapDerivative(w);
const Matrix3 Q = computeQforExpmapDerivative(xi);
const Matrix3 Q = ComputeQforExpmapDerivative(xi);
const Matrix3 Q2 = -Jw*Q*Jw;
Matrix6 J;
J << Jw, Z_3x3, Q2, Jw;

12
gtsam/geometry/Pose3.h
View File

@ -181,6 +181,18 @@ public:
static Vector6 Local(const Pose3& pose, ChartJacobian Hpose = boost::none);
};
/**
* Compute the 3x3 bottom-left block Q of SE3 Expmap right derivative matrix
* J_r(xi) = [J_(w) Z_3x3;
* Q_r J_(w)]
* where J_(w) is the SO3 Expmap right derivative.
* (see Chirikjian11book2, pg 44, eq 10.95.
* The closed-form formula is identical to formula 102 in Barfoot14tro where
* Q_l of the SE3 Expmap left derivative matrix is given.
*/
static Matrix3 ComputeQforExpmapDerivative(
const Vector6& xi, double nearZeroThreshold = 1e-5);
using LieGroup<Pose3, 6>::inverse; // version with derivative
/**

11
gtsam/geometry/tests/testPose3.cpp
View File

@ -807,6 +807,17 @@ TEST(Pose3, ExpmapDerivative2) {
}
}
TEST( Pose3, ExpmapDerivativeQr) {
Vector6 w = Vector6::Random();
w.head<3>().normalize();
w.head<3>() = w.head<3>() * 0.9e-2;
Matrix3 actualQr = Pose3::ComputeQforExpmapDerivative(w, 0.01);
Matrix expectedH = numericalDerivative21<Pose3, Vector6,
OptionalJacobian<6, 6> >(&Pose3::Expmap, w, boost::none);
Matrix3 expectedQr = expectedH.bottomLeftCorner<3, 3>();
EXPECT(assert_equal(expectedQr, actualQr, 1e-6));
}
/* ************************************************************************* */
TEST( Pose3, LogmapDerivative) {
Matrix6 actualH;

5
gtsam/gtsam.i
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@ -567,6 +567,7 @@ class Rot2 {
// Lie Group
static gtsam::Rot2 Expmap(Vector v);
static Vector Logmap(const gtsam::Rot2& p);
Vector logmap(const gtsam::Rot2& p);
// Group Action on Point2
gtsam::Point2 rotate(const gtsam::Point2& point) const;
@ -727,6 +728,7 @@ class Rot3 {
// Standard Interface
static gtsam::Rot3 Expmap(Vector v);
static Vector Logmap(const gtsam::Rot3& p);
Vector logmap(const gtsam::Rot3& p);
Matrix matrix() const;
Matrix transpose() const;
gtsam::Point3 column(size_t index) const;
@ -772,6 +774,7 @@ class Pose2 {
// Lie Group
static gtsam::Pose2 Expmap(Vector v);
static Vector Logmap(const gtsam::Pose2& p);
Vector logmap(const gtsam::Pose2& p);
static Matrix ExpmapDerivative(Vector v);
static Matrix LogmapDerivative(const gtsam::Pose2& v);
Matrix AdjointMap() const;
@ -825,6 +828,7 @@ class Pose3 {
// Lie Group
static gtsam::Pose3 Expmap(Vector v);
static Vector Logmap(const gtsam::Pose3& pose);
Vector logmap(const gtsam::Pose3& pose);
Matrix AdjointMap() const;
Vector Adjoint(Vector xi) const;
static Matrix adjointMap_(Vector xi);
@ -2847,6 +2851,7 @@ virtual class EssentialMatrixFactor : gtsam::NoiseModelFactor {
#include <gtsam/slam/dataset.h>
class SfmTrack {
Point3 point3() const;
size_t number_measurements() const;
pair<size_t, gtsam::Point2> measurement(size_t idx) const;
pair<size_t, size_t> siftIndex(size_t idx) const;

3
gtsam/slam/dataset.h
View File

@ -233,6 +233,9 @@ struct SfmTrack {
SiftIndex siftIndex(size_t idx) const {
return siftIndices[idx];
}
Point3 point3() const {
return p;
}
};
/// Define the structure for the camera poses

6
python/README.md
View File

@ -18,8 +18,10 @@ This is the Python wrapper around the GTSAM C++ library. We use our custom [wrap
## Install
- Run cmake with the `GTSAM_BUILD_PYTHON` cmake flag enabled to configure building the wrapper. The wrapped module will be built and copied to the directory `<PROJECT_BINARY_DIR>/python`.
- Run cmake with the `GTSAM_BUILD_PYTHON` cmake flag enabled to configure building the wrapper. The wrapped module will be built and copied to the directory `<PROJECT_BINARY_DIR>/python`. For example, if your local Python version is 3.6.10, then you should run:
```bash
cmake .. -DGTSAM_BUILD_PYTHON=1 -DGTSAM_PYTHON_VERSION=3.6.10
```
- Build GTSAM and the wrapper with `make` (or `ninja` if you use `-GNinja`).
- To install, simply run `make python-install` (`ninja python-install`).

4
python/gtsam/examples/ImuFactorExample.py
View File

@ -104,7 +104,7 @@ class ImuFactorExample(PreintegrationExample):
if verbose:
print(factor)
print(pim.predict(actual_state_i, self.actualBias))
print(pim.predict(initial_state_i, self.actualBias))
pim.resetIntegration()
@ -125,7 +125,7 @@ class ImuFactorExample(PreintegrationExample):
i += 1
# add priors on end
# self.addPrior(num_poses - 1, graph)
self.addPrior(num_poses - 1, graph)
initial.print_("Initial values:")

38
python/gtsam/examples/README.md
View File

@ -3,50 +3,62 @@
| C++ Example Name | Ported |
|-------------------------------------------------------|--------|
| CameraResectioning | |
| CombinedImuFactorsExample | |
| CreateSFMExampleData | |
| DiscreteBayesNetExample | |
| DiscreteBayesNet_FG | none of the required discrete functionality is exposed through Python |
| easyPoint2KalmanFilter | ExtendedKalmanFilter not yet exposed through Python |
| elaboratePoint2KalmanFilter | GaussianSequentialSolver not yet exposed through Python |
| ImuFactorExample2 | X |
| FisheyeExample | |
| HMMExample | |
| ImuFactorsExample2 | :heavy_check_mark: |
| ImuFactorsExample | |
| IMUKittiExampleGPS | |
| InverseKinematicsExampleExpressions.cpp | |
| ISAM2Example_SmartFactor | |
| ISAM2_SmartFactorStereo_IMU | |
| LocalizationExample | impossible? |
| METISOrderingExample | |
| OdometryExample | X |
| PlanarSLAMExample | X |
| Pose2SLAMExample | X |
| OdometryExample | :heavy_check_mark: |
| PlanarSLAMExample | :heavy_check_mark: |
| Pose2SLAMExample | :heavy_check_mark: |
| Pose2SLAMExampleExpressions | |
| Pose2SLAMExample_g2o | X |
| Pose2SLAMExample_g2o | :heavy_check_mark: |
| Pose2SLAMExample_graph | |
| Pose2SLAMExample_graphviz | |
| Pose2SLAMExample_lago | lago not yet exposed through Python |
| Pose2SLAMStressTest | |
| Pose2SLAMwSPCG | |
| Pose3Localization | |
| Pose3SLAMExample_changeKeys | |
| Pose3SLAMExampleExpressions_BearingRangeWithTransform | |
| Pose3SLAMExample_g2o | X |
| Pose3SLAMExample_initializePose3Chordal | |
| Pose3SLAMExample_g2o | :heavy_check_mark: |
| Pose3SLAMExample_initializePose3Chordal | :heavy_check_mark: |
| Pose3SLAMExample_initializePose3Gradient | |
| RangeISAMExample_plaza2 | |
| SelfCalibrationExample | |
| SFMdata | |
| SFMExample_bal_COLAMD_METIS | |
| SFMExample_bal | |
| SFMExample | X |
| SFMExample_bal | |
| SFMExample | :heavy_check_mark: |
| SFMExampleExpressions_bal | |
| SFMExampleExpressions | |
| SFMExample_SmartFactor | |
| SFMExample_SmartFactorPCG | |
| SimpleRotation | X |
| ShonanAveragingCLI | :heavy_check_mark: |
| SimpleRotation | :heavy_check_mark: |
| SolverComparer | |
| StereoVOExample | |
| StereoVOExample_large | |
| TimeTBB | |
| UGM_chain | discrete functionality not yet exposed |
| UGM_small | discrete functionality not yet exposed |
| VisualISAM2Example | X |
| VisualISAMExample | X |
| VisualISAM2Example | :heavy_check_mark: |
| VisualISAMExample | :heavy_check_mark: |
Extra Examples (with no C++ equivalent)
- DogLegOptimizerExample
- GPSFactorExample
- PlanarManipulatorExample
- SFMData
- PreintegrationExample
- SFMData